Conflict Avoidance Device

Abstract

To prevent, in a non-contact power supply system, a situation in which when a plurality of movable bodies move for power supply, the movable bodies collide with each other on a power supply device.SOLUTION: A collision avoidance device comprises a control unit that executes collision avoidance control of preventing, in a non-contact power supply system including a power supply device that supplies power to movable bodies capable of electric traveling in a non-contact manner, a situation in which a movable body moving on the power supply device for power supply collides with another movable body. The control unit determines, based on signals indicating approach to the power supply device output from the movable bodies, whether the movable bodies are likely to collide with each other on the power supply device, and when the movable bodies are likely to collide with each other, outputs a signal for instructing a collision avoidance action for avoiding collision to at least one of the movable bodies.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a collision avoidance device. [Background technology]

[0002] Patent Document 1 discloses a contactless power supply system equipped with a power supply device that supplies power contactlessly to a power receiving device mounted on an electric vehicle. This power supply device includes a power supply mat having a power transmission coil. This power supply mat is formed in a portable rectangular sheet shape and can be placed on the road surface on which the electric vehicle runs. When the electric vehicle passes over the power supply mat, power is supplied contactlessly from the power transmission coil on the road surface side to the power receiving coil on the vehicle side. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-236540 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a contactless power supply system in which a power supply device is installed on a road surface, it is possible to supply power to various moving objects, including not only electric vehicles such as those in the configuration described in Patent Document 1, but also vehicles capable of automatic driving and moving objects too small for a person to ride in. Furthermore, it is assumed that multiple moving objects traveling on the road surface approach the power supply device to supply power, stop on the power supply device to supply power, or pass over the power supply device while supplying power. However, since multiple moving objects approach the power supply device from various directions and at various times and pass over it, there is a risk of the moving objects colliding with each other on the power supply device.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a collision avoidance device for a contactless power supply system that can prevent multiple moving bodies from colliding with each other on a power supply device when the moving bodies move for power supply. [Means for solving the problem]

[0006] The collision avoidance device of the present invention is targeted at a contactless power supply system including a power supply device that supplies power contactlessly to a moving body capable of electrically powered running, and is equipped with a control unit that executes collision avoidance control to prevent a moving body passing over the power supply device to supply power from colliding with other moving bodies, and is characterized in that the control unit determines whether or not there is a high possibility of moving bodies colliding with each other over the power supply device based on a signal indicating an approach to the power supply device output by the moving body, and if there is a high possibility of the moving bodies colliding with each other, outputs a signal to at least one of the moving bodies instructing them to take collision avoidance action to avoid the collision. Effect of the Invention

[0007] The present invention is applicable to a contactless power supply system and can prevent a plurality of moving objects from colliding with each other above a power supply device when the moving objects move for power supply. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram for explaining a collision avoidance device according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram for explaining communication between a small moving object and a power supply device. [Diagram 3] FIG. 3 is a functional block diagram for explaining the configuration of the collision avoidance device. [Figure 4] FIG. 4 is a flow chart showing the control in the small moving object. [Diagram 5] FIG. 5 is a flow chart showing the control in the power supply device. [Figure 6]FIG. 6 is a schematic diagram showing a case where a collision avoidance instruction is output from the power supply device to the small moving object. [Figure 7] FIG. 7 is a flow chart for explaining the control in the small moving object when a collision avoidance command is received. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a collision avoidance device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiment described below.

[0010] 1 is a diagram showing a schematic diagram of a collision avoidance device according to an embodiment. The collision avoidance device 1 is applied to a contactless power supply system in which a small mobile object 2 capable of electrically traveling is supplied with power from a power supply device 3 in a contactless manner.

[0011] In the contactless power supply system, a power supply device 3 is placed on a road surface on which a small mobile object 2 travels, and when the small mobile object 2 passes over the power supply device 3, power is supplied from the power supply device 3 to the small mobile object 2 in a contactless manner. In other words, the collision avoidance device 1 is intended for the contactless power supply system, and is configured to prevent the small mobile objects 2 from colliding with each other on the power supply device 3 when multiple small mobile objects 2 move for power supply. In this embodiment, a configuration in which the collision avoidance device 1 is provided in the power supply device 3 will be described.

[0012] For example, as shown in FIG. 2, when two small mobile bodies 2A and 2B approach the power supply device 3 for power supply, the collision avoidance device 1 can control the behavior of the small mobile bodies 2 so that the first small mobile body 2A and the second small mobile body 2B do not collide on the power supply device 3. In this case, each small mobile body 2A and 2B can transmit an approaching signal to notify the power supply device 3 of the approach of the small mobile body 2. In other words, the small mobile body 2 and the power supply device 3 are configured to be able to communicate wirelessly. Then, the collision avoidance device 1 can instruct the small mobile body 2 to take evasive action to prevent the two small mobile bodies 2A and 2B from colliding on the power supply device 3.

[0013] 3 is a functional block diagram for explaining the configuration of the collision avoidance device 1. The collision avoidance device 1 is configured to be included in a power supply device 3.

[0014] The power supply device 3 includes a communication unit 11, a control unit 12, and a power supply unit 13.

[0015] The communication unit 11 performs wireless communication with the small mobile object 2. The communication unit 11 receives a signal transmitted from the small mobile object 2, and transmits a signal from the power supply device 3 to the small mobile object 2.

[0016] The control unit 12 is an electronic control device that controls the power supply device 3. This electronic control device is configured to include a microcomputer equipped with a CPU, RAM, ROM, and an input / output interface. In other words, the control unit 12 performs signal processing according to a program pre-stored in the ROM. The control unit 12 then executes various controls based on a signal input from the communication unit 11. For example, the control unit 12 executes non-contact power supply control to control the power supply unit 13. At that time, a control signal is output from the control unit 12 to the power supply unit 13. The power supply unit 13 is configured to include a power transmission coil.

[0017] In the non-contact power supply control, the control unit 12 controls the power supply unit 13, thereby transmitting power in a non-contact manner from the power supply unit 13 to the small mobile object 2. That is, the control unit 12 has a power supply control unit that executes the non-contact power supply control.

[0018] The control unit 12 also executes collision avoidance control to prevent small moving objects 2 from colliding with each other on the power supply device 3. That is, the control unit 12 has a collision avoidance control unit that executes collision avoidance control. As shown in Fig. 3, the control unit 12 includes a collision determination unit 12a, a target identification unit 12b, and a collision avoidance instruction creation unit 12c.

[0019] The collision determination unit 12a determines whether the small mobile objects 2 collide with each other on the power supply device 3. The control unit 12 can detect that the small mobile object 2 is approaching the power supply device 3 for power supply based on the approach signal input from the communication unit 11. Furthermore, the control unit 12 can detect the direction of the small mobile object 2 that transmitted the approach signal based on the direction from which the approach signal was transmitted. The control unit 12 can also calculate the distance between the small mobile object 2 and the power supply device 3 based on the strength of the signal received by the communication unit 11. In this case, both small mobile objects 2 output approach signals of the same strength. In this way, the control unit 12 can obtain information on the direction and position of the small mobile object 2 based on the approach signal received by the communication unit 11.

[0020] In addition, the collision determination unit 12a has a calculation unit that calculates the possibility of the small moving bodies 2 colliding with each other on the power supply device 3. The calculation unit can calculate the possibility of collision as a probability using information acquired by the approach signal. Then, the collision determination unit 12a can determine that the possibility of collision between the small moving bodies 2 is high when the calculated collision probability, i.e., a value indicating the possibility of collision, is higher than a threshold value. This threshold value is a preset value. For example, the collision determination unit 12a can compare information indicating the direction and distance in which the first small moving body 2A is located with information indicating the direction and distance in which the second small moving body 2B is located, and when it is determined that each of them passes over the power supply device 3 at the same time, it can determine that these small moving bodies 2A and 2B are likely to collide with each other on the power supply device 3.

[0021] The target specifying unit 12b specifies the small moving object 2 to be caused to take evasive action to avoid a collision. The target specifying unit 12b specifies a target to which a collision avoidance instruction is to be transmitted.

[0022] The collision avoidance instruction creation unit 12c creates a collision avoidance instruction. The collision avoidance instruction is a signal transmitted toward the small moving body 2 that is to be made to take a collision avoidance action, and is a signal that instructs the small moving body 2 that receives this signal to take a collision avoidance action. The collision avoidance instruction creation unit 12c also creates a collision avoidance instruction that targets the small moving body 2 identified by the target identification unit 12b. The power supply device 3 then transmits the collision avoidance instruction created by the collision avoidance instruction creation unit 12c toward the small moving body 2 identified by the target identification unit 12b.

[0023] The small mobile object 2 includes a communication unit 21, a control unit 22, a power receiving unit 23, and a drive unit 24.

[0024] The communication unit 21 performs wireless communication with the power supply device 3. The communication unit 21 receives a collision avoidance instruction signal transmitted from the power supply device 3, and transmits an approach signal from the small moving object 2 to the power supply device 3.

[0025] The control unit 22 is an electronic control device that controls the small moving body 2. This electronic control device is configured to include a microcomputer equipped with a CPU, RAM, ROM, and an input / output interface. In other words, the control unit 22 performs signal processing according to a program pre-stored in the ROM. The control unit 22 then executes various controls for controlling the small moving body 2. For example, the control unit 22 executes non-contact charging control for controlling non-contact charging by the power receiving unit 23, and drive control for controlling electric traveling by the drive unit 24.

[0026] In the non-contact charging control, a control signal from the control unit 22 is output to the power receiving unit 23, and the power receiving unit 23 is controlled to a state in which power can be received non-contact. The power receiving unit 23 receives power supplied from the power supply device 3 non-contact, and charges the received power to a battery. Specifically, the power receiving unit 23 has a power receiving coil that receives power supplied from the power supply device 3 non-contact. Furthermore, the power receiving unit 23 functions as a charger that charges the battery with the power received by the power receiving coil. This battery is a secondary battery that can discharge and store power, and is composed of, for example, a lithium ion battery or a nickel metal hydride battery. Note that the non-contact power supply system including the power transmitting coil and the power receiving coil may be either of a magnetic resonance type or an electromagnetic induction type.

[0027] In the drive control, a control signal from the control unit 22 is output to the drive unit 24, which controls the drive unit 24 so that the traveling state of the small mobile body 2 becomes a desired state. The drive unit 24 has a motor that serves as a power source for traveling. When the small mobile body 2 travels, the motor is driven by power supplied from a battery to generate a driving force for the small mobile body 2.

[0028] The control unit 22 also includes a drive control unit 22a and a signal generating unit 22b.

[0029] The drive control unit 22a executes drive control. The drive control unit 22a controls the drive unit 24 to take an avoidance action in response to a collision avoidance instruction received by the communication unit 21. The avoidance action includes stopping travel, changing the travel speed, detouring the power supply device 3, and the like. In the small moving body 2, what action to take as an avoidance action is set in advance, and the small moving body 2 can be configured to automatically take the set avoidance action in response to receiving a collision avoidance instruction. For example, when stopping travel is set as an avoidance action, when the control unit 22 detects a collision avoidance instruction, it controls the drive unit 24 to brake the small moving body 2 and stop traveling.

[0030] The signal generating unit 22b generates an approach signal. The control unit 22 transmits the approach signal generated by the signal generating unit 22b to the surroundings from the communication unit 21. Note that the approach signals generated for each of the small moving objects 2 are all transmitted with the same intensity.

[0031] 4 is a flow chart showing the control in the small moving body 2. The control shown in FIG.

[0032] The control unit 22 of the small mobile object 2 determines whether a predetermined time has passed since the previous transmission of the approach signal (step S1). In step S1, the control unit 22 can grasp the elapsed time from the previous transmission based on the history information of the previous transmission of the approach signal.

[0033] If the predetermined time has not elapsed since the previous transmission of the approach signal (step S1: No), this control routine ends.

[0034] When a predetermined time has passed since the previous timing of transmitting the approach signal (step S1: Yes), the small mobile object 2 transmits the approach signal (step S2). In step S2, the approach signal generated by the signal generating unit 22b is transmitted from the communication unit 21 to the surroundings. Furthermore, when the approach signal is transmitted in step S2, the control unit 22 stores history information including the transmission time in the storage unit. After the processing of step S2 is performed, this control routine ends.

[0035] 5 is a flow chart showing the control in the power supply device 3. The control shown in FIG.

[0036] The control unit 12 of the power supply device 3 determines whether or not an approaching signal has been received (step S11). In step S11, it is determined whether or not the approaching signal has been received by the communication unit 11. If a small mobile object 2 is present near the power supply device 3, the approaching signal can be received, and if a small mobile object 2 is not present near the power supply device 3, the approaching signal is not received.

[0037] If the approach signal is not received (step S11: No), this control routine ends.

[0038] When an approaching signal is received (step S11: Yes), the control unit 12 of the power supply device 3 calculates the possibility that the small mobile object 2 that transmitted the approaching signal will collide with another small mobile object 2 on the power supply device 3 (step S12). In step S12, the probability that small mobile objects 2 that have moved for power supply will collide with each other on the power supply device 3 is calculated. The calculation process of step S12 is performed by the collision determination unit 12a.

[0039] Furthermore, the control unit 12 of the power supply device 3 judges whether or not the small moving objects 2 will collide with each other on the power supply device 3 if things continue as they are (step S13). In step S13, based on the calculated collision probability, it is judged whether or not the small moving object 2 that transmitted the approach signal will collide with another small moving object 2 if it passes over the power supply device 3 as it is. The judgment process of step S13 is performed by the collision judgment unit 12a.

[0040] If it is determined that the small moving objects 2 will not collide with each other (step S13: No), this control routine ends.

[0041] On the other hand, if it is determined that the small moving bodies 2 will collide with each other if things continue as they are (step S13: Yes), the control unit 12 of the power supply device 3 identifies the small moving body 2 that is the target of the collision avoidance instruction (step S14). In step S14, at least one of the two small moving bodies 2 that are determined to have a high probability of colliding is identified as the target of the collision avoidance instruction. In other words, it is also possible to identify both of the two small moving bodies 2 as the instruction targets. Moreover, the processing of step S14 is performed by the target identification unit 12b.

[0042] For example, information indicating the state of charge, or SOC, of ​​the battery of the small mobile unit 2 can be used to determine the target of the instruction. Of the two, the small mobile unit 2 with a relatively higher SOC is less likely to run out of power even if it is not powered this time, so this small mobile unit 2 is identified as the target of the avoidance instruction. In this case, the approach signal includes information indicating the SOC of the small mobile unit 2. In other words, the signal creation unit 22b of the small mobile unit 2 creates an approach signal including information indicating the SOC of the battery.

[0043] In addition, when the small mobile body 2 is a mobile body that transports luggage, information indicating the amount of luggage loaded on the small mobile body 2 can be used to determine the instruction target. In this case, the small mobile body 2 with a relatively small amount of luggage consumes less power during travel than the small mobile body 2 with a relatively large amount of luggage, so this small mobile body 2 can be specified as the avoidance instruction target. That is, in order to prevent a power shortage, the small mobile body 2 with a relatively high need for power supply is given priority as the power supply target to continue moving, and the instruction target is determined so that the other small mobile body 2 takes a collision avoidance action. In this case, the approach signal includes information on the luggage carried by the small mobile body 2. It is possible to give priority to the small mobile body 2 that is more likely to consume power based on the number of luggage and the total weight of the luggage, not limited to the amount of luggage. That is, the signal creation unit 22b of the small mobile body 2 creates an approach signal including information (information indicating the number, weight, volume, etc.) on the luggage currently loaded on the small mobile body 2.

[0044] Then, the power supply device 3 transmits a collision avoidance instruction to the small moving body 2 identified as the instruction target (step S15). In step S15, a collision avoidance instruction signal created by the collision avoidance instruction creation unit 12c is transmitted to the small moving body 2 identified by the target identification unit 12b. For example, if the second small moving body 2B of the two is identified as the instruction target, a collision avoidance instruction signal is transmitted from the power supply device 3 to the second small moving body 2B as shown in FIG. 6. After the processing of step S15 is performed, this control routine ends.

[0045] 7 is a flow chart for explaining the control in the small moving body when a collision avoidance command is received. Note that the control shown in FIG.

[0046] The control unit 22 of the small moving object 2 judges whether or not a collision avoidance instruction has been received (step S21). In step S21, it is judged whether or not the communication unit 21 has received a collision avoidance instruction.

[0047] If a collision avoidance command has not been received (step S21: No), this control routine ends.

[0048] When a collision avoidance instruction is received (step S21: Yes), the control unit 22 of the small moving body 2 executes an avoidance action (step S22). In step S22, the drive control unit 22a controls the drive unit 24, and the avoidance action is taken to avoid the collision. After the process of step S22 is performed, this control routine ends.

[0049] As described above, according to the embodiment, in a contactless power supply system, it is possible to prevent multiple small mobile bodies 2 from colliding with each other on the power supply device 3 when the small mobile bodies 2 move for power supply.

[0050] In the above example, the configuration in which the avoidance action is preset has been described, but the present invention is not limited thereto. For example, the signal of the collision avoidance instruction may include information specifying the avoidance action. That is, the power supply device 3 creates a collision avoidance instruction including information indicating stopping of traveling as the avoidance action, and transmits this collision avoidance instruction to the target small moving body 2. Then, the small moving body 2 that receives the collision avoidance instruction is configured to take the avoidance action according to the information of the avoidance action included in the collision avoidance instruction.

[0051] Although the small moving body 2 has been described, the moving body to be supplied with power is not limited to this. In other words, the present invention is applicable to a contactless power supply system to which power is supplied to an electric car, a non-small moving body, a moving body capable of automatic running, etc.

[0052] Also, although the configuration in which the collision avoidance device 1 is provided in the power supply device 3 has been described, the present invention is not limited to this. For example, the collision avoidance device 1 may be provided in a server. This server is connected to the small moving object 2 and the power supply device 3 via a network so as to be able to transmit and receive information. In this case, the control shown in FIG. 5 is performed by the server. [Explanation of symbols]

[0053] 1 Collision avoidance device 2 Small mobile object 3 Power supply device 11 Communications Department 12 Control section 12a Collision determination section 12b Target Identification Section 12c Collision avoidance instruction creation unit 13 Power supply unit 21 Communications Department 22 Control section 22a Drive control unit 22b Signal Creation Section 23 Power receiving section 24 Drive unit

Claims

[Claim 1] a control unit that executes collision avoidance control for preventing a moving body that passes over the power supply device for power supply from colliding with another moving body on the power supply device, the control unit being targeted for a contactless power supply system including the power supply device that supplies power to a moving body capable of electrically running in a contactless manner; A communication unit that performs wireless communication with the mobile object; Equipped with each of the moving objects approaching the power supply device transmits an approach signal indicating the approach to the power supply device, and each of the moving objects transmits the approach signal with the same intensity; The communication unit receives the approach signal transmitted by the moving object, The control unit is detecting a direction in which a moving object that transmitted the approach signal is located based on the approach signal received by the communication unit, and calculating a distance between the moving object and the power supply device based on a strength of the approach signal received by the communication unit; comparing information indicating the direction and the distance acquired from each of the approach signals received by the communication unit to determine whether or not there is a high possibility that moving objects will collide with each other above the power supply device; When there is a high possibility that the moving objects will collide with each other, a signal is output to at least one of the moving objects to instruct the moving object to take a collision avoidance action to avoid the collision; When determining a target for the collision avoidance action, the moving body having a relatively high SOC is specified as the target based on information indicating an SOC of the moving body included in the approach signal. A collision avoidance device characterized by:

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