Wireless power supply system, wireless power supply device, and wireless power supply method

Abstract

To provide a wireless power supply system, a wireless power supply device, and a wireless power supply method that are capable of appropriately irradiating a moving object with light.SOLUTION: A wireless power supply system 1 includes: an irradiation unit 4 that radiates light; a moving body 2 including a photoreceiver 23 that can output a first signal related to the reception of light when it is irradiated with the light by the irradiation unit, a plurality of optical sensors 24 that are arranged to surround the photoreceiver and can output a second signal related to the reception of light, and a receiver 21 that can receive signals by a location information service; an acquisition unit that acquires location information of the moving body based on reception results of the receiver; a detection unit that detects the irradiation position of light on the moving body based on at least one of the first signal, the second signal, and the location information; and an irradiation control unit 5 that controls at least one of the irradiation of light by the irradiation unit to the moving body and the movement of the moving body, based on the irradiation position. The moving body is charged based on the light from the irradiation unit received by the photoreceiver.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a wireless power supply system, a wireless power supply device, and a wireless power supply method. [Background technology]

[0002] Conventionally, there has been known a wireless power transmission method in which power is transmitted wirelessly to a distant object by irradiating a moving object with light. The wireless power transmission method described in Patent Document 1 transmits power in the form of optical energy to a distant object, and includes a light source that emits near-infrared light, a light receiving element including a PV (Photovoltaic) cell and a solar cell, and an optical sensor arranged around the light receiving element. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-13063 Summary of the Invention [Problem to be solved by the invention]

[0004] The wireless power transmission method described in Patent Document 1 detects the range of the light beam from the light source hitting the light receiving element of the mobile object, transmits the position information to the light beam transmitter, and controls the irradiation direction and spot size of the light beam. However, if the light beam from the light source does not hit the optical sensor of the mobile object, the light beam transmitter may not be able to confirm the position information of the mobile object.

[0005] An object of the present disclosure is to provide a wireless power feeding system, a wireless power feeding device, and a wireless power feeding method that can appropriately irradiate light onto a moving object. [Means for solving the problem]

[0006] A wireless power supply system according to one aspect of the present disclosure includes a mobile body having an irradiation unit that irradiates light, a photoreceiver that can output a first signal related to reception of light when light is irradiated from the irradiation unit, a plurality of optical sensors arranged to surround the photoreceiver and that can output a second signal related to reception of light, and a receiver that can receive signals from a location information service, an acquisition unit that acquires location information of the mobile body based on the reception result of the receiver, a detection unit that detects the irradiation position of light on the mobile body based on at least one of the first signal, the second signal, and the location information, and an irradiation control unit that controls at least one of the irradiation of light by the irradiation unit to the mobile body and the movement of the mobile body based on the irradiation position, and the mobile body is charged based on the light from the irradiation unit that is received by the photoreceiver.

[0007] This wireless power supply system has a receiver capable of receiving signals from a location information service. Furthermore, a detection unit detects the light irradiation position on the mobile body based on a first signal from the light receiver, second signals from the multiple optical sensors, and the location information. An irradiation control unit controls at least one of the light irradiation on the mobile body and the movement of the mobile body based on the light irradiation position on the mobile body, thereby adjusting the light irradiation position on the mobile body's light receiver. This allows light to be irradiated onto the mobile body's light receiver, and the mobile body is charged by the light. Therefore, this wireless power supply system can appropriately irradiate light onto the mobile body.

[0008] In one embodiment of a wireless power supply system, the illumination control unit may move the moving object within a range where the illumination unit can irradiate light based on the position information. In this case, even if the light receiver and the multiple optical sensors cannot receive light from the illumination unit, for example, when the moving object is significantly outside the range where the illumination unit can irradiate light, the acquisition unit can acquire the position information of the moving object based on the reception result of the receiver. Then, when the illumination control unit moves the moving object within the range where the illumination unit can irradiate light, the detection unit can receive at least one of the first signal and the second signal. Therefore, the illumination control unit can precisely control at least one of the illumination of light onto the moving object and the movement of the moving object based on at least one of the first signal and the second signal.

[0009] In one embodiment of a wireless power supply system, the receiver may receive signals from multiple satellites via a satellite positioning system, and the acquisition unit may acquire position information of the mobile object based on the reception results of the satellite positioning system of the receiver. In this case, the position of light irradiation on the mobile object can be roughly adjusted. This allows the position of light irradiation by the irradiation unit on the mobile object to be aligned with the positions of at least multiple optical sensors arranged around the light receiver. Because the position of light irradiation by the irradiation unit on the mobile object can be roughly adjusted based on the position information before being precisely adjusted based on the first signal and the second signal, the time required to adjust the position of light irradiation on the mobile object can be reduced.

[0010] In one embodiment of a wireless power supply system, the optical receiver may be disposed at the center of the mobile object, and the distance between the optical receiver and the optical sensor farthest from the optical receiver may be greater than at least the minimum error of a satellite positioning system. In this case, since the position information from the satellite positioning system includes at least the minimum error, precise positioning of the light irradiation position of the irradiator on the mobile object can be performed by the optical receiver or the optical sensor. Here, since the distance between the optical sensor farthest from the optical receiver and the optical receiver is greater than at least the minimum error of the satellite positioning system, even if the light irradiation position of the irradiator is deviated from the optical receiver by the minimum error, at least the optical sensor can receive the light from the irradiator. This allows the irradiation control unit to precisely control at least one of the light irradiation of the mobile object and the movement of the mobile object based on at least one of the first signal and the second signal.

[0011] In one embodiment of a wireless power supply system, the mobile object may further include a base divided into three or more regions, with a plurality of optical sensors disposed in each of the three or more regions, and the plurality of optical sensors may be connected in series to each region of the base. In this case, the detection unit can detect the region of the base in which the optical sensor that received the light from the irradiation unit is disposed. Therefore, the illumination control unit can appropriately detect the orientation for adjusting the illumination position of the light from the illumination unit relative to the light receiver, and control at least one of the illumination of the light from the illumination unit and the movement of the mobile object in accordance with the detected orientation. This allows the illumination control unit to appropriately illuminate the light from the illumination unit onto the light receiver.

[0012] In one embodiment of the wireless power supply system, the mobile object may further include a plurality of frame-shaped conductors arranged at predetermined radial distances from the light receiver, and a plurality of optical sensors may be connected to each of the plurality of conductors. In this case, the detection unit can detect the conductor connected to the optical sensor that receives light from the irradiation unit. Therefore, the illumination control unit can appropriately detect the distance at which the illumination position of the illumination unit is adjusted relative to the light receiver, and control at least one of the illumination of light by the illumination unit and the movement of the mobile object according to the detected distance. This allows the illumination control unit to appropriately illuminate the light from the illumination unit onto the light receiver.

[0013] In one embodiment of the wireless power supply system, the distance between the multiple optical sensors may be smaller than the beam diameter of light from the irradiator. In this case, when the irradiator irradiates light toward the moving object but the receiver fails to receive the light, at least two optical sensors can receive the light. The detector can detect at least two optical sensors that have received the light from the irradiator. Therefore, the irradiation control unit can appropriately detect the distance and direction for adjusting the position of light irradiation by the irradiator relative to the receiver, and control at least one of the light irradiation by the irradiator and the movement of the moving object according to the distance and direction. This allows the irradiation control unit to appropriately irradiate the receiver with light from the irradiator.

[0014] In one embodiment, the wireless power supply system may include a photoreceiver divided into four or more regions from a center of the photoreceiver, each of which includes four or more elements having a photoelectric conversion function, the four or more elements outputting first signals related to reception of light, and a detector detecting a position of light irradiation on the photoreceiver based on the first signals of the four or more elements. In this case, the detector detects the position of light irradiation by the irradiator on the photoreceiver, and the irradiation controller can control at least one of the irradiation of light by the irradiator and the movement of the mobile object so that the center of the photoreceiver is irradiated with light from the irradiator. This allows the irradiation controller to efficiently irradiate the photoreceiver with light from the irradiator, thereby efficiently charging the mobile object.

[0015] A wireless power supply device according to another aspect of the present disclosure includes an irradiation unit that irradiates light; an acquisition unit that acquires location information of the mobile body based on a reception result of a receiver of the mobile body that is capable of receiving signals via a location information service; a detection unit that detects a detected position of the mobile body based on at least one of a first signal related to reception of light output from a photodetector of the mobile body when light is irradiated from the irradiation unit, a second signal related to reception of light output from a plurality of optical sensors of the mobile body arranged to surround the photodetector, and the location information; and an irradiation control unit that controls at least one of the irradiation of light by the irradiation unit onto the mobile body and the movement of the mobile body based on the detected position of the mobile body, and the mobile body is charged based on the light from the irradiation unit that is received by the photodetector.

[0016] This wireless power supply device provides the same effects as the wireless power supply system described above.

[0017] A wireless power supply method according to another aspect of the present disclosure includes the steps of: acquiring location information of a mobile body based on a reception result of a receiver of the mobile body capable of receiving a signal via a location information service; irradiating light; acquiring a first signal related to the reception of light output from the mobile body when the light is received by the light receiver of the mobile body; and acquiring a second signal related to the reception of light output from the mobile body when the light is received by a plurality of light sensors of the mobile body arranged to surround the light receiver; detecting a detected position of the mobile body based on at least one of the first signal, the second signal, and the location information; controlling at least one of irradiating light onto the mobile body and movement of the mobile body based on the detected position of the mobile body; and charging the mobile body based on the light received by the light receiver.

[0018] This wireless power feeding method has the same effects as the wireless power feeding system described above. [Effects of the Invention]

[0019] According to the wireless power feeding system, wireless power feeding device, and wireless power feeding method disclosed herein, it is possible to appropriately irradiate a moving object with light. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a conceptual diagram illustrating an example of a wireless power feeding system including a wireless power feeding device according to an embodiment. [Figure 2] FIG. 2 is a bottom view illustrating an example of a light receiver and a plurality of light sensors included in the moving body according to the embodiment. [Figure 3] FIG. 2 is a circuit diagram showing an example of a circuit configuration of a light receiver and an optical sensor included in a moving body according to an embodiment. [Figure 4] 1 is a block diagram showing a functional configuration of a wireless power supply system according to an embodiment. [Figure 5] 4 is a flowchart illustrating an example of a wireless power feeding method by the wireless power feeding system according to the embodiment. [Figure 6] 4 is a flowchart illustrating an example of steps included in a wireless power feeding method performed by the wireless power feeding system according to the embodiment. [Figure 7] 4 is a flowchart illustrating an example of steps included in a wireless power feeding method performed by the wireless power feeding system according to the embodiment. [Figure 8] 10 is a flowchart illustrating an example of a wireless power feeding method by a wireless power feeding system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0021] A first embodiment of the present disclosure will be described below with reference to the drawings. In the following description, identical or equivalent elements are designated by the same reference numerals, and redundant description will not be repeated. The dimensional ratios of the drawings do not necessarily match those in the description. Terms such as "upper," "lower," "left," "right," "front," and "rear" are based on the illustrated state and are for convenience only.

[0022] Fig. 1 is a conceptual diagram showing an example of a wireless power supply system including a wireless power supply device according to an embodiment. The wireless power supply system 1 shown in Fig. 1 includes a moving object 2 and a wireless power supply device 3. In the wireless power supply system 1, the moving object 2 is charged using light supplied from the wireless power supply device 3. The moving object 2 and the wireless power supply device 3 are not connected to each other by an electric wire. The moving object 2 and the wireless power supply device 3 are provided at positions separated from each other.

[0023] The moving body 2 is an object that can move as seen from at least one point on the ground. The moving body 2 moves based on a user's operation or a predetermined program. The moving body 2 is a vehicle that travels on the ground, an air vehicle that flies in space, a ship that sails on the water, a submersible that moves underwater, etc. The moving body 2 in this embodiment is an air vehicle. The moving body 2 is, for example, a drone.

[0024] The moving body 2 includes a main body 20, a receiver 21, a base 22, a photodetector 23, a plurality of optical sensors 24, a plurality of conductors 25 (see FIG. 2 ) connecting the plurality of optical sensors 24, a direction detection unit 26, and a moving body control unit 27. The main body 20 includes a configuration for achieving movement. Specifically, the main body 20 includes a power source 20a, a propulsion unit 20b that is driven and controls movement based on the power supplied from the power source 20a, and a support body 20c to which the power source 20a and the propulsion unit 20b are attached. The power source 20a is, for example, a battery. The propulsion unit 20b includes, for example, an electric motor and a plurality of propellers.

[0025] A part of the main body 20 is set as the front facing forward, and the X-axis, Y-axis, and Z-axis directions are predetermined with respect to the moving body 2. The X-axis, Y-axis, and Z-axis directions are mutually perpendicular axes in a Cartesian coordinate system in three-dimensional space. The X-axis and Y-axis directions may be horizontal, and the Z-axis direction may be vertical. The X-axis, Y-axis, and Z-axis directions are defined as the coordinate system of the moving body 2. For example, the Z-axis direction is the extension direction of the shaft to which the propeller of the propulsion unit 20b is attached.

[0026] The receiver 21 is provided at the center of the main body 20 in the X-axis direction and the Y-axis direction. The receiver 21 is capable of receiving signals from a location information service. For example, the receiver 21 receives signals from multiple satellites of a satellite positioning system. For example, the receiver 21 receives signals from multiple satellites in a global positioning system such as a GPS (Global Positioning System). For example, the receiver 21 receives a signal from at least one satellite included in a Quasi-Zenith Satellite System that complements the Global Positioning System. The receiver 21 receives a signal from at least one satellite included in the Global Positioning System and a signal from at least one satellite included in the Quasi-Zenith Satellite System.

[0027] The base 22 is provided at the bottom of the main body 20. The base 22 is arranged in the center of the moving body 2. The base 22 has a plate shape. FIG. 2 is a bottom view showing an example of a light receiver and a plurality of optical sensors included in a moving body according to one embodiment. The base 22 shown in FIGS. 1 and 2 has, for example, a disk shape. The base 22 may have an elliptical shape when viewed from below.

[0028] The base 22 has a principal surface 22a that is exposed downward. The principal surface 22a extends in the X-axis direction and the Y-axis direction. The principal surface 22a of the base 22 is divided into three or more regions. In the example shown in FIG. 2 , the base 22 is divided into four fan-shaped regions 22d to 22g, excluding a central portion 22b where the light receiver 23 is disposed, by two straight lines that pass through the center 22c and are perpendicular to each other. The region 22d is located on the positive side of the Y-axis direction in the base 22. The region 22e is located on the positive side of the X-axis direction in the base 22. The region 22f is located on the negative side of the Y-axis direction in the base 22. The region 22g is located on the negative side of the X-axis direction in the base 22.

[0029] The light receiver 23 is capable of outputting a first signal related to the reception of light. The light receiver 23 outputs the first signal related to the reception of light when light is irradiated from the irradiation unit 4 described below. The light receiver 23 is provided on the main surface 22a and in the center portion 22b of the base 22. The light receiver 23 is exposed facing downward. The light receiver 23 is a power receiver. The light receiver 23 is, for example, a PV cell (Photovoltaic Cell).

[0030] The optical receiver 23 is divided into four or more regions from the center of the optical receiver 23. The optical receiver 23 is, for example, a four-division device. The optical receiver 23 has a rectangular shape. The optical receiver 23 is divided by two straight lines that pass through the center 23a and are perpendicular to each other. The position of the center 22c of the base 22 and the position of the center 23a of the optical receiver 23 coincide with each other. The optical receiver 23 has four elements 23b to 23e arranged in each of the four divided regions of the optical receiver 23. The optical receiver 23 is not limited to a four-division device, and may be, for example, a nine-division device or a sixteen-division device. The optical receiver 23 may be a device divided into regions whose number is the square of any natural number greater than or equal to two. At least one element is arranged in each divided region.

[0031] In the coordinate plane of the X-axis and the Y-axis, elements 23b, 23c, 23d, and 23e are located in the second, first, third, and fourth quadrant regions of the photoreceiver 23, respectively. Element 23b is disposed on the negative side (left) of element 23c in the X-axis direction and on the positive side (front) of element 23d in the Y-axis direction. Element 23e is disposed on the negative side (rear) of element 23c in the Y-axis direction and on the positive side (right) of element 23d in the X-axis direction. Elements 23b and 23c are disposed on the positive side (front) of the Y-axis of center 22b of base 22. Elements 23d and 23e are disposed on the negative side (rear) of the Y-axis of center 22b of base 22.

[0032] Each of the four elements 23b to 23e of the photoreceiver 23 is adjacent to two of the four elements 23b to 23e. Two of the four elements 23b to 23e of the photoreceiver 23 may be in contact with one of the four regions 22d to 22g of the base 22. In the example shown in FIG. 2, the four elements 23b to 23e of the photoreceiver 23 are in contact with two of the four regions 22d to 22g of the base 22. Note that the terms "left," "right," "front," and "rear" in the arrangement of the elements 23b to 23e are examples of convenient positions relative to the center 23a of the photoreceiver 23 when the positive direction in the X-axis direction is the right and the positive direction in the Y-axis direction is the front.

[0033] The four elements 23b to 23e have a photoelectric conversion function. The four elements 23b to 23e convert the optical energy of light irradiated from the irradiation unit 4, which will be described later, into electrical energy. The four elements 23b to 23e each output a first signal related to the reception of light. The four elements 23b to 23e output, for example, a signal related to the converted electrical energy as the first signal. The signal related to the electrical energy may be, for example, any of a voltage value, a current value, or power. The four elements 23b to 23e of this embodiment each output a voltage value as the first signal, for example.

[0034] The optical sensors 24 are capable of outputting second signals related to the reception of light. Each of the optical sensors 24 outputs a second signal related to the reception of light when light is irradiated from the wireless power supply device 3. The optical sensors 24 output the second signal when, for example, they receive light.

[0035] The plurality of optical sensors 24 are arranged to surround the light receiver 23. The plurality of optical sensors 24 are arranged in each of the four regions 22d to 22g of the base 22. FIG. 3 is a schematic circuit diagram showing an example of a circuit configuration of the light receiver and the optical sensors included in the mobile object according to the embodiment. As shown in FIG. 3, the plurality of optical sensors 24 are connected in series in each of the four regions 22d to 22g of the base 22. The plurality of optical sensors 24 are each connected to the mobile object control unit 27 so that the region in which the optical sensor 24 is arranged among the regions 22d to 22g can be distinguished. The relative positions of the four regions 22d to 22g of the base 22 and the central portion 23a of the light receiver 23 are stored in advance in the wireless power supply device 3. Furthermore, the multiple optical sensors 24 in each of the regions 22d to 22g in Figures 2 and 3 are illustrated in a simplified manner, and the number of multiple optical sensors 24 in each of the regions 22d to 22g is not limited to the number of optical sensors 24 shown in Figures 2 and 3.

[0036] 2 and 3, the optical sensors 24 are connected to a plurality of conductors 25, each disposed at a predetermined distance from the center 22c of the base 22. The movable body 2 further includes a plurality of frame-shaped conductors 25, each disposed at a predetermined distance in the radial direction around the light receiver 23. The movable body 2 of this embodiment includes three conductors 25a, 25b, and 25c arranged concentrically around the center 22c of the base 22. The movable body 2 of this embodiment includes three conductors 25a, 25b, and 25c arranged concentrically around the center 22c of the base 22. The three conductors 25a, 25b, and 25c are each disposed at a predetermined distance from the center 22c. The three conductors 25a, 25b, and 25c are, for example, disposed at equal intervals from the center 22c. The three conducting wires 25a, 25b, and 25c do not have to be arranged at equal intervals from the center 22c, and may be arranged at different intervals from the center 22c.

[0037] Although not shown in FIG. 2 , each of the three conductors 25a, 25b, and 25c is connected to the mobile object control unit 27. Of the three conductors 25a, 25b, and 25c, conductor 25a is located on the innermost side and is located outside the center portion 22b of the base 22. Of the three conductors 25a, 25b, and 25c, conductor 25c is located on the outermost side. Of the three conductors 25a, 25b, and 25c, conductor 25b is located between conductors 25a and 25c. A plurality of optical sensors 24 are connected to each of the three conductors 25a, 25b, and 25c. The plurality of optical sensors 24 on each of the three conductors 25a, 25b, and 25c are arranged at equal intervals. The plurality of optical sensors 24 are each connected to the mobile object control unit 27 so that the conductors to which they are wired can be distinguished from one another. The relative positions of the three conductors 25a, 25b, and 25c and the center portion 23a of the light receiver 23 are stored in the wireless power supply device 3 in advance.

[0038] The distance between the photoreceiver 23 and the photodetector 24 that is the farthest from the photoreceiver 23 among the multiple photodetectors 24 is at least greater than the minimum error in the satellite positioning system. The photodetector 24 that is the farthest from the photoreceiver 23 among the multiple photodetectors 24 is, for example, at least one photodetector 24 among the multiple photodetectors 24 connected to the conductor 25c. The distance between the photoreceiver 23 and the photodetector 24 that is the farthest from the photoreceiver 23 among the multiple photodetectors 24 is, for example, greater than several tens of centimeters, which is the minimum error for a moving object in a quasi-zenith satellite system. The distance between the photoreceiver 23 and the photodetector 24 that is the farthest from the photoreceiver 23 among the multiple photodetectors 24 is, for example, at least greater than 2 cm or 3 cm, which is the minimum error for a moving object in a stationary state in the quasi-zenith satellite system.

[0039] The distance between the light receiver 23 and the light sensor 24 closest to the light receiver 23 among the multiple light sensors 24 is smaller than the beam diameter of the light beam B from the irradiation unit 4 described below. The size of the light receiving surface of the light receiver 23 may be equal to or larger than the beam diameter of the light beam B from the irradiation unit 4 described below, or may be smaller. The size of the light receiving surface of the light receiver 23 in this embodiment may be smaller than the beam diameter of the light beam B from the irradiation unit 4 described below. In this case, the mobile object 2 can efficiently convert the energy of the light beam B irradiated from the irradiation unit 4 described below into electrical energy. The light receiving surface of the light receiver 23 is, for example, a square measuring 3 cm on each side. The light receiving surface of the light receiver 23 may also be, for example, a square measuring 8 mm on each side.

[0040] The orientation detection unit 26 shown in FIG. 1 detects orientation. The orientation detection unit 26 includes, for example, an electronic compass and an acceleration sensor. The orientation detection unit 26 may include a three-axis geomagnetic sensor as the electronic compass. The orientation detection unit 26 measures magnetism in three directions: the front-rear direction, the left-right direction, and the up-down direction. The front-rear direction, the left-right direction, and the up-down direction are mutually orthogonal axial directions in a Cartesian coordinate system in three-dimensional space. The front-rear direction and the left-right direction are directions along the ground surface and are horizontal directions. The up-down direction is a direction perpendicular to the ground surface. The front-rear direction, the left-right direction, and the up-down direction are three orthogonal directions centered on a light irradiation device 42 of the irradiation unit 4, which will be described later. The front-rear direction, the left-right direction, and the up-down direction are defined as the coordinate system of the irradiation unit 4.

[0041] The mobile object control unit 27 receives a first signal output from the photoreceiver 23 when the photoreceiver 23 receives light. The mobile object control unit 27 outputs the first signal received from the photoreceiver 23 to the wireless power supply device 3. The mobile object control unit 27 receives a second signal output from at least one photodetector 24 when at least one photodetector 24 of the multiple photodetectors 24 receives light. The mobile object control unit 27 outputs the second signal received from the at least one photodetector 24 to the wireless power supply device 3.

[0042] The mobile object control unit 27 receives the result received by the receiver 21. The mobile object control unit 27 receives a signal that is the reception result by the satellite positioning system of the receiver 21. The mobile object control unit 27 outputs the signal received by the receiver 21 to the wireless power supply device 3. The mobile object control unit 27 receives the result detected by the direction detection unit 26. The mobile object control unit 27 receives a signal that is the detection result by the direction detection unit 26. The mobile object control unit 27 outputs the result detected by the direction detection unit 26 to the wireless power supply device 3.

[0043] The mobile object control unit 27 acquires the charging status of the power source 20a. For example, the mobile object control unit 27 acquires the ratio of the electrical energy stored in the power source 20a to the fully charged state of the power source 20a. The mobile object control unit 27 outputs the charging status of the power source 20a to the wireless power supply device 3.

[0044] Furthermore, the moving body control unit 27 controls the movement of the moving body 2. The moving body control unit 27 controls the propulsion unit 20b of the main body unit 20. The moving body control unit 27 controls the movement direction and movement speed, for example, by controlling the rotation speed of multiple propellers included in the propulsion unit 20b of the main body unit 20. The movement direction of the moving body 2 includes the X-axis direction, the Y-axis direction, and the Z-axis direction. The moving body control unit 27 controls the movement of the moving body 2 based on a signal transmitted from the wireless power supply device 3.

[0045] 3, the moving object 2 further includes a plurality of operational amplifiers 28 interposed between the photoreceiver 23 and the moving object control unit 27. The plurality of operational amplifiers 28 in the moving object 2 include a first operational amplifier 28a, a second operational amplifier 28b, a third operational amplifier 28c, and a fourth operational amplifier 28d.

[0046] First operational amplifier 28a is connected to elements 23b and 23e. First operational amplifier 28a calculates a first voltage value based on the voltage input from elements 23b and 23e. The first voltage value is, for example, a value obtained by subtracting the voltage input from element 23b from the voltage input from element 23e and multiplying the result by a predetermined amplification factor.

[0047] Second operational amplifier 28b is connected to elements 23c and 23d. Second operational amplifier 28b calculates a second voltage value based on the voltage input from elements 23c and 23d. The second voltage value is, for example, a value obtained by subtracting the voltage input from element 23c from the voltage input from element 23d and multiplying the result by a predetermined amplification factor.

[0048] The third operational amplifier 28c is connected to the output terminal of the first operational amplifier 28a and the output terminal of the second operational amplifier 28b. The third operational amplifier 28c calculates a third voltage value based on the first voltage value input from the output terminal of the first operational amplifier 28a and the second voltage value input from the output terminal of the second operational amplifier 28b. The third voltage value is, for example, a value obtained by subtracting the first voltage value from the second voltage value and multiplying the result by a predetermined amplification factor. The third operational amplifier 28c outputs the third voltage value to the mobile object control unit 27.

[0049] The fourth operational amplifier 28d is connected to the output terminal of the first operational amplifier 28a via a resistor and also to the output terminal of the second operational amplifier 28b via a resistor. The fourth operational amplifier 28d and the multiple resistors form an inverting adder circuit. The fourth operational amplifier 28d calculates a fourth voltage value based on a first voltage value input from the output terminal of the first operational amplifier 28a and a second voltage value input from the output terminal of the second operational amplifier 28b. The fourth voltage value is, for example, a value obtained based on the sum of the first voltage value and the second voltage value and the resistance values of the multiple resistors. The fourth operational amplifier 28d outputs the fourth voltage value to the mobile object control unit 27.

[0050] In this way, the mobile object control unit 27 acquires the third voltage value and the fourth voltage value from the photoreceiver 23 via the multiple operational amplifiers 28. The third voltage value is the sum of the voltage values of the elements 23b and 23d minus the sum of the voltage values of the elements 23c and 23e. Therefore, the third voltage value indicates the displacement in the X-axis direction from the center 23a of the photoreceiver 23. The fourth voltage value is the sum of the voltage values of the elements 23b and 23c minus the sum of the voltage values of the elements 23d and 23e. Therefore, the fourth voltage value indicates the displacement in the Y-axis direction from the center 23a of the photoreceiver 23.

[0051] Next, the configuration of the wireless power supply device 3 will be described. FIG. 4 is a block diagram showing the functional configuration of a wireless power supply system according to an embodiment. The wireless power supply device 3 shown in FIGS. 1 and 4 supplies light to a moving object 2. The wireless power supply device 3 is installed, for example, on the ground. The wireless power supply device 3 includes an irradiation unit 4 and an irradiation control unit 5. The irradiation unit 4 irradiates light. The position of the irradiation unit 4 on the ground is stored in advance in the irradiation control unit 5. The irradiation unit 4 includes a power source 41, a light irradiation device 42, and at least one direction adjustment unit 43. The power source 41 supplies power to the light irradiation device 42 and the at least one direction adjustment unit 43.

[0052] The light irradiation device 42 is driven by power supplied from the power source 41 and irradiates the moving object 2 with light necessary for charging the moving object 2. The light irradiation device 42 irradiates a light beam B toward the moving object 2. The light irradiation device 42 of this embodiment irradiates the light beam B toward the moving object 2 via, for example, at least one direction adjustment unit 43. The light irradiation device 42 irradiates the light beam B toward at least one direction adjustment unit 43. The light irradiation device 42 has a mechanism for changing the output and size of the light beam B so that the power generation efficiency of the moving object 2 is equal to or greater than a threshold. The light irradiated from the light irradiation device 42 may be visible light, infrared light, near-infrared light, or the like, and the wavelength is not limited as long as the moving object 2 receives the light and is charged. For example, the light irradiated from the light irradiation device 42 may have a wavelength of 400 nm.

[0053] At least one direction adjustment unit 43 adjusts the direction of the light beam B emitted from the light irradiation device 42 so that the light beam B is emitted toward the moving object 2. In the example shown in Fig. 1 , the wireless power supply device 3 has two direction adjustment units 43. One direction adjustment unit 43 adjusts the angle in the front-back direction and the up-down direction in the horizontal direction with respect to the irradiation direction of the light beam B from the light irradiation device 42. The other direction adjustment unit 43 adjusts the left-right direction and the up-down direction in the horizontal direction of the light beam B whose angle has been adjusted by the one direction adjustment unit 43.

[0054] The irradiation control unit 5 controls at least one of the light irradiation of the irradiation unit 4 and the movement of the moving object 2. As shown in FIG.

[0055] The acquisition unit 51 acquires the position information of the mobile object 2 based on the reception result of the receiver 21. The acquisition unit 51 acquires the signal output from the mobile object control unit 27 when the mobile object control unit 27 receives the signal received by the receiver 21. The acquisition unit 51 acquires the position information of the mobile object 2 based on the signal that is the reception result by the satellite positioning system of the receiver 21.

[0056] When the mobile object 2 is within a range in which the irradiation unit 4 can irradiate the light beam B, the acquisition unit 51 can acquire at least one of the first signal and the second signal. Hereinafter, the range in which the irradiation unit 4 can irradiate the light beam B will be referred to as an irradiation range R. The acquisition unit 51 acquires the first signal output from the mobile object control unit 27 when the mobile object control unit 27 receives the first signal. The acquisition unit 51 acquires the second signal output from the mobile object control unit 27 when the mobile object control unit 27 receives the second signal.

[0057] The detection unit 52 detects the position where light is irradiated on the moving object 2 based on at least one of the first signal, the second signal, and the position information. First, a method by which the detection unit 52 detects the position where light is irradiated on the moving object 2 based on the first signal will be described. The position where the moving object 2 acquires the first signal corresponds to one of the positions of the moving object 2 detected by the detection unit 52.

[0058] The detection unit 52 detects the irradiation position of the light on the light receiver 23 based on the first signals of the four elements 23b to 23e. The detection unit 52 detects the irradiation position of the light on the light receiver 23 based on the third voltage value and the fourth voltage value acquired by the mobile object control unit 27 via the multiple operational amplifiers 28.

[0059] The detection unit 52 detects the amount of left-right positional deviation of the irradiation position of the light beam B irradiated from the irradiation unit 4 with respect to the center 23a of the light receiver 23, based on the third voltage value. The detection unit 52 detects that the light beam B irradiated from the irradiation unit 4 is irradiated in the negative direction of the X-axis of the light receiver 23, as the third voltage value is greater than 0. The detection unit 52 detects that the light beam B irradiated from the irradiation unit 4 is irradiated in the positive direction of the X-axis of the light receiver 23, as the third voltage value is smaller than 0.

[0060] The detection unit 52 detects the amount of positional deviation in the front-to-rear direction of the irradiation position of the light beam B irradiated from the irradiation unit 4 with respect to the center 23a of the light receiver 23, based on the fourth voltage value. The detection unit 52 detects that the light beam B irradiated from the irradiation unit 4 is irradiated in the positive direction of the Y axis of the light receiver 23 as the fourth voltage value is greater than 0. The detection unit 52 detects that the light beam B irradiated from the irradiation unit 4 is irradiated in the negative direction of the Y axis of the light receiver 23 as the fourth voltage value is smaller than 0. The detection unit 52 detects that the entirety of the beam B is contained within the light receiver 23 in the radial direction of the beam B when the third voltage value is within a predetermined threshold value from 0 and when the fourth voltage value is within a predetermined threshold value from 0.

[0061] Next, with reference to FIG. 2, a method by which the detection unit 52 detects the irradiation position of light on the mobile object 2 based on the second signal will be described. The multiple optical sensors 24 are each connected to the mobile object control unit 27 so as to be able to detect the region in which they are located among the regions 22d to 22g. Therefore, when the light beam B from the irradiation unit 4 is irradiated onto at least one optical sensor 24, the detection unit 52 detects, based on the second signal, at least one region among the four regions 22d to 22g of the base 22 that is irradiated with the light beam B. Hereinafter, the at least one region among the four regions 22d to 22g of the base 22 that is irradiated with the light beam B will be referred to as the "irradiated region." Because the relative positions of the four regions 22d to 22g of the base 22 with respect to the light receiver 23 are stored in advance, by detecting at least one irradiated region, the detection unit 52 can detect the direction in which the irradiation position of the light beam B is shifted relative to the light receiver 23.

[0062] Furthermore, the multiple optical sensors 24 are each connected to the mobile object control unit 27 so as to be able to detect which of the three conductors 25a, 25b, and 25c the conductor is connected to. Therefore, when at least one optical sensor 24 is irradiated with the light beam B from the irradiation unit 4, the detection unit 52 detects, based on the second signal, at least one of the three conductors 25a, 25b, and 25c to which the at least one optical sensor 24 irradiated with the light beam B is wired. Since the relative positions of the three conductors 25a, 25b, and 25c with respect to the light receiver 23 are stored in advance, the detection unit 52 can detect the distance between the irradiation position of the light beam B and the light receiver 23 by detecting at least one conductor irradiated with the light beam B.

[0063] Next, with reference to FIG. 1, a method in which the detection unit 52 detects the light irradiation position of the moving object 2 based on the position information of the moving object 2 will be described. The position information of the moving object 2 corresponds to one of the positions of the moving object 2 detected by the detection unit 52. The detection unit 52 detects an irradiation range R, which is a range within which the irradiation unit 4 can irradiate the light beam B, from the position of the irradiation unit 4 stored in the irradiation control unit 5. The irradiation range R refers to a range within which the moving object 2 can be charged by receiving the light beam B. The irradiation range R is, for example, a range within which the moving object 2 can receive the light beam B with a power level equal to or greater than a predetermined threshold. The irradiation range R is at least larger than the minimum error in the satellite positioning system. The detection unit 52 detects whether the moving object 2 is within the irradiation range R based on the position information of the moving object 2.

[0064] In addition, the detection unit 52 detects whether the moving body 2 is within a range in which the light beam B can be received, based on the altitude of the moving body 2 detected by the control unit 53 described below and the irradiation range R.

[0065] The control unit 53 controls the irradiation of light by the irradiation unit 4 onto the moving object 2 and the movement of the moving object 2. The control unit 53 changes the output of the light beam B and the size of the light beam B, for example, by controlling the light irradiation device 42. The control unit 53 adjusts the direction of the light beam B, for example, by controlling at least one direction adjustment unit 43. The control unit 53 controls at least one of the movement direction and movement speed of the moving object 2.

[0066] The control unit 53 controls at least one of the irradiation of the moving body 2 by the irradiation unit 4 with light and the movement of the moving body 2, based on the irradiation position of the light on the moving body 2 detected by the detection unit 52. The control unit 53 moves the moving body 2 and the light beam B of the irradiation unit 4 relatively so that the position of the moving body 2 and the irradiation position of the light beam B coincide. The coincidence of the position of the moving body 2 and the irradiation position of the light beam B means, for example, that at least a part of the light beam B falls within the light receiver 23 in the radial direction of the light beam B. In this embodiment, the coincidence of the position of the moving body 2 and the irradiation position of the light beam B means, for example, that the entire light beam B falls within the light receiver 23 in the radial direction of the light beam B.

[0067] When the acquisition unit 51 acquires at least the first signal, the control unit 53 acquires the light irradiation position on the moving object 2 detected by the detection unit 52. The control unit 53 determines whether the detection unit 52 has detected that the entire light beam B is within the light receiver 23 in the radial direction of the light beam B. When it is determined that the detection unit 52 has detected that the entire light beam B is within the light receiver 23, the control unit 53 does not change the light irradiation position on the moving object 2 in the irradiation unit 4.

[0068] When it is determined that the detection unit 52 has detected that the entire light beam B is contained within the light receiver 23, the control unit 53 controls at least one of the intensity of light and the direction of light irradiation of the light by the irradiation unit 4 toward the moving object 2, based on the moving speed and moving direction of the moving object 2. In this case, when the moving object 2 is moving in a direction away from the irradiation unit 4, the control unit 53 may increase the intensity of light toward the moving object 2. When the moving object 2 is moving in a direction approaching the irradiation unit 4, the control unit 53 may decrease the intensity of light toward the moving object 2. The control unit 53 adjusts the adjustment speed of the light beam B by at least one direction adjustment unit 43, based on the moving speed of the moving object 2. The control unit 53 adjusts the angle of the light beam B by at least one direction adjustment unit 43, based on the moving speed and moving direction of the moving object 2.

[0069] When the acquisition unit 51 acquires at least the second signal, the control unit 53 acquires the light irradiation position on the moving object 2 detected by the detection unit 52. The control unit 53 of this embodiment acquires the distance between the irradiation position of the light beam B detected by the detection unit 52 and the light receiver 23, and the direction in which the irradiation position of the light beam B is shifted relative to the light receiver 23.

[0070] The control unit 53 controls at least one of the intensity of light and the direction of light irradiation of the light from the irradiation unit 4 toward the moving object 2 based on the distance between the irradiation position and the light receiver 23 and the direction of the deviation. The control unit 53 controls the light irradiation device 42 so that the intensity of light from the irradiation unit 4 toward the moving object 2 increases as the distance between the irradiation position and the light receiver 23 increases. The control unit 53 may adjust the adjustment speed of the light beam B by at least one direction adjustment unit 43 so as to reduce the distance between the irradiation position and the light receiver 23 based on the distance between the irradiation position and the light receiver 23 and the direction of the deviation. The control unit 53 may adjust the angle of the light beam B by at least one direction adjustment unit 43 toward the direction of the deviation. The control unit 53 may adjust the moving speed of the moving object 2 so as to reduce the distance between the irradiation position and the light receiver 23 based on the distance between the irradiation position and the light receiver 23 and the direction of the deviation. The control unit 53 may adjust the moving direction of the moving object 2 so as to reduce the distance between the irradiation position and the light receiver 23 based on the distance between the irradiation position and the light receiver 23 and the direction of the deviation.

[0071] When the acquisition unit 51 acquires the position information of the moving body 2 based on the reception result of the receiver 21, the control unit 53 controls the movement of the moving body 2 so that the moving body 2 falls within the irradiation range R of the light beam B from the irradiation unit 4. Based on the irradiation range R and the position information of the moving body 2, the control unit 53 adjusts at least one of the movement speed and movement direction of the moving body 2 so that the moving body 2 falls within the irradiation range R of the light beam B from the irradiation unit 4.

[0072] Here, when the control unit 53 controls at least one of the irradiation direction of the irradiation unit 4 and the movement of the mobile object 2, the control unit 53 corrects the coordinates of the mobile object relative to the irradiation unit. For example, the control unit 53 may correct the coordinates of the mobile object relative to the irradiation unit using a conventional method. The control unit 53 corrects deviations of the X-axis, Y-axis, and Z-axis axes of the mobile object 2 relative to the front-rear, left-right, and up-down directions of the irradiation unit 4. The control unit 53 calculates deviation amounts in the X-axis, Y-axis, and Z-axis directions in the coordinate system of the mobile object 2 based on the magnetism in the three directions of the front-rear, left-right, and up-down directions in the coordinate system of the irradiation unit 4 detected by the orientation detection unit 26.

[0073] The horizontal position when the irradiation unit 4 irradiates the light beam B directly above the light irradiation device 42 is set as the origin. That is, in the coordinate system of the irradiation unit 4, the position of the light irradiation device 42 of the irradiation unit 4 is the horizontal origin. The origin of the coordinate system of the moving body 2 is corrected so that the position of the light irradiation device 42 of the irradiation unit 4 becomes the origin. The control unit 53 matches the coordinate system of the irradiation unit 4 with the coordinate system of the moving body 2. For example, the control unit 53 converts the coordinate system of the moving body 2 into the coordinate system of the irradiation unit 4. At this time, the control unit 53 controls the irradiation direction of the irradiation unit 4 so that the light beam B of the irradiation unit 4 is irradiated onto the converted coordinates of the moving body 2. At this time, the control unit 53 also controls the movement of the moving body 2 so that the light beam B of the irradiation unit 4 is irradiated onto the converted coordinates of the moving body 2. Note that the coordinate system of the irradiation unit 4 may be converted into the coordinate system of the moving body 2.

[0074] Furthermore, for example, the vertical height at the position where the irradiation unit 4 is disposed is set as the reference height. The control unit 53 obtains the difference between the height of the position where the irradiation unit 4 is disposed and the height of the takeoff point of the moving object 2. The control unit 53 calculates the height of the moving object 2 relative to the irradiation unit 4 based on the vertical height of the moving object 2 and this difference. The control unit 53 controls the intensity of light from the irradiation unit 4 to the moving object 2 based on the height of the moving object 2 relative to the irradiation unit 4. In this case, the farther the moving object 2 is from the irradiation unit 4, the higher the intensity of light that the control unit 53 may set to the moving object 2.

[0075] Hereinafter, a wireless power feeding method by the wireless power feeding system according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the wireless power feeding method by the wireless power feeding system according to the embodiment. The wireless power feeding method MT1 shown in Fig. 5 (hereinafter referred to as "method MT1") can be executed by the wireless power feeding system 1 of the above embodiment. When the wireless power feeding system 1 is used, the method MT1 can be executed in the wireless power feeding system 1 by the control of the moving object 2 and each part of the wireless power feeding device 3 by the control unit 53 of the wireless power feeding device 3.

[0076] 5, method MT1 may include steps ST1, ST2, ST3, ST4, ST5, ST6, and ST7. Before step ST1 starts, the moving body 2 may be moving during method MT1. Note that, before at least step ST2 is performed, the control unit 53 corrects the coordinate system of the moving body 2 relative to the coordinate system of the irradiation unit 4.

[0077] In step ST1, the acquisition unit 51 acquires location information of the mobile object 2. The acquisition unit 51 acquires the location information of the mobile object 2 based on the reception result of the receiver 21 of the mobile object 2 that is capable of receiving signals from a location information service. The receiver 21 may receive signals from the location information service at predetermined time intervals, or may receive signals from the location information service at all times.

[0078] Next, in step ST2, the detection unit 52 determines whether the position of the moving body 2 whose detected position is detected is within the irradiation range R, based on the position information of the moving body 2. That is, the detection unit 52 detects whether the moving body 2 is within a range in which the light beam B can be received, based on the position information of the moving body 2. If the detection unit 52 determines that the position information of the moving body 2 does not fall within the irradiation range R, it detects that the moving body 2 is not within a range in which the light beam B can be received, and proceeds to step ST3. If the detection unit 52 determines that the position information of the moving body 2 falls within the irradiation range R, it detects that the moving body 2 is within a range in which the light beam B can be received, and proceeds to step ST4.

[0079] In step ST3, the control unit 53 controls the movement of the moving body 2 based on the detected position of the moving body 2. For example, the control unit 53 controls the movement of the moving body 2 by transmitting a signal related to the movement of the moving body 2 to the moving body control unit 27. For example, the control unit 53 calculates the distance and direction from the detected position of the moving body 2 to the irradiation range R so that the moving body 2 falls within the irradiation range R. The control unit 53 transmits the calculated distance and direction to the moving body control unit 27. The moving body control unit 27 controls the propulsion unit 20b based on the received distance and direction. For example, the moving body control unit 27 controls the rotation speed of the multiple propellers in the propulsion unit 20b based on the received distance and direction.

[0080] In step ST4, the control unit 53 controls the irradiation unit 4 to irradiate light. The light is irradiated toward the moving object 2 located within the irradiation range R. Specifically, the control unit 53 controls the irradiation unit 4 to irradiate light toward the detection position of the moving object 2. When the irradiation unit 4 irradiates the beam of light B, in the moving object 2 located within the irradiation range R, the distance between the photoreceiver 23 and the photo sensor 24 farthest from the photoreceiver 23 among the multiple photo sensors 24 is greater than at least the minimum error in the satellite positioning system, and therefore the photoreceiver 23 and at least one of the multiple photo sensors 24 can receive the light.

[0081] Subsequently, in step ST5, the detection unit 52 determines whether or not the first signal has been acquired. That is, the detection unit 52 detects whether or not the light beam B is irradiating the light receiver 23 of the moving object 2 based on whether or not the first signal has been acquired by the moving object 2. If the detection unit 52 determines that the first signal has not been received by the acquisition unit 51, it detects that the moving object 2 is not located in a position to acquire the first signal, and the process proceeds to step ST6. That is, if the detection unit 52 determines that the first signal has not been received by the acquisition unit 51, it detects that the light beam B is not irradiating the light receiver 23 of the moving object 2 but is irradiating at least one of the multiple optical sensors 24, and the process proceeds to step ST6. If the detection unit 52 determines that the first signal has been received by the acquisition unit 51, it detects that the moving object 2 is located in a position to acquire the first signal, and the process proceeds to step ST7. That is, when the detection unit 52 determines that the first signal has been received by the acquisition unit 51, it detects that the light beam B is irradiating the light receiver 23 of the moving object 2, and proceeds to step ST7.

[0082] In step ST6, the control unit 53 controls, based on the detected position of the moving object 2 detected based on the second signal, at least one of the irradiation of the moving object 2 with light by the irradiation unit 4 and the movement of the moving object 2. Details of step ST6 will be described later.

[0083] In step ST7, the control unit 53 controls at least one of the irradiation of the moving object 2 with light by the irradiation unit 4 and the movement of the moving object 2, based on the detected position of the moving object 2 detected based on the first signal. Details of step ST7 will be described later. When step ST7 is completed, the method MT1 is completed.

[0084] Step ST6 will be described in detail below. Fig. 6 is a flowchart showing an example of steps included in a wireless power feeding method by a wireless power feeding system according to an embodiment. As shown in Fig. 6, step ST6 includes step ST61, step ST62, and step ST63. When the detection unit 52 acquires the second signal, the light beam B from the irradiation unit 4 is irradiated onto at least one of the multiple light sensors 24. In steps ST61 and ST62, the detection unit 52 detects the relative position, which is the position where the light beam B is irradiated with respect to the center portion 23a of the light receiver 23.

[0085] In step ST61, the detection unit 52 detects the irradiation area. The second signal includes information that enables detection of the area in which the optical sensor 24 is located, among the four areas 22d to 22g of the base 22. The detection unit 52 detects the relative position of the irradiation area and the center 23a of the light receiver 23, based on the second signal transmitted from the mobile body control unit 27. The detection unit 52 detects the direction in which to adjust the irradiation position of the light beam B from the irradiation unit 4 relative to the light receiver 23. The adjustment direction is the direction from the irradiation area toward the center 23a of the light receiver 23.

[0086] Subsequently, in step ST62, the detection unit 52 detects the distance to the center 23a of the light receiver 23. The second signal includes information that enables detection of which of the three conductors 25a, 25b, and 25c has the optical sensor 24 wired therein. Based on the second signal transmitted from the mobile object control unit 27, the detection unit 52 detects the relative position between the conductor of the three conductors 25a, 25b, and 25c, on which at least one of the optical sensors 24 that received the light is wired, and the center 23a of the light receiver 23. The detection unit 52 detects the distance by which the irradiation position of the light beam B from the irradiation unit 4 is adjusted relative to the light receiver 23. The distance to be adjusted is the distance from the conductor on which at least one of the optical sensors 24 that received the light is wired to the center 23a of the light receiver 23. Note that steps ST61 and ST62 may be performed simultaneously, or step ST62 may be performed before step ST61.

[0087] Next, in step ST63, the control unit 53 controls at least one of the irradiation of light onto the moving object 2 by the irradiation unit 4 and the movement of the moving object 2, based on the detected position of the moving object 2. The detected position of the moving object 2 includes the relative position between the area of the base 22 where the at least one optical sensor 24 that received the light is located and the central portion 23a of the optical receiver 23, and the relative position between the conductor to which the at least one optical sensor 24 that received the light is wired and the central portion 23a of the optical receiver 23. As the irradiation of the moving object 2 by the irradiation unit 4, the control unit 53 controls at least one of the direction of irradiation of light onto the moving object 2 by the irradiation unit 4 and the intensity of the light. As the movement of the moving object 2, the control unit 53 controls at least one of the movement direction and movement speed of the moving object 2 via the moving object control unit 27.

[0088] In step ST63, the control unit 53 controls at least one of the direction and intensity of light emitted by the irradiation unit 4 toward the moving object 2, based on, for example, the direction detected by the detection unit 52 in step ST61 and the distance detected by the detection unit 52 in step ST62. The control unit 53 controls at least one direction adjustment unit 43 so that the distance from the conductor wiring to which the at least one optical sensor 24 that received the light is wired to the central portion 23a of the optical receiver 23 decreases in the direction from the irradiation region toward the central portion 23a of the optical receiver 23. Note that the control unit 53 may control the light intensity of the light irradiation device 42 to increase as the distance from the irradiation unit 4 to the at least one optical sensor 24 that received the light increases.

[0089] In step ST63, the control unit 53 transmits, for example, the direction detected by the detection unit 52 in step ST61 and the distance detected by the detection unit 52 in step ST62 to the mobile object control unit 27. The mobile object control unit 27 controls the movement direction and movement speed of the mobile object 2, for example, based on the direction detected by the detection unit 52 in step ST61 and the distance detected by the detection unit 52 in step ST62. The control unit 53 controls the propulsion unit 20b of the mobile object 2 in the direction from the irradiation region toward the center 23a of the light receiver 23 so that the distance from the conductor wiring to which the at least one optical sensor 24 that received light is wired to the center 23a of the light receiver 23 decreases. Note that the mobile object control unit 27 may also control the propulsion unit 20b to move the mobile object 2 toward the irradiation unit 4 so that the distance from the irradiation unit 4 to the at least one optical sensor 24 that received light decreases. When step ST63 ends, step ST6 ends.

[0090] Step ST7 will be described in detail below. Fig. 7 is a flowchart showing an example of steps included in the wireless power feeding method by the wireless power feeding system according to the embodiment. As shown in Fig. 7, step ST7 includes step ST71, step ST72, step ST73, step ST74, step ST75, and step ST76. When the detection unit 52 acquires the first signal, the light beam B from the irradiation unit 4 is irradiated onto the light receiver 23.

[0091] In step ST71, the detection unit 52 detects the irradiation position of light on the photoreceiver 23 based on the first signals of each of the four elements 23b to 23e. The detection unit 52 detects the relative position, which is the position where the beam of light B is irradiated with respect to the center portion 23a of the photoreceiver 23. The detection unit 52 detects the irradiation position of light on the photoreceiver 23 based on the third voltage value and the fourth voltage value acquired by the mobile object control unit 27 via the multiple operational amplifiers 28.

[0092] Next, in step ST72, the control unit 53 determines whether the third voltage value is within a predetermined threshold value from 0. If the third voltage value is not within the predetermined threshold value from 0, this indicates that the light beam B is shifted in the positive or negative direction of the X-axis of the photoreceiver 23. If the third voltage value is not within the predetermined threshold value from 0, this indicates that a portion of the light beam B is irradiated outside the photoreceiver 23 in the positive or negative direction of the X-axis. If the detection unit 52 determines that the third voltage value is not within the predetermined threshold value from 0, it detects that the entire light beam B is not within the photoreceiver 23, and the process proceeds to step ST73. If the detection unit 52 determines that the third voltage value is within the predetermined threshold value from 0 in step ST72, it detects that the entire light beam B is within the photoreceiver 23 in the positive or negative direction of the X-axis, and the process proceeds to step ST74.

[0093] In step ST73, the control unit 53 controls at least one of the irradiation of the moving body 2 by the irradiation unit 4 with light and the movement of the moving body 2, based on the detected position of the moving body 2. The detected position of the moving body 2 includes the relative position of at least one of the elements 23b to 23e of the light receiver 23 that received the light and the center part 23a of the light receiver 23.

[0094] In step ST73, the control unit 53 controls at least one of the direction and intensity of light emitted by the irradiation unit 4 to the moving object 2 based on, for example, the third voltage value detected by the detection unit 52 in step ST71. The control unit 53 controls at least one direction adjustment unit 43 so that the third voltage value falls within a predetermined threshold. Note that the control unit 53 may acquire the voltage of the entire photoreceiver 23 and control the light intensity of the light irradiation device 42 to increase as the voltage decreases.

[0095] In step ST73, the control unit 53 transmits, for example, a signal to the moving object control unit 27 to move the moving object 2. The moving object control unit 27 controls the moving direction and moving speed of the moving object 2, for example, based on the third voltage value detected by the detection unit 52 in step ST71. The control unit 53 controls the propulsion unit 20b of the moving object 2 so that the third voltage value falls within a predetermined threshold value. Note that the moving object control unit 27 may also control the propulsion unit 20b to move the moving object 2 toward the irradiation unit 4 so that the distance from the irradiation unit 4 to the light receiver 23 becomes shorter.

[0096] In step ST74, the control unit 53 determines whether the fourth voltage value is within a predetermined threshold value from 0. If the fourth voltage value is not within the predetermined threshold value from 0, this indicates that the light beam B is shifted in the positive or negative direction of the Y axis of the photodetector 23. If the fourth voltage value is not within the predetermined threshold value from 0, this indicates that a portion of the light beam B is irradiated outside the photodetector 23 in the positive or negative direction of the Y axis. If the detection unit 52 determines that the fourth voltage value is not within the predetermined threshold value from 0, it detects that the entire light beam B is not within the photodetector 23, and the process proceeds to step ST75. If the detection unit 52 determines that the fourth voltage value is within the predetermined threshold value from 0 in step ST74, it detects that the entire light beam B is within the photodetector 23 in the positive or negative direction of the Y axis, and the process proceeds to step ST76.

[0097] In step ST75, the control unit 53 controls at least one of the irradiation of the moving body 2 by the irradiation unit 4 with light and the movement of the moving body 2, based on the detected position of the moving body 2. The detected position of the moving body 2 includes the relative position of at least one of the elements 23b to 23e of the light receiver 23 that received the light and the center part 23a of the light receiver 23.

[0098] In step ST75, the control unit 53 controls at least one of the direction and intensity of light emitted by the irradiation unit 4 to the moving object 2, based on, for example, the fourth voltage value detected by the detection unit 52 in step ST71. The control unit 53 controls at least one direction adjustment unit 43 so that the fourth voltage value falls within a predetermined threshold. Note that the control unit 53 may obtain the voltage of the entire photoreceiver 23, and control the light intensity of the light irradiation device 42 so that the smaller the voltage, the higher the light intensity.

[0099] In step ST75, the control unit 53 transmits, for example, a signal to the moving object control unit 27 to move the moving object 2. The moving object control unit 27 controls the moving direction and moving speed of the moving object 2, for example, based on the fourth voltage value detected by the detection unit 52 in step ST71. The control unit 53 controls the propulsion unit 20b of the moving object 2 so that the fourth voltage value falls within a predetermined threshold value. Note that the moving object control unit 27 may also control the propulsion unit 20b to move the moving object 2 toward the irradiation unit 4 so that the distance from the irradiation unit 4 to the light receiver 23 becomes shorter.

[0100] If it is determined in step ST72 that the third voltage value is within the predetermined threshold value, and if it is determined in step ST74 that the fourth voltage value is within the predetermined threshold value, the entire light beam B is within the light receiver 23. As a result, the power source 20a of the moving object 2 is charged based on the light received by the light receiver 23.

[0101] In step ST76, the control unit 53 determines whether or not charging of the mobile object 2 is complete. The control unit 53 acquires the charging status of the power source 20a from the mobile object control unit 27. The control unit 53 determines that charging of the power source 20a of the mobile object 2 is complete when the ratio of the electrical energy stored in the power source 20a to the fully charged state of the power source 20a is equal to or greater than a predetermined ratio. If the control unit 53 determines that charging of the power supply 20a of the moving object 2 is not complete, it executes step ST76 again after a predetermined time has elapsed. If the control unit 53 determines that charging of the power supply 20a of the moving object 2 is complete, it ends step ST76. Until step ST76 ends, charging of the power supply 20a of the moving object 2 is performed based on the light received by the photoreceiver 23. If step ST76 ends, it ends step ST7.

[0102] As described above, in the wireless power feeding system 1, the wireless power feeding device 3, and the wireless power feeding method MT1, the detection unit 52 detects the light irradiation position on the moving object 2 based on the first signal from the light receiver 23, the second signals from the multiple optical sensors 24, and the location information from the location information service. The irradiation control unit 5 controls at least one of the light irradiation on the moving object 2 and the movement of the moving object 2 based on the light irradiation position on the moving object 2, thereby adjusting the light irradiation position on the light receiver 23 of the moving object 2. As a result, the light is irradiated onto the light receiver 23 of the moving object 2, and the moving object 2 is charged by the light. Therefore, the wireless power feeding system 1, the wireless power feeding device 3, and the wireless power feeding method MT1 can appropriately irradiate the moving object 2 with light.

[0103] The illumination control unit 5 moves the moving object 2 within a range where the illumination unit 4 can illuminate with light, based on the position information. For example, even if the light receiver 23 and the multiple optical sensors 24 cannot receive the light from the illumination unit 4, such as when the moving object 2 is significantly outside the range (illumination range R) where the illumination unit 4 can illuminate with light, the acquisition unit 51 can acquire the position information of the moving object 2 based on the reception result of the receiver 21. Then, when the illumination control unit 5 moves the moving object 2 into the range (illumination range R) where the illumination unit 4 can illuminate with light, the detection unit 52 can receive at least one of the first signal and the second signal. Therefore, the illumination control unit 5 can precisely control at least one of the illumination of light onto the moving object 2 and the movement of the moving object 2, based on at least one of the first signal and the second signal.

[0104] The receiver 21 receives signals from multiple satellites via a satellite positioning system, and the acquisition unit 51 acquires position information of the moving object 2 based on the reception results from the receiver's satellite positioning system. The control unit 53 can roughly adjust the irradiation position of light on the moving object 2. This allows the irradiation position of light from the irradiation unit 4 on the moving object 2 to be aligned with the positions of multiple optical sensors 24 arranged around at least the light receiver 23. Because the irradiation position of light from the irradiation unit 4 on the moving object 2 can be roughly adjusted based on the position information before being precisely adjusted based on the first signal and the second signal, the time required to adjust the irradiation position of light on the moving object 2 can be shortened.

[0105] The photoreceiver 23 is disposed in the center 22b of the moving object 2, and the distance between the photoreceiver 24 farthest from the photoreceiver 23 and the photoreceiver 24 is greater than at least the minimum error in the satellite positioning system. Since the position information from the satellite positioning system includes at least the minimum error, it is sufficient that the photoreceiver 23 or the photoreceiver 24 can perform detailed positioning of the light irradiation position of the light irradiated by the irradiator 4 on the moving object 2. Here, since the distance between the photoreceiver 24 farthest from the photoreceiver 23 and the photoreceiver 24 is greater than at least the minimum error in the satellite positioning system, even if the light irradiation position of the irradiator 4 is deviated from the photoreceiver 23 by the minimum error, at least the photodetector 24 can receive the light from the irradiator 4. This allows the irradiation control unit 5 to precisely control at least one of the light irradiation of the moving object 2 and the movement of the moving object 2 based on at least one of the first signal and the second signal.

[0106] The mobile object 2 is divided into three or more regions, and has a base 22 on which a plurality of optical sensors 24 are arranged in each of the three or more regions, and the plurality of optical sensors 24 are connected in series to each region of the base 22. The base 22 is divided into four fan-shaped regions 22d to 22g. The detection unit 52 can detect the region of the base 22 on which the optical sensor 24 that received light from the irradiation unit 4 is arranged. Therefore, the illumination control unit 5 can appropriately detect the direction for adjusting the illumination position of light from the illumination unit 4 with respect to the light receiver 23, and can control at least one of the illumination of light by the illumination unit 4 and the movement of the mobile object 2 in accordance with the detected direction. This allows the illumination control unit 5 to appropriately illuminate the light from the illumination unit 4 onto the light receiver 23.

[0107] The moving object 2 further includes a plurality of frame-shaped conductors 25 arranged at equal intervals in the radial direction around the light receiver 23, and a plurality of optical sensors 24 are connected to each of the plurality of conductors 25. In this case, the detection unit 52 can detect the conductor to which the optical sensor 24 that received the light from the irradiation unit 4 is connected. Therefore, the illumination control unit 5 can appropriately detect the distance from the light receiver 23 at which the illumination position of the illumination unit 4 is adjusted, and control at least one of the illumination of light by the illumination unit 4 and the movement of the moving object 2 in accordance with the detected distance. This allows the illumination control unit 5 to appropriately illuminate the light receiver 23 with the light from the illumination unit 4.

[0108] The light receiver 23 is divided into four parts from the central part 23a of the light receiver 23, and has four elements 23b to 23e having a photoelectric conversion function. The four elements 23b to 23e each output a first signal related to the reception of light, and the detection unit 52 detects the irradiation position of light on the light receiver 23 based on the first signals of the four elements 23b to 23e. In this case, the detection unit 52 detects the irradiation position of light by the irradiation unit 4 on the light receiver 23, and the irradiation control unit 5 can control at least one of the irradiation of light by the irradiator 4 and the movement of the mobile object 2 so that the light from the irradiator 4 is irradiated onto the central part 23a of the light receiver 23. This allows the irradiation control unit 5 to efficiently irradiate the light from the irradiator 4 onto the light receiver 23, and to efficiently charge the mobile object 2.

[0109] [Variations] Although various exemplary embodiments have been described above, the present disclosure is not limited to the above-described exemplary embodiments, and various omissions, substitutions, and modifications may be made. For example, the receiver 21 may not receive signals from multiple satellites of a satellite positioning system. In this case, the receiver 21 may measure the signal strengths of multiple base stations through communication with mobile phone base stations. In this case, the acquisition unit 51 acquires the positions and signal strengths of known base stations. The detection unit 52 detects the position of the mobile object 2 based on the positions and signal strengths of the known base stations. The receiver 21 may also be a geomagnetic sensor capable of measuring geomagnetism. In this case, the acquisition unit 51 acquires the geomagnetism measured by the geomagnetic sensor. The detection unit 52 detects the position of the mobile object 2 based on the geomagnetism measured by the geomagnetic sensor.

[0110] The moving object 2 may be divided into three or more regions, and the base 22 may not include a plurality of optical sensors 24 arranged in each of the three or more regions. In this case, for example, the distance between the plurality of optical sensors 24 may be smaller than the beam diameter of the light beam B from the irradiation unit 4. In this case, when the irradiation unit 4 irradiates light toward the moving object 2 but the light receiver 23 fails to receive the light, at least two optical sensors 24 can receive the light. The detection unit 52 can detect at least two optical sensors 24 that have received the light from the irradiation unit 4. When at least two optical sensors 24 receive the light, the direction of deviation from the center 23a of the light receiver 23 is detected. Therefore, the irradiation control unit 5 can appropriately detect the distance and direction for adjusting the light irradiation position of the irradiation unit 4 relative to the light receiver 23, and can control at least one of the light irradiation by the irradiation unit 4 and the movement of the moving object 2 according to the distance and direction. This allows the irradiation control unit 5 to appropriately irradiate the light receiver 23 with the light from the irradiation unit 4.

[0111] The control unit 53 may have a function of controlling the movement of the moving body in the moving body control unit 27. In this case, the control unit 53 calculates the movement direction and movement speed of the moving body 2 in the X-axis direction, Y-axis direction, and Z-axis direction, and controls the propulsion unit 20b.

[0112] Next, a wireless power feeding method according to a modified example will be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of a wireless power feeding method by a wireless power feeding system according to a modified example. As shown in Fig. 8, the wireless power feeding method MT2 shown in Fig. 8 (hereinafter referred to as "method MT2") differs from method MT1 in that step ST21 of irradiating light is performed before step ST24 of acquiring position information of a moving object.

[0113] The method MT2 may be executed by the wireless power feeding system 1 of the above embodiment. When the wireless power feeding system 1 is used, the method MT2 may be executed in the wireless power feeding system 1 by the control of the moving object 2 and each part of the wireless power feeding device 3 by the control unit 53 of the wireless power feeding device 3. The method MT2 may include steps ST21, ST22, ST23, ST24, ST25, ST26, and ST27. The moving object 2 may be moving before the start of step ST21. Note that before step ST21 is executed, the control unit 53 corrects the coordinate system of the moving object 2 relative to the coordinate system of the irradiation unit 4.

[0114] In step ST21, the control unit 53 causes the irradiation unit 4 to irradiate light. The control unit 53 controls the irradiation unit 4 to irradiate light toward the moving object 2. When it is determined that the moving object 2 has entered the irradiation range R, the control unit 53 causes the irradiation unit 4 to irradiate a beam of light B in a predetermined direction. The determination that the moving object 2 has entered the irradiation range R may be made by visual inspection by an operator or by detection by a detection device (not shown). After executing steps ST24 and ST25, the control unit 53 controls the irradiation unit 4 to irradiate light toward the detection position of the moving object 2.

[0115] Subsequently, in step ST22, the detection unit 52 determines whether or not the first signal has been acquired. If the detection unit 52 determines that the acquisition unit 51 has not received the first signal, it detects that the moving object 2 is not located at a position to acquire the first signal, and the process proceeds to step ST23. In other words, if the detection unit 52 determines that the acquisition unit 51 has not received the first signal, it detects that the light beam B is not irradiated onto the photodetector 23 of the moving object 2, and the process proceeds to step ST23. If the detection unit 52 determines that the acquisition unit 51 has received the first signal, it detects that the moving object 2 is located at a position to acquire the first signal, and the process proceeds to step ST27.

[0116] In step ST23, the detection unit 52 determines whether or not the second signal has been acquired. If the detection unit 52 determines that the acquisition unit 51 has not received the second signal, it detects that the moving object 2 is not located at a position to acquire the first and second signals, and proceeds to step ST24. That is, if the detection unit 52 determines that the acquisition unit 51 has not received the first and second signals, it detects that the light beam B is not irradiating the photodetector 23 and the multiple optical sensors 24 of the moving object 2, and proceeds to step ST24. In this case, the moving object 2 is located outside the irradiation range R, or the moving object 2 is located within the irradiation range R, but the light beam B from the irradiation unit 4 is not irradiating the base 22. If the detection unit 52 determines that the acquisition unit 51 has received the second signal, it detects that the moving object 2 is located at a position to acquire the second signal, and proceeds to step ST26. In other words, when the detection unit 52 determines that the second signal has been received by the acquisition unit 51, it detects that the light beam B is not irradiated to the photodetector 23 of the moving body 2, but is irradiated to at least one of the multiple photo sensors 24, and proceeds to step ST26.

[0117] In step ST24, the acquisition unit 51 acquires the position information of the moving object 2. As a result, the detection unit 52 acquires the detected position of the moving object 2. In step ST24, the same processing as in step ST1 described above is executed.

[0118] In step ST25, the control unit 53 controls the movement of the moving object 2 based on the detected position of the moving object 2. In step ST25, the same processing as in step ST3 described above is executed. When step ST25 is completed, step ST21 and subsequent steps are executed again.

[0119] In step ST26, the control unit 53 controls at least one of the irradiation of the moving object 2 with light by the irradiation unit 4 and the movement of the moving object 2, based on the detected position of the moving object 2 detected based on the second signal. In step ST26, the same processing as in step ST6 described above is executed. When step ST26 is completed, step ST22 and subsequent steps are executed again.

[0120] In step ST27, the control unit 53 controls at least one of the irradiation of the moving object 2 by the irradiation unit 4 with light and the movement of the moving object 2, based on the detected position of the moving object 2 detected based on the first signal. In step ST27, the same processing as in step ST7 described above is executed. When step ST27 is completed, the method MT2 is completed.

[0121] As is clear from methods MT1 and MT2, the order of the steps (ST1 and ST24) of acquiring position information is not limited. Method MT2 may be performed, for example, when it is estimated in advance by another method that the light beam B can be irradiated toward the moving object 2 by the irradiator 4. This allows method MT2 to facilitate the execution of the wireless power feeding method. Method MT1 may be performed, for example, when it is not estimated in advance by another method that the light beam B can be irradiated toward the moving object 2. This allows method MT1 to smoothly set the light irradiation position of the irradiator 4 with respect to the moving object 2.

[0122] Here, various exemplary embodiments included in the present disclosure are described in the following [Embodiment 1] to [Embodiment 10].

[0123] [Form 1] an irradiation unit that irradiates light; a mobile body having a light receiver capable of outputting a first signal related to reception of light when light is irradiated from the irradiating unit, a plurality of light sensors arranged to surround the light receiver and capable of outputting a second signal related to reception of the light, and a receiver capable of receiving a signal from a location information service; an acquisition unit that acquires location information of the moving object based on a reception result of the receiver; a detection unit that detects a position where light is irradiated on the moving object based on at least one of the first signal, the second signal, and the position information; an illumination control unit that controls at least one of the illumination of the moving object by the illumination unit with the light and the movement of the moving object based on the illumination position; Equipped with The moving object is charged based on the light from the irradiating unit received by the light receiver. Wireless power supply system.

[0124] [Form 2] The wireless power supply system according to [Mode 1], wherein the irradiation control unit moves the moving object into a range where light can be irradiated by the irradiation unit based on the position information.

[0125] [Form 3] the receiver receives signals from a plurality of satellites according to a satellite positioning system; The wireless power supply system according to [Mode 1] or [Mode 2], wherein the acquisition unit acquires the position information of the moving object based on a reception result of the satellite positioning system of the receiver.

[0126] [Form 4] The wireless power supply system according to [Mode 3], wherein the distance between the optical receiver and the optical sensor among the plurality of optical sensors that is farthest from the optical receiver is greater than at least the minimum error in the satellite positioning system.

[0127] [Form 5] the moving body further includes a base that is divided into three or more regions, and the plurality of optical sensors are arranged in each of the three or more regions; The wireless power supply system according to any one of [Mode 1] to [Mode 4], wherein the plurality of optical sensors are connected in series to each region of the base.

[0128] [Form 6] the movable body further includes a plurality of frame-shaped conductors arranged at predetermined distances in a radial direction around the light receiver, The wireless power supply system according to any one of [Mode 1] to [Mode 5], wherein a plurality of optical sensors are connected to the plurality of conductors, respectively.

[0129] [Form 7] The wireless power supply system according to any one of [Mode 1] to [Mode 6], wherein the distance between the plurality of optical sensors is smaller than the beam diameter of the light from the irradiation unit.

[0130] [Form 8] the photodetector is divided into four or more regions from the center of the photodetector, and has four or more elements each having a photoelectric conversion function and disposed in each of the four or more regions; the four or more elements each output a first signal related to reception of the light; The wireless power feeding system according to any one of [Mode 1] to [Mode 7], wherein the detection unit detects a position where light is irradiated onto the light receiver based on the first signals of the four or more elements.

[0131] [Form 9] an irradiation unit that irradiates light; an acquisition unit that acquires location information of a mobile body based on a reception result of a receiver of the mobile body that can receive a signal from a location information service; a detection unit that detects a detection position of the moving body based on at least one of a first signal related to reception of light output from a light receiver of the moving body when light is irradiated from the irradiation unit, a second signal related to reception of light output from a plurality of light sensors of the moving body arranged to surround the light receiver, and the position information; an illumination control unit that controls at least one of the illumination of the moving object by the illumination unit and the movement of the moving object based on the detected position of the moving object; Equipped with The moving object is charged based on the light from the irradiating unit received by the light receiver. Wireless power supply device.

[0132] [Form 10] acquiring location information of the mobile unit based on a reception result of the mobile unit's receiver capable of receiving a signal from the location information service; Irradiating with light; acquiring a first signal relating to reception of the light output from the moving body when a light receiver of the moving body receives the light, and a second signal relating to reception of the light output from the moving body when a plurality of light sensors of the moving body arranged to surround the light receiver receive the light; detecting a detected position of the moving object based on at least one of the first signal, the second signal, and the position information; controlling at least one of the irradiation of the moving object with light and the movement of the moving object based on the detected position of the moving object; charging the mobile object based on the light received by the light receiver; A wireless power supply method comprising: [Explanation of symbols]

[0133] 1...wireless power supply system, 2...mobile body, 3...wireless power supply device, 4...irradiation unit, 5...irradiation control unit, 20...main body, 20a...power source, 20b...propulsion unit, 21...receiver, 22...base, 22d, 22e, 22f, 22g...area, 23...photodetector, 23a...center, 23b, 23c, 23d, 23e...element, 24...optical sensor, 25...conductor, 26...orientation detection unit, 27...mobile body control unit, 28...operational amplifier, 51...acquisition unit, 52...detection unit, 53...control unit, MT1, MT2...wireless power supply method.

Claims

1. an irradiation unit that irradiates light; a mobile body including a light receiver capable of outputting a first signal related to reception of light when light is irradiated from the irradiating unit, a plurality of light sensors arranged to surround the light receiver and capable of outputting a second signal related to reception of the light, and a receiver capable of receiving a signal from a location information service; an acquisition unit that acquires location information of the moving object based on a reception result of the receiver; a detection unit that detects a position where light is irradiated on the moving object based on at least one of the first signal, the second signal, and the position information; an illumination control unit that controls at least one of the illumination of the moving object by the illumination unit with the light and the movement of the moving object based on the illumination position; Equipped with The moving object is charged based on the light from the irradiating unit received by the light receiver. Wireless power supply system.

2. The wireless power supply system according to claim 1 , wherein the irradiation control unit moves the moving object within a range in which the irradiation unit can irradiate light, based on the position information.

3. the receiver receives signals from a plurality of satellites according to a satellite positioning system; The wireless power supply system according to claim 1 , wherein the acquisition unit acquires the position information of the moving object based on a reception result of the satellite positioning system of the receiver.

4. The wireless power feeding system according to claim 3 , wherein a distance between the optical receiver and the optical sensor farthest from the optical receiver among the plurality of optical sensors is greater than at least a minimum error in the satellite positioning system.

5. the moving body further includes a base that is divided into three or more regions, and the plurality of optical sensors are arranged in each of the three or more regions; The wireless power supply system according to claim 1 , wherein the plurality of optical sensors are connected in series to each of the regions of the base.

6. the movable body further includes a plurality of frame-shaped conductors arranged at predetermined distances in a radial direction around the light receiver, The wireless power supply system according to claim 1 or 2, wherein a plurality of optical sensors are connected to the plurality of conductors, respectively.

7. The wireless power supply system according to claim 1 , wherein a distance between the plurality of optical sensors is smaller than a beam diameter of the light from the irradiation unit.

8. the photodetector is divided into four or more regions from a center of the photodetector, and has four or more elements each having a photoelectric conversion function and disposed in each of the four or more regions; the four or more elements each output a first signal related to reception of the light; The wireless power feeding system according to claim 1 , wherein the detector detects a position of the light receiver irradiated with light based on the first signals of the four or more elements.

9. an irradiation unit that irradiates light; an acquisition unit that acquires location information of a mobile body based on a reception result of a receiver of the mobile body that can receive a signal from a location information service; a detection unit that detects a detected position of the moving body based on at least one of a first signal related to reception of light output from a light receiver of the moving body when light is irradiated from the irradiation unit, a second signal related to reception of light output from a plurality of light sensors of the moving body arranged to surround the light receiver, and the position information; an illumination control unit that controls at least one of the illumination of the moving object by the illumination unit and the movement of the moving object based on the detected position of the moving object; Equipped with The moving object is charged based on the light from the irradiating unit received by the light receiver. Wireless power supply device.

10. acquiring location information of the mobile unit based on a reception result of the mobile unit's receiver capable of receiving a signal from the location information service; Irradiating with light; acquiring a first signal relating to reception of the light output from the moving body when the light receiver of the moving body receives the light, and a second signal relating to reception of the light output from the moving body when a plurality of light sensors of the moving body arranged to surround the light receiver receive the light; detecting a detected position of the moving object based on at least one of the first signal, the second signal, and the position information; controlling at least one of the irradiation of the moving object with light and the movement of the moving object based on the detected position of the moving object; charging the mobile object based on the light received by the light receiver; A wireless power supply method comprising:

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