Power transmission device

Abstract

To provide a power transmission device capable of reducing a workload of arranging the power transmission device.SOLUTION: A power transmission device 10 comprises: a power transmission coil Ls; electric circuits 11 and 12 for supplying AC power to the power transmission coil; a first power transmission unit 20A for housing the power transmission coil; and a second power transmission unit 20B for housing the electric circuit. The first power transmission unit and the second power transmission unit are arranged adjacent to each other on an arrangement surface RS, thereby electrically connecting the power transmission coil and the electric circuit.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a power transmitting device. [Background technology]

[0002] Conventionally, there is a device for contactlessly supplying power to an automatic guided vehicle (for example, Patent Document 1). The power transmission coil of this device is embedded in the floor material of the travel path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-236539 Summary of the Invention [Problem to be solved by the invention]

[0004] When replacing an existing flooring material with a flooring material having a power transmission coil embedded therein, the existing flooring material may have to be removed, which may require time and effort. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] According to one embodiment of the present disclosure, there is provided a power transmission device (10) that wirelessly supplies power to a moving object (VE) having a power receiving coil (Lr). The power transmission device includes a power transmission coil (Ls), an electric circuit (11, 12) for supplying AC power to the power transmission coil, a first power transmission unit (20A) that houses the power transmission coil, and a second power transmission unit (20B) that houses the electric circuit, and the first power transmission unit and the second power transmission unit are arranged adjacent to each other on an arrangement surface (RS), thereby electrically connecting the power transmission coil and the electric circuit.

[0007] According to this embodiment, the first power transmission unit and the second power transmission unit can be placed on the placement surface. Furthermore, since the power transmission device is divided into the first power transmission unit and the second power transmission unit, the first power transmission unit and the second power transmission unit, which are lighter than the power transmission device, can be carried separately. This reduces the workload involved in placing the power transmission device. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a contactless power supply system. [Figure 2] FIG. 1 is a plan view showing the layout of a warehouse. [Figure 3] FIG. [Figure 4] FIG. 1 is a circuit diagram of a contactless power supply system. [Figure 5] FIG. 2 is a perspective view showing the structure of a power transmission device. [Figure 6] FIG. 2 is a cross-sectional view schematically showing a cross section of a power transmission device. [Figure 7] FIG. [Figure 8] FIG. 10 is a circuit diagram of a power transmitting device according to a second embodiment. [Figure 9] FIG. 10 is a plan view schematically illustrating the structure of a power transmitting device according to a second embodiment. [Figure 10] FIG. 10 is a perspective view of a unit connection portion of the second embodiment. [Figure 11] FIG. 10 is a plan view schematically illustrating the structure of a power transmitting device according to a third embodiment. [Figure 12] FIG. 10 is a plan view schematically illustrating the structure of a power transmitting device according to a fourth embodiment. [Figure 13] FIG. 10 is a plan view schematically illustrating the structure of a power transmitting device according to a fifth embodiment. [Figure 14] FIG. 13 is a side view of a power transmission device according to a sixth embodiment. [Figure 15] FIG. 10 is a circuit diagram of another embodiment of the power transmitting resonant circuit. DETAILED DESCRIPTION OF THE INVENTION

[0009] A. First embodiment: A1. Overview of the wireless power transfer system: As shown in FIG. 1, the contactless power transfer system 1 includes a management device 3, a power transmission device 10, and a power receiving device 80. The power transmission device 10 supplies power to the power receiving device 80 contactlessly. In this embodiment, the contactless power transfer system 1 is placed in a warehouse. The power transmission device 10 is placed on a floor RS, which is the layout surface of the warehouse. The power receiving device 80 is mounted on an automatic guided vehicle VE, which is a mobile body that travels on the floor RS. The automatic guided vehicle VE is an automatic guided vehicle (AGV) that transports a load LO. The automatic guided vehicle VE travels according to instructions from the management device 3.

[0010] As shown in Fig. 2, the warehouse is provided with a load placement area AE1 and a work area AE2. The load placement area AE1 is an area where loads LO are arranged. The work area AE2 is an area where an automated guided vehicle VE carrying a load LO stops so that a worker OP can work there. The automated guided vehicle VE travels along a predetermined travel route RO.

[0011] As shown in FIG. 1, the load LO has a shelf and cargo stored on the shelf. The automated guided vehicle VE transports the target load LO and stops at the working area AE2. The worker OP removes the target cargo from the load LO stopped in the working area AE2. Alternatively, the worker OP stores the target cargo in the load LO stopped in the working area AE2. The automated guided vehicle VE then moves to the load placement area AE1.

[0012] The power transmitting coil Ls is arranged along the movement route RO. In this embodiment, the power transmitting coil Ls is arranged in the working area AE2. Therefore, it is possible to wirelessly supply power from the power transmitting device 10 to the power receiving device 80 by utilizing the period when the worker OP is working to take out or put away luggage.

[0013] As shown in FIG. 1, the automated guided vehicle VE travels along a plurality of position markers MK arranged on a floor surface RS. In this embodiment, the position markers MK are visible marks. For example, a two-dimensional code can be used as the position markers MK. The position markers MK include coordinate information.

[0014] As shown in FIG. 3, the automated guided vehicle VE includes multiple wheels 90, an opening 94, and a marker sensor 95. The directions shown in FIG. 3 are based on the automated guided vehicle VE. The multiple wheels 90 include a pair of drive wheels 92 and a pair of steering wheels 93. The pair of drive wheels 92 are located at the center of the automated guided vehicle VE in the longitudinal direction and at each of the left and right ends. The pair of drive wheels 92 rotate by a driving force transmitted from a motor generator (not shown). This causes the automated guided vehicle VE to move forward or backward. The pair of drive wheels 92 and the pair of steering wheels 93 are driven according to commands from a control circuit 86 (described later). The pair of steering wheels 93 are located at each of the longitudinal ends of the automated guided vehicle VE. The pair of steering wheels 93 are also located point-symmetrically with respect to the center of the automated guided vehicle VE. When the automated guided vehicle VE turns, a difference in rotation speed is generated between the pair of drive wheels 92. Furthermore, when the automatic guided vehicle VE turns, the two drive wheels 92 of the pair of drive wheels 92 are rotated in different directions.

[0015] The opening 94 is disposed in the center of the bottom surface of the automatic guided vehicle VE. The marker sensor 95 is disposed in the center of the opening 94. The marker sensor 95 includes a camera. The marker sensor 95 captures an image of the position marker MK and acquires information contained in the position marker MK.

[0016] A2. Electrical configuration of the wireless power transfer system: 4, the power transmitting device 10 includes, in addition to the power transmitting coil Ls, a power supply circuit 11 as an electric circuit and a power transmitting circuit 12 as an electric circuit. The power supply circuit 11 and the power transmitting circuit 12 are circuits for supplying AC power to the power transmitting coil Ls.

[0017] The power supply circuit 11 has an AC / DC converter 14 and an inverter 15. The AC / DC converter 14 converts commercial power supplied from the power supply system GP into a DC voltage of a desired voltage. The inverter 15 converts the DC voltage supplied from the AC / DC converter 14 into an AC voltage of an operating frequency. The power supply circuit 11 is controlled by a control circuit 16, which will be described later.

[0018] The power transmitting circuit 12 includes a power transmitting resonant capacitor Cs as a resonant capacitor, a first switch SW1, a control circuit 16, and a communication unit 17. The power transmitting resonant capacitor Cs is electrically connected to the power transmitting coil Ls. The power transmitting resonant capacitor Cs includes a first power transmitting capacitor Cs1 and a second power transmitting capacitor Cs2. The power transmitting resonant capacitor Cs has a capacitance that is changeable between a first capacitance value and a second capacitance value that is larger than the first capacitance value. The capacitance value of the first power transmitting capacitor Cs1 is larger than the capacitance value of the second power transmitting capacitor Cs2. The first switch SW1, the first power transmitting capacitor Cs1, and the power transmitting coil Ls are connected in series in this order. The second power transmitting capacitor Cs2 is connected in parallel to the connection between the first switch SW1 and the first power transmitting capacitor Cs1.

[0019] The first switch SW1 is a bidirectional switch in which the source electrodes of two transistors are connected. A switching signal Sig1 is input to the first switch SW1 from the control circuit 16. When a high-level switching signal Sig1 is input to the first switch SW1, the first switch SW1 enters a conductive state, causing a current to flow through the first power transmitting capacitor Cs1. The combined capacitance of the first power transmitting capacitor Cs1 and the second power transmitting capacitor Cs2 and the inductance of the power transmitting coil Ls are set to values that create a resonance state at the operating frequency. When the first switch SW1 enters a conductive state, the first power transmitting capacitor Cs1, the second power transmitting capacitor Cs2, and the power transmitting coil Ls form a power transmitting resonant circuit 13, which is a series resonant circuit. When a low-level switching signal Sig1 is input to the first switch SW1, the first switch SW1 enters a non-conductive state, causing the first power transmitting capacitor Cs1 to enter a non-conductive state. The resonant frequency of the resonant circuit formed by the second power transmitting capacitor Cs2 and the power transmitting coil Ls in the conductive state deviates from the operating frequency. Furthermore, since the capacitance value of the second power transmitting capacitor Cs2 is smaller than the capacitance value of the first power transmitting capacitor Cs1, when the first switch SW1 is in the non-conductive state, the impedance of the power transmitting circuit 12 with respect to the input AC power increases, and the current flowing through the power transmitting resonant circuit 13 is suppressed. Note that the above-mentioned first capacitance value is the capacitance value of the power transmitting resonant capacitor Cs when the first switch SW1 is in the non-conductive state. The above-mentioned second capacitance value is the capacitance value of the power transmitting resonant capacitor Cs when the first switch SW1 is in the conductive state.

[0020] The communication unit 17 is communicably connected to the control circuit 16. The communication unit 17 has an antenna for wireless communication (not shown), and performs wireless communication with a communication unit 87 of the power receiving device 80 (described later).

[0021] The power receiving device 80 includes a power receiving circuit 82 in addition to the power receiving coil Lr and marker sensor 95. The power receiving circuit 82 includes a power receiving capacitor Cr, a rectifier circuit 84, a battery 85, a control circuit 86, and a communication unit 87. The power receiving capacitor Cr is connected in series with the power receiving coil Lr. The power receiving coil Lr and the power receiving capacitor Cr form a power receiving resonant circuit 83, which is a series resonant circuit. The rectifier circuit 84 rectifies the AC power received by the power receiving resonant circuit 83 and supplies the rectified DC power to a battery 85. The battery 85 stores the supplied power. Power is supplied from the battery 85 to the motor generator.

[0022] The communication unit 87 and the marker sensor 95 are each connected to the control circuit 86 so as to be able to communicate with each other. The communication unit 87 has an antenna for wireless communication (not shown), and performs wireless communication with the communication unit 17 of the power transmitting device 10 and the management device 3.

[0023] When AC power is supplied to the power transmitting coil Ls, magnetic field resonance between the power transmitting coil Ls and the power receiving coil Lr causes power to be contactlessly supplied to the power receiving device 80. As described above, the AC power output from the power receiving resonance circuit 83 is rectified by the rectifier circuit 84 and supplied to the battery 85.

[0024] The control circuit 16 sets the power transmitting coil Ls to either a standby state or a power feeding state. Specifically, the standby state is a state in which the first switch SW1 is set to a non-conductive state, thereby setting the power transmitting resonant circuit 13 to a non-resonant state. In contrast, the power feeding state is a state in which the first switch SW1 is set to a conductive state, thereby setting the power transmitting resonant circuit 13 to a resonant state, and a current for feeding power flows to the power transmitting coil Ls. In the power feeding state, the current flowing through the power transmitting coil Ls is larger than the current flowing through the power transmitting coil Ls in the standby state.

[0025] In this embodiment, when the automatic guided vehicle VE is located in an area other than the working area AE2, the power transmitting device 10 sets the power transmitting coil Ls to a standby state. Then, when the automatic guided vehicle VE is located in the working area AE2, the power transmitting coil Ls is set to a power supply state. This allows the power transmitting device 10 to save power.

[0026] The management device 3 commands the target automated guided vehicle VE to move to the working area AE2. When commanded by the management device 3, the automated guided vehicle VE detects the position marker MK with the marker sensor 95 and moves to the working area AE2 along the movement route RO specified by the management device 3. When the automated guided vehicle VE enters the working area AE2, the power receiving device 80 transmits a signal to the power transmitting device 10 instructing it to start power transmission. When the power transmitting device 10 receives the signal instructing it to start power transmission, it switches the power transmitting resonant circuit 13 from a standby state to a power supplying state. As a result, power is supplied to the power receiving device 80 wirelessly.

[0027] When the worker OP finishes the work, the management device 3 commands the power receiving device 80 to move to the load placement area AE1. When commanded by the management device 3, the power receiving device 80 transmits a signal to the power transmitting device 10 instructing it to end power transmission. When the power transmitting device 10 receives the signal instructing it to end power transmission, it switches the power transmitting resonant circuit 13 from a power supply state to a standby state. The automated guided vehicle VE moves to the load placement area AE1 along the movement route RO specified by the management device 3 by detecting the position marker MK with the marker sensor 95.

[0028] The conditions for the power transmitter resonant circuit 13 to switch between the standby state and the power supply state are not limited to those described above. In another embodiment, the power transmitter resonant circuit 13 may switch from the standby state to the power supply state without communicating with the management device 3, on the condition that the power transmitter 10 detects that the power receiver 80 is located within a range where wireless power supply is possible. Specifically, when the power receiver coil Lr, which generates magnetic flux, approaches the power transmitter coil Ls and enters the range where wireless power supply is possible, the magnetic flux interlinked with the power transmitter coil Ls increases. Therefore, the power transmitter resonant circuit 13 may switch from the standby state to the power supply state by detecting a change in the magnitude of the magnetic flux interlinked with the power transmitter coil Ls. The power transmitter 10 may also include a separate magnetic flux detection coil, instead of the power transmitter coil Ls, to detect the change in the magnitude of the magnetic flux. The change in the magnitude of the magnetic flux can be detected as a change in voltage or current.

[0029] A3. Power transmission device structure: As shown in FIG. 5, the power transmission device 10 includes, in addition to the above configuration, a first power transmission unit 20A, two second power transmission units 20B, a third power transmission unit 20C, and four inclined portions 21. FIG. 5 also shows arrows indicating mutually orthogonal X, Y, and Z directions. The X and Y directions are parallel to the horizontal plane, and the Z direction is a vertically upward direction. The arrows indicating the X, Y, and Z directions are also shown in other figures as appropriate so that the illustrated directions correspond to those in FIG. 5. In the following description, when specifying the direction, positive and negative signs are used to indicate the direction indicated by the arrow in each figure, with "+" indicating the direction indicated by the arrow and "-" indicating the opposite direction. Hereinafter, the +Z direction will also be referred to as "up" and the -Z direction as "down."

[0030] The first power transmitting unit 20A and the second power transmitting unit 20B differ in the electrical circuits they accommodate. Specifically, the first power transmitting unit 20A accommodates a power transmitting coil Ls. The second power transmitting unit 20B accommodates an electrical circuit for supplying AC power to the power transmitting coil Ls. One of the two second power transmitting units 20B accommodates a power transmitting circuit 12 as an electrical circuit. The other of the two second power transmitting units 20B accommodates a power supply circuit 11 as an electrical circuit. The first power transmitting unit 20A and the second power transmitting unit 20B are disposed adjacent to each other on the floor surface RS, thereby electrically connecting the power transmitting coil Ls to the power supply circuit 11 and the power transmitting circuit 12. The third power transmitting unit 20C differs from both the first power transmitting unit 20A and the second power transmitting unit 20B in that it does not have a built-in electrical circuit. In the following description, when there is no need to distinguish between the first power transmission unit 20A, the second power transmission unit 20B, and the third power transmission unit 20C, they will simply be referred to as "power transmission units 20."

[0031] The first power transmitting unit 20A, the second power transmitting unit 20B, and the third power transmitting unit 20C each have a square shape in a planar view. The length of the square is set in units of a predetermined reference length. In this embodiment, the outer shape of each of the first power transmitting unit 20A, the second power transmitting unit 20B, and the third power transmitting unit 20C is one of four rectangular parallelepipeds obtained by dividing a rectangular parallelepiped into four equal parts. In this embodiment, the shape of the power transmitting unit 20 in a planar view from the Z direction is a square. In other words, the reference length is the length of one side of the square. The first power transmitting unit 20A, two second power transmitting units 20B, and the third power transmitting unit 20C are arranged in a matrix of two columns and two rows to form a rectangular parallelepiped structure. In this embodiment, the size of the power transmitting unit 20 in a planar view, i.e., the length of one side of the square, is approximately 500 mm. The weight of the first power transmitting unit 20A is approximately 20 kg.

[0032] Two inclined portions 21 are arranged adjacent to each other at both ends in the Y direction of the structure formed by the first power transmission unit 20A, the two second power transmission units 20B, and the third power transmission unit 20C. The inclined portions 21 are inclined so as to connect a first unit housing underside 31A (described later) or a second unit housing underside 31B (described later) of the power transmission unit 20 to the floor surface RS. Therefore, the automated guided vehicle VE can travel on the inclined portions 21 and reach above the power transmission units 20. Furthermore, because the power transmission device 10 is divided into multiple power transmission units 20, the weight of each power transmission unit 20 can be prevented from becoming excessively heavy. This makes the power transmission device 10 easier to transport.

[0033] As shown in FIG. 6, the first power transmission unit 20A has a first unit housing 30A, a first unit connection part 22A, and a first unit wiring 25A. The first unit connection part 22A is disposed in the first unit housing 30A and receives AC power. The first unit wiring 25A electrically connects the power transmission coil Ls to the first unit connection part 22A. The second power transmission unit 20B has a second unit housing 30B, a second unit connection part 22B, and a second unit wiring 25B. The second unit connection part 22B is disposed in the second unit housing 30B and is electrically connected to the first unit connection part 22A to receive AC power. The second unit wiring 25B electrically connects the power supply circuit to the second unit connection part 22B. In the following description, when there is no need to distinguish between the first unit connection part 22A and the second unit connection part 22B, they will be simply referred to as the "unit connection part 22."

[0034] As shown in FIG. 6, the first unit housing 30A of the first power transmission unit 20A has a first unit housing bottom surface 31A, a first unit housing top surface 32A, and a first unit housing side surface 34A. The first unit housing bottom surface 31A is disposed along the floor surface RS. The first unit housing top surface 32A is disposed above the first unit housing bottom surface 31A. The first unit housing top surface 32A supports the automated guided vehicle VE. Specifically, the automated guided vehicle VE travels on the first unit housing top surface 32A. The first unit housing side surface 34A connects the first unit housing bottom surface 31A and the first unit housing top surface 32A.

[0035] The second unit housing 30B of the second power transmission unit 20B has a second unit housing bottom surface 31B, a second unit housing top surface 32B, and a second unit housing side surface 34B. The second unit housing bottom surface 31B is disposed along the floor surface RS. The second unit housing top surface 32B is disposed above the second unit housing bottom surface 31B. The second unit housing top surface 32B supports the automatic guided vehicle VE. Specifically, the automatic guided vehicle VE travels on the second unit housing top surface 32B. The second unit housing side surface 34B connects the second unit housing bottom surface 31B and the second unit housing top surface 32B.

[0036] Next, the structure of the unit connection portion 22 will be described. As shown in Fig. 5, the connection points of the two unit connection portions 22 include the connection point between the first unit connection portion 22A and the second unit connection portion 22B, and the connection point between the second unit connection portion 22B and the second unit connection portion 22B. Figs. 6 and 7 will describe the connection point between the first unit connection portion 22A and the second unit connection portion 22B.

[0037] 7, the first unit connection portion 22A is disposed on the first unit housing side surface 34A. The second unit connection portion 22B is disposed on the second unit housing side surface 34B. Therefore, when the first unit housing 30A and the second unit housing 30B are disposed adjacent to each other, the first unit connection portion 22A and the second unit connection portion 22B can be electrically connected.

[0038] The first unit connection portion 22A has a first unit cover portion 23A and a first unit terminal 24A. The second unit connection portion 22B has a second unit cover portion 23B, a second unit terminal 24B, and a second unit opening 26B. The two second unit terminals 24B are arranged opposite each other in the Z direction, with the opening 94 in between.

[0039] 6, the first unit terminal 24A is electrically connected to the first unit wiring 25A. The second unit terminal 24B is electrically connected to the second unit wiring 25B. The first unit terminal 24A is a terminal to which AC power is input. The second unit terminal 24B is a terminal that outputs AC power.

[0040] As shown in FIG. 7, the first unit terminal 24A protrudes outward from the first unit housing side surface 34A. The first unit terminal 24A has a shape that allows it to be inserted into the second unit opening 26B. When the first unit terminal 24A is inserted into the second unit opening 26B, the two second unit connection portions 22B and the first unit connection portion 22A come into contact and are electrically connected. When the first unit connection portion 22A and the second unit connection portion 22B are connected, the first unit terminal 24A and the second unit terminal 24B face each other in the Z direction, i.e., vertically. This allows good contact between the first unit terminal 24A and the second unit terminal 24B to be maintained even when a vertical external force is applied, for example, due to the automatic guided vehicle VE traveling.

[0041] In the connection between the second power transmission units 20B and 20B, the first-stage second power transmission unit 20B has a shape similar to the second unit connection part 22B shown in FIG. 7, and the second-stage second power transmission unit 20B has a shape similar to the first unit connection part 22A shown in FIG. 7. Specifically, at the connection point between the second power transmission unit 20B accommodating the power supply circuit 11 and the second power transmission unit 20B accommodating the power transmission circuit 12, the second power transmission unit 20B accommodating the power supply circuit 11 has a shape similar to the second unit connection part 22B shown in FIG. 7. The second power transmission unit 20B accommodating the power supply circuit 11 has a shape similar to the first unit connection part 22A shown in FIG. 7. In addition, FIG. 7 shows only two electrode terminals for transmitting AC power. In addition to these two electrode terminals, each of the first unit connection part 22A and the second unit connection part 22B also has a terminal for transmitting signals such as the switching signal Sig1.

[0042] As described above, the second unit terminal 24B is covered by the second unit cover portion 23B. When connecting the second power transmission unit 20B to the second power transmission unit 20B, the preceding second power transmission unit 20B has a shape similar to the second unit connection portion 22B shown in FIG. 7. This makes it less likely for an operator to make an erroneous operation when connecting the first power transmission unit 20A to the second power transmission unit 20B or when connecting the second power transmission unit 20B to the second power transmission unit 20B, and makes it less likely for an operator to come into contact with the second unit terminal 24B, to which AC power may be applied. This improves safety during the installation of the power transmission device 10.

[0043] According to the first embodiment described above, the power transmission device 10 includes a first power transmission unit 20A and a second power transmission unit 20B. The first power transmission unit 20A houses a power transmission coil Ls. The second power transmission unit 20B houses either a power supply circuit 11 or a power transmission circuit 12. The first power transmission unit 20A and the second power transmission unit 20B are arranged adjacent to each other on a floor surface RS, thereby electrically connecting the power transmission coil Ls, the power supply circuit 11, and the power transmission circuit 12. This allows the first power transmission unit 20A and the second power transmission unit 20B to be arranged on the floor surface RS. Furthermore, because the power transmission device 10 is divided into the first power transmission unit 20A and the second power transmission unit 20B, the first power transmission unit 20A and the second power transmission unit 20B, which are lighter than the power transmission device 10, can be transported. This reduces the workload involved in installing the power transmission device 10.

[0044] The first power transmission unit 20A has a first unit housing 30A, a first unit terminal 24A, and a first unit wiring 25A. The second power transmission unit 20B has a second unit housing 30B, a second unit terminal 24B, and a second unit wiring 25B. The first unit terminal 24A is disposed in the first unit housing 30A. The second unit terminal 24B is disposed in the second unit housing 30B. This allows for easy electrical connection between the first unit terminal 24A and the second unit terminal 24B.

[0045] The first unit housing 30A has a first unit housing bottom surface 31A, a first unit housing top surface 32A, and a first unit housing side surface 34A. The second unit housing 30B has a second unit housing bottom surface 31B, a second unit housing top surface 32B, and a second unit housing side surface 34B. The first unit terminal 24A is arranged on the first unit housing side surface 34A. The second unit terminal 24B is arranged on the second unit housing side surface 34B. Therefore, by arranging the first unit housing 30A and the second unit housing 30B adjacent to each other, the first unit terminal 24A and the second unit terminal 24B can be electrically connected. The first unit housing 30A and the second unit housing 30B can be arranged compactly.

[0046] Furthermore, when first unit connection portion 22A and second unit connection portion 22B are connected, first unit terminal 24A and second unit terminal 24B face each other in the vertical direction, which allows good contact between first unit terminal 24A and second unit terminal 24B to be maintained even when a vertical external force is applied to the connection between first unit connection portion 22A and second unit connection portion 22B.

[0047] Furthermore, the power transmitting resonant capacitor Cs includes a first power transmitting capacitor Cs1 and a second power transmitting capacitor Cs2. The control circuit 16 switches the capacitance of the power transmitting resonant capacitor Cs between a first capacitance and a second capacitance, thereby switching the state of the power transmitting coil Ls between a power feeding state and a standby state. This allows the state of the power transmitting coil Ls to be switched by changing the capacitance of the power transmitting resonant capacitor Cs.

[0048] The power transmission device 10 also includes two second power transmission units 20B. One of the two second power transmission units 20B houses a power supply circuit 11, and the other houses a power transmission circuit 12 including a power transmission resonant capacitor Cs. The first power transmission unit 20A and the two second power transmission units 20B each have a square shape in a plan view, and the length of one side is set to a length measured in units of a reference length. This allows the layout of the first power transmission unit 20A and the second power transmission units 20B to be freely changed depending on the installation location of the power transmission device 10. For example, as a layout different from the layout shown in FIG. 5, the first power transmission unit 20A and the two second power transmission units 20B can be arranged in a row. In this way, using a common first power transmission unit 20A and a common second power transmission unit 20B, power transmission devices 10 having different shapes and sizes in a plan view can be assembled depending on the installation location. In the first power transmission unit 20A, the position of the first unit connection portion 22A in the first unit housing 30A can be easily changed according to the layout. The same applies to the second power transmission unit 20B.

[0049] Furthermore, the first power transmission unit 20A and the two second power transmission units 20B have the same size in a planar view. Therefore, the first power transmission unit 20A and the second power transmission units 20B can be arranged in a matrix. Furthermore, the size in a planar view of the third power transmission unit 20C is the same as the size in a planar view of the first power transmission unit 20A and the size in a planar view of the second power transmission unit 20B. As a result, even if a structure of a desired shape cannot be formed by combining the first power transmission unit 20A and the second power transmission unit 20B, a structure of a desired shape can be formed by further combining the third power transmission unit 20C. In this embodiment, the structure of a desired shape is a rectangular parallelepiped. The desired shape refers to a shape that allows the automated guided vehicle VE to travel in a desired posture and does not interfere with travel. The desired posture, for example, refers to a posture that does not tilt excessively. The shape that does not interfere with travel refers to a shape that does not interfere with travel due to interference, for example. By forming a structure of a desired shape, a single plane without unnecessary steps can be formed by the upper surfaces of the housings of the multiple power transmission units 20. This makes it possible to provide an environment in which the automated guided vehicle VE can travel and people can walk smoothly.

[0050] B. Second embodiment: The main difference between the power transmitting device 210 of this embodiment and the power transmitting device 10 of the first embodiment is that the power transmitting device 210 includes two power transmitting resonant circuits 13. The differences from the first embodiment will be described, and the same configurations and processing steps as those of the above embodiment will be assigned the same reference numerals, and detailed description will be omitted as appropriate.

[0051] 8, the power transmitting device 210 includes two power transmitting resonant circuits 13. To distinguish between the two power transmitting resonant circuits 13, one is referred to as a first power transmitting resonant circuit 13A and the other is referred to as a second power transmitting resonant circuit 13B. The first power transmitting resonant circuit 13A and the second power transmitting resonant circuit 13B are the same as the power transmitting resonant circuit 13 of the first embodiment, and therefore a description thereof will be omitted.

[0052] The first power transmitter resonant circuit 13A and the second power transmitter resonant circuit 13B are connected in parallel to the power supply circuit 11. In this embodiment, the first power transmitter resonant circuit 13A and the second power transmitter resonant circuit 13B are set to a power supply state at the same time. This allows power to be supplied to two automatic guided vehicles VE at the same time.

[0053] In the first embodiment, the positions of the electrical components that make up the power transmission circuit 12 are fixed relative to one another, and the power transmission circuit 12 is housed as a unit in the second unit housing 30B. Specifically, the power transmission circuit 12 is formed on a board (not shown), and this board is housed in the second unit housing 30B. In contrast, in the present embodiment, as shown in FIG. 9, the multiple electrical components that make up the power transmission circuit 12 are arranged individually. In the present embodiment, the multiple electrical components are arranged so as not to overlap each other in the Z direction. This allows the thickness of the second power transmission unit 20B in the Z direction to be thinner than in a configuration in which multiple electrical components are arranged on top of each other.

[0054] 9, the power transmission device 210 of this embodiment includes two first power transmission units 20A, six second power transmission units 20B, four third power transmission units 20C, and six inclined portions 21. A total of 12 power transmission units 20 are arranged in a matrix of four columns and three rows.

[0055] Of the power transmission units 20 arranged in a matrix in Fig. 9, the power transmission units 20 will be described in order, starting with the power transmission unit 20 located in the upper left corner of the page. One of the six second power transmission units 20B houses a power supply circuit 11. One of the six second power transmission units 20B houses a control circuit 16, a communication unit 17, and a first switch SW1 of the first power transmission resonant circuit 13A. In this embodiment, the control circuit 16, the communication unit 17, and the first switch SW1 are mounted on a single substrate 28. In another embodiment, the control circuit 16, the communication unit 17, and the first switch SW1 may be individually arranged within the second power transmission unit 20B.

[0056] One of the six second power transmitting units 20B houses a power transmitting resonant capacitor Cs of the first power transmitting resonant circuit 13A. One of the two first power transmitting units 20A houses a power transmitting coil Ls. The second power transmitting unit 20B above the first power transmitting unit 20A in the plane of FIG. 6 houses power wiring 18 as an electric circuit. One of the six second power transmitting units 20B houses a first switch SW1 of the second power transmitting resonant circuit 13B. One of the six second power transmitting units 20B houses a power transmitting resonant capacitor Cs of the second power transmitting resonant circuit 13B. One of the two first power transmitting units 20A houses a power transmitting coil Ls.

[0057] In the present embodiment, the first power transmission unit 20A also includes a first unit connection portion 222A. The second power transmission unit 20B also includes a second unit connection portion 222B. The shapes of the first power transmission unit 220A and the second power transmission unit 220B in this embodiment are different from those in the first embodiment.

[0058] As shown in FIG. 10 , the first unit connection portion 222A of this embodiment has a first unit terminal 224A protruding from the first unit cover portion 223A. The second unit connection portion 222B has a second unit terminal 224B protruding from the second unit cover portion 223B. The first unit terminal 224A has a thickness approximately half the thickness of the first unit cover portion 223A in the Z direction. The second unit terminal 224B has a thickness approximately half the thickness of the second unit cover portion 223B in the Z direction. The first unit terminal 224A protrudes from the lower side of the first unit cover portion 223A. The second unit terminal 224B protrudes from the upper side of the second unit cover portion 223B. The first unit terminal 24A and the second unit terminal 24B are electrically connected by being stacked in the Z direction. In a state in which the first unit connection portion 222A and the second unit connection portion 222B are connected, the first unit terminal 224A and the second unit terminal 224B face each other in the Z direction.

[0059] In the connection between the second power transmission units 20B, the first-stage second power transmission unit 20B has a shape similar to the second unit connection portion 222B shown in FIG. 10, and the second-stage second power transmission unit 20B has a shape similar to the first unit connection portion 222A shown in FIG. 10. This shape allows the first unit terminal 224A and the second unit terminal 224B to be electrically connected by stacking the second power transmission unit 20B having the second unit connection portion 222B on the first power transmission unit 20A having the first unit connection portion 222A. Therefore, in the installation work of the power transmission device 210, the electrical connection between the first unit terminal 224A and the second unit terminal 224B can be easily achieved.

[0060] As described above, the second unit terminal 224B is covered by the second unit cover portion 223B in top view. Furthermore, when connecting the second power transmission unit 20B to the second power transmission unit 20B, the preceding second power transmission unit 20B has a shape similar to the second unit connection portion 222B shown in FIG. 10 . This makes it less likely for an operator to come into contact with the second unit terminal 224B, to which AC power may be applied, when connecting the first power transmission unit 20A to the second power transmission unit 20B or when connecting the second power transmission unit 20B to the second power transmission unit 20B. This improves safety during the installation of the power transmission device 10.

[0061] The second embodiment described above provides the same effects as the first embodiment. Furthermore, since the power transmitting device 210 includes two power transmitting coils Ls, it can wirelessly supply power to two automatic guided vehicles VE at the same time.

[0062] The third to eighth embodiments described below are alternatives to the first embodiment. Differences from the first embodiment will be described, and explanations of the same aspects will be omitted. The same configurations and processing steps as those in the above embodiments will be assigned the same reference numerals, and detailed explanations will be omitted as appropriate.

[0063] C. Third embodiment (another embodiment of the arrangement of the power transmitting device): As shown in FIG. 11 , this embodiment differs from the first embodiment in that it includes two power transmission devices, a power transmission device 10 and a power transmission device 210. The power transmission device 10 and the power transmission device 210 are supplied with commercial power from a common power grid GP. Specifically, a power cable connecting the power transmission device 10 to the power grid GP is connected to another power cable midway. This other power cable is then electrically connected to the power transmission device 210. Note that, although FIG. 11 shows commercial power being supplied from the common power grid GP, the power transmission device 10 and the power transmission device 210 may each be supplied with power from two power grids GP. According to this embodiment, by appropriately combining a first power transmission unit 20A and a second power transmission unit 20B having common specifications, the power transmission device 10 and the power transmission device 210 can be arranged to fit the arrangement space on the floor RS.

[0064] D. Fourth embodiment (another embodiment of the external shape of the power transmission unit): The first power transmission unit 20A of the first embodiment has a square shape in a plan view seen from the Z direction. In contrast, as shown in FIG. 12 , the first power transmission unit 420A of the present embodiment has a rectangular shape in a plan view. Similarly, the second power transmission unit 420B and the inclined portion 421 have rectangular shapes in a plan view. As such, the shapes of the first power transmission unit 420A, the second power transmission unit 420B, and the inclined portion 421 in a plan view are not limited to squares. In the present embodiment, the reference length is the same as the length of the short side of the first power transmission unit 420A. The length of the long side of the second power transmission unit 420B is twice this reference length. As such, by setting the length of at least one side of the second power transmission unit 420B to a length measured in units of the reference length, the first power transmission unit 420A and the second power transmission unit 420B can be arranged closely together. The first power transmitting unit 420A accommodates not only the power transmitting coil Ls but also the power transmitting resonant capacitor Cs, the control circuit 16, the communication unit 17, and the first switch SW1. In this way, the circuit accommodated in the first power transmitting unit 420A is not limited to the power transmitting coil Ls, and other electric circuits may also be accommodated.

[0065] E. Fifth embodiment (another embodiment 2 of the outer shape of the power transmitting unit): The first power transmission unit 20A of the first embodiment has a square shape in a plan view seen from the Z direction. In contrast, as shown in FIG. 13 , the first power transmission unit 520A, the second power transmission unit 520B, and the inclined portion 521 of the present embodiment each have a regular hexagonal shape in a plan view. In this way, the shape of the first power transmission unit 520A in a plan view is not limited to a square. Furthermore, according to the present embodiment, the automated guided vehicle VE can approach the first power transmission unit 520A accommodating the power transmission coil Ls from all directions around the first power transmission unit 520A.

[0066] F. Sixth Embodiment (another embodiment of the arrangement of the power transmitting coil): In the first embodiment, the first unit housing upper surface 32A of the first power transmission unit 20A, which houses the power transmission coil Ls, is substantially parallel to the floor surface RS. As shown in "F1" in FIG. 14, the first unit housing upper surface 632A of the first power transmission unit 620A in this embodiment has a main body portion 635A that is substantially parallel to the first unit housing lower surface 631A and an inclined portion 636A that is inclined relative to the first unit housing lower surface 631A. The power transmission coil Ls is disposed below the inclined portion 636A. This allows the first power transmission unit 620A to function as a slope for an automated guided vehicle VE to ascend to the main body portion 635A or a slope for an automated guided vehicle VE to descend from the main body portion 635A, similar to the inclined portion 21 shown in FIG. 5. This allows the first power transmission unit 620A to be disposed in a narrow space. In this embodiment, a plurality of stacked plate-like members 637A are disposed below the first unit housing upper surface 632A. This allows the inclined portion 636A to be easily fabricated, and also allows the strength of the first power transmitting unit 620A to be improved.

[0067] Furthermore, the structure of the automatic guided vehicle VE is not limited to the above, and as shown in "F2" in Fig. 14, the automatic guided vehicle VE may have a structure in which two vehicle bodies VEa are connected.

[0068] G. Seventh embodiment (another embodiment of the power transmitting resonant circuit): (G1) In the first embodiment, the power transmitting resonant capacitor Cs includes a first power transmitting capacitor Cs1 and a second power transmitting capacitor Cs2. The capacitance value of the power transmitting resonant capacitor Cs is changed by switching the state of the first switch SW1 between a conductive state and a non-conductive state. The manner in which the capacitance value of the power transmitting resonant capacitor Cs is changed is not limited to the first embodiment. As shown in "G1" in FIG. 15, the power transmitting resonant capacitor Cs40 of the power transmitting resonant circuit 413 in this embodiment is a variable capacitance capacitor. The capacitance value of the power transmitting resonant capacitor Cs40 is switched between a first capacitance value and a second capacitance value by a switching signal Sig2 input from the control circuit 16. In this embodiment as well, the capacitance value of the power transmitting resonant capacitor Cs40 is changed, thereby switching the state of the power transmitting resonant circuit 413 between a resonant state and a non-resonant state.

[0069] (G2) In the power transmitter resonant circuit 13 of the first embodiment, a series resonant circuit is formed by a power transmitter resonant capacitor Cs and a power transmitter coil Ls. As shown in "G2" in FIG. 15, the power transmitter resonant circuit 513 may be a parallel resonant circuit including a power transmitter coil Ls and a power transmitter resonant capacitor Cs50 connected in parallel to the power transmitter coil Ls. The power transmitter resonant capacitor Cs50 includes a first power transmitter capacitor Cs51 and a second power transmitter capacitor Cs52. A third switch SW3 is connected in series to the second power transmitter capacitor Cs52. When the third switch SW3 is set to a conductive state, the power transmitter resonant circuit 513 is set to a resonant state. When the third switch SW3 is set to a non-conductive state, the power transmitter resonant circuit 513 is set to a non-resonant state. In this embodiment as well, the capacitance value of the power transmitter resonant capacitor Cs50 is changed, thereby switching the state of the power transmitter resonant circuit 513 between a resonant state and a non-resonant state.

[0070] (G3) In the second embodiment, the power transmitting device 210 includes two power transmitting resonant circuits 13: a first power transmitting resonant circuit 13A and a second power transmitting resonant circuit 13B. The first power transmitting resonant circuit 13A and the second power transmitting resonant circuit 13B are set to a power supplying state at the same time. In another embodiment, the first power transmitting resonant circuit 13A and the second power transmitting resonant circuit 13B may be sequentially switched from a standby state to a power supplying state. Specifically, the power transmitting device 210 is disposed on a movement route RO other than the working area AE2 shown in FIG. 2. The first power transmitting resonant circuit 13A and the second power transmitting resonant circuit 13B are sequentially switched from a standby state to a power supplying state in accordance with the passage of the target automatic guided vehicle VE. This allows power to be supplied wirelessly to the automatic guided vehicle VE while it is traveling, rather than while it is stopped. The power transmitting device 210 may include three or more power transmitting coils Ls. 2, the power transmitting device 10 may be placed at a corner 320 or an intersection 321 on the travel route RO where the automated guided vehicle VE changes its traveling direction. At the corner 320, by utilizing the period when the automated guided vehicle VE changes its traveling direction, it is possible to supply power wirelessly for a longer period of time than when the automated guided vehicle VE travels straight.

[0071] H. Other Embodiments: (H1) In the first embodiment, the power supply circuit 11 is disposed in the internal space of the second unit housing 30B. In another embodiment, the power supply circuit 11 may be disposed outside the second unit housing 30B. In the first embodiment, the power transmission circuit 12 includes the power transmission resonant capacitor Cs, the first switch SW1, the control circuit 16, and the communication unit 17. In another embodiment, the power transmission circuit 12 may include other circuits. Specifically, the power transmission circuit 12 may include a filter or a protection circuit. The protection circuit is, for example, a circuit for cutting off current to the power receiving coil Lr when an overcurrent flows through the power receiving coil Lr. In addition, the power transmission circuit 12 sets the power transmission resonant circuit 13 to a non-resonant state using the first switch SW1, thereby setting the power transmission coil Ls to a standby state. In another embodiment, the inverter 15 of the power supply circuit 11 may be controlled to limit the current to the power transmission resonant circuit 13 and set the power transmission coil Ls to a standby state.

[0072] (H2) In the first embodiment, the moving body on which the power receiving device 80 is mounted is an automated guided vehicle VE. The moving body on which the power receiving device 80 is mounted is not limited to an automated guided vehicle VE, and may be a traveling robot or the like. Furthermore, in the first embodiment, the power transmitting device 10 is placed on a floor RS inside a warehouse. In another embodiment, the power transmitting device 10 may be placed on an outdoor road surface on which the automated guided vehicle VE travels. Specifically, the power transmitting device 10 may be placed on a paved road. Regardless of whether the power transmitting device 10 is placed indoors or outdoors, the present disclosure can reduce the workload involved in placing the power transmitting device 10.

[0073] (H3) In the first embodiment, the automated guided vehicle VE travels by detecting a visible position marker MK with the marker sensor 95. As another mode in which the automated guided vehicle VE travels along the travel route RO, the automated guided vehicle VE may travel by detecting, for example, a tape that is arranged on the travel route RO and that can be detected magnetically or optically with the marker sensor 95. Alternatively, the automated guided vehicle VE may travel by detecting an RFID (radio frequency identification) arranged on the travel route RO with the marker sensor 95. Alternatively, the automated guided vehicle VE may travel without arranging a position marker MK on the travel route RO, by detecting the distance to surrounding objects using a ranging device or image recognition such as LiDAR (Light Detection and Ranging) mounted on the automated guided vehicle VE, and estimating the current position.

[0074] (H4) In the first embodiment, the power transmitter resonant circuit 13 has a so-called SS circuit configuration in which a power transmitter resonant capacitor Cs is connected in series to the power transmitter coil Ls, and the power receiver resonant circuit has a so-called SS circuit configuration in which a power receiver capacitor Cr is connected in series to the power receiver coil Lr. The circuit configurations of the power transmitter resonant circuit 13 and the power receiver resonant circuit 83 are not limited to the SS configuration. (a) For example, the power transmitter resonant circuit 13 may have a so-called PS circuit configuration in which a power transmitter resonant capacitor Cs is connected in parallel to the power transmitter coil Ls, and the power receiver resonant circuit 83 may have a so-called P-SS circuit configuration in which a capacitor is connected in parallel to the power transmitter coil Ls in addition to the power transmitter resonant capacitor Cs connected in series to the power transmitter coil Ls, and the power receiver resonant circuit 83 has two power receiver capacitors connected in series to each of the terminals of the power receiver coil Lr. (c) The power transmitter resonant circuit 13 may also include a closed circuit in which a coil and a capacitor are connected in series. The coil of this closed circuit is arranged in a position where it can be magnetically coupled to the power receiving coil Lr when the power transmitter coil Ls is magnetically coupled to the power receiving coil Lr. (d) The capacitor of the closed circuit may also be connected in parallel to the coil rather than in series. (e) The power transmitter resonant circuit 13 may also include a coil connected in series to the power transmitter coil Ls, and a capacitor connected in parallel to the coil. This coil is arranged in a position where it can be magnetically coupled to the power receiving coil Lr when the power transmitter coil and the power receiving coil are magnetically coupled.

[0075] (H5) In the first embodiment, the distance between the second unit terminal 24B and the second unit housing side surface 34B is small in FIG. 7 . The longer the distance between the second unit terminal 24B and the second unit housing side surface 34B, the safer the installation of the power transmission device 10 can be. The base of the first unit terminal 24A is preferably covered with a non-conductive material. In other words, it is preferable that the physical connection between the first unit connection portion 22A and the second unit connection portion 22B is completed at the same time as the electrical connection between the first unit terminal 24A and the second unit terminal 24B is initiated.

[0076] (H6) In the fifth embodiment, the number of vertices of the polygonal shape of the first power transmitting unit 520A in a planar view is the same as the number of vertices of the polygonal shape of the second power transmitting unit 520B in a planar view. In another embodiment, the number of vertices of the polygonal shape of the first power transmitting unit 520A in a planar view may be different from the number of vertices of the polygonal shape of the second power transmitting unit 520B in a planar view. For example, the shape of the second power transmitting unit 520B in a planar view may be a pentagon obtained by dividing a hexagon in half. In this case, too, by arranging two second power transmitting units 520B as a pair, the first power transmitting unit 520A and the second power transmitting unit 520B can be arranged closely together.

[0077] (H7) In the first embodiment, the power transmitting device 10 is placed on a floor surface RS. The surface on which the power transmitting device 10 is placed is not limited to a flat surface, but may be a surface having a step, or may be composed of a floor surface and a side surface rising from the floor surface. Specifically, the power transmitting coil Ls may be placed along the travel surface, and the power supply circuit 11 may be placed along the side surface.

[0078] The present disclosure is not limited to the above-described embodiments and modifications, and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments and modifications corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0079] 10, 210... power transmission device, 11... power supply circuit, 12... power transmission circuit, 20A, 220A, 420A, 520A, 620A... first power transmission unit, 20B, 220B, 420B, 520B... second power transmission unit, Lr... power receiving coil, VE... automatic guided vehicle, RS... floor surface

Claims

1. A power transmission device (10) that wirelessly supplies power to a moving object (VE) having a power receiving coil (Lr), A transmitting coil (Ls), an electric circuit (11, 12) for supplying AC power to the power transmitting coil; a first power transmission unit (20A) that houses the power transmission coil; and at least one second power transmission unit (20B) that houses the electric circuit; A power transmission device in which the first power transmission unit and the at least one second power transmission unit are arranged adjacent to each other on a placement surface (RS), thereby electrically connecting the power transmission coil and the electrical circuit.

2. The power transmitting device according to claim 1 , The first power transmitting unit is a first unit housing (30A); a first unit terminal (24A) disposed in the first unit housing and into which the AC power is input; a first unit wiring (25A) that electrically connects the power transmission coil and the first unit terminal; The at least one second power transmitting unit includes: a second unit housing (30B); a second unit terminal (24B) disposed in the second unit housing and electrically connected to the first unit terminal to output the AC power; and a second unit wiring (25B) that electrically connects the electric circuit and the second unit terminal.

3. The power transmitting device according to claim 2, The first unit housing comprises: a first unit housing lower surface (31A) disposed along the arrangement surface; a first unit housing upper surface (32A) disposed above the first unit housing lower surface, the first unit housing upper surface supporting the moving body; a first unit housing side surface (34A) connecting the first unit housing lower surface and the first unit housing upper surface, The second unit housing comprises: a second unit housing lower surface (31B) disposed along the arrangement surface; a second unit housing upper surface (32B) disposed above the second unit housing lower surface, the second unit housing upper surface supporting the moving body; a second unit housing side surface (34B) connecting the second unit housing lower surface and the second unit housing upper surface, The first unit terminal is disposed on a side surface of the first unit housing, and the second unit terminal is disposed on a side surface of the second unit housing.

4. The power transmitting device according to claim 3, The power transmitting device, wherein the first unit terminal and the second unit terminal face each other in a vertical direction.

5. The power transmitting device according to claim 1 , the electric circuit includes a resonant capacitor (Cs) electrically connected to the power transmitting coil, the resonant capacitor has a capacitance that is changeable between a first capacitance value and a second capacitance value that is greater than the first capacitance value; The electric circuit further includes a control circuit (16) for switching the capacitance value between the first capacitance value and the second capacitance value to switch the state of the power transmitting coil between a power supply state in which power is supplied to the power receiving coil in a wireless manner and a standby state in which power supply to the power receiving coil in a wireless manner is stopped.

6. The power transmitting device according to claim 5, the at least one second power transmitting unit includes a plurality of second power transmitting units; The electric circuit includes a power supply circuit (11) that outputs the AC power at the operating frequency, and a power wiring (18) for transmitting the AC power; each of the plurality of second power transmitting units houses at least one electric circuit selected from the group consisting of the power supply circuit, the resonant capacitor, the control circuit, and the power wiring; the first power transmitting unit and the plurality of second power transmitting units each have a polygonal shape in a plan view, and a length of at least one side of the polygon is set to a length in units of a predetermined reference length; A power transmission device in which two second power transmission units selected from the plurality of second power transmission units are arranged adjacent to each other on the arrangement surface, so that the electrical circuits housed in each of the two second power transmission units are electrically connected to each other.

7. The power transmitting device according to claim 6, The power transmission device, wherein the first power transmission unit and the plurality of second power transmission units have the same size in a plan view.

8. The power transmitting device according to claim 1 , The first power transmitting unit is a first unit housing lower surface (31A) disposed along the arrangement surface; a first unit housing upper surface (32A) disposed above the first unit housing lower surface, the first unit housing upper surface supporting the moving body; the upper surface of the first unit housing has an inclined portion (735A) inclined relative to the lower surface of the first unit housing, The power transmitting coil is disposed below the inclined portion.

Images