Power supply device, power supply system, and power supply method

Abstract

To provide a power supply device, a power supply system, and a power supply method that enable power supply with a simple configuration.SOLUTION: The power supply device to be mounted on a mobile body that moves along a path on which a power receiving antenna and a power receiving marker representing a position of the power receiving antenna are placed, the power receiving antenna and the power receiving marker being positioned on a lateral side of the mobile body with respect to a travelling direction, comprises: a power transmission antenna that can emit a power transmission signal of a narrow-angle submillimeter wave to a front surface of the lateral side with respect to the travelling direction; a camera placed facing the front surface and configured to acquire an image of the front surface; and a control unit configured to, when the power receiving marker is detected based on the image of the front surface acquired by the camera, perform power transmission control of causing the power transmission antenna to emit the power transmission signal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, there has been a power supply system for an unmanned aerial vehicle that includes an unmanned aerial vehicle and an unmanned power supply vehicle that supplies power to the battery of the unmanned aerial vehicle, the unmanned aerial vehicle having a directional power supply antenna that transmits microwaves, the unmanned aerial vehicle having a power receiving antenna that receives the microwaves, and at least one of the unmanned aerial vehicle and the unmanned aerial vehicle having an antenna direction adjustment device that adjusts the direction of the power supply antenna or the power receiving antenna, and the antenna direction adjustment device adjusts the direction of the power supply antenna or the power receiving antenna based on the relative positions of the unmanned aerial vehicle and the unmanned aerial vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-137331 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in order to adjust the orientation of a power supply antenna or a power receiving antenna, as in a power supply system for an unmanned aerial vehicle, control hardware and a huge amount of data processing for control are required, making it impossible to supply power with a simple configuration.

[0005] Therefore, an object of the present invention is to provide a power supply device, a power supply system, and a power supply method that are capable of supplying power with a simple configuration. [Means for solving the problem]

[0006] A power supply device according to an embodiment of the present disclosure is a power supply device mounted on a moving body that moves along a route on which a power receiving antenna and a power receiving marker indicating the position of the power receiving antenna are arranged, and the power receiving antenna and the power receiving marker are located on the side of the moving body with respect to the traveling direction, and the power receiving antenna and the power receiving marker are located in front of the moving body with respect to the traveling direction. narrow angle the power transmitting antenna capable of emitting a quasi-millimeter wave power transmitting signal; a camera arranged facing the front and capturing an image of the front; and a control unit that performs power transmission control to cause the power transmitting antenna to emit the power transmitting signal when the power receiving marker is detected based on the image of the front captured by the camera. [Effects of the Invention]

[0007] It is possible to provide a power supply device, a power supply system, and a power supply method that are capable of supplying power with a simple configuration. [Brief explanation of the drawings]

[0008] [Figure 1] 1A and 1B are diagrams illustrating application examples of a power supply device according to an embodiment. [Figure 2] FIG. 1 illustrates an example of a configuration of a power supply device according to an embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of the configuration of a power transmitting antenna. [Figure 4] FIG. 1 is a diagram illustrating an example of the configuration of a line scan camera. [Figure 5] FIG. 10 is a diagram illustrating an example of a configuration of a power supply device according to a first modified example of an embodiment. [Figure 6] FIG. 10 is a diagram illustrating an example of the configuration of a power supply device according to a second modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments to which the power supply device, power supply system, and power supply method of the present disclosure are applied will be described.

[0010] <Embodiment>

[0011] The following explanation will be given using the XYZ coordinate system. Planar view refers to an XY planar view. The X axis is an example of the first axis, and the Y axis is an example of the second axis. The direction in which the Y axis extends (Y direction) is the up-down direction (vertical direction).

[0012] <Application Examples of Power Supply Device 100 and Power Supply System 10> 1 is a diagram illustrating an application example of a power supply device 100. As an example, the power supply device 100 is mounted on a vehicle 60, and travels in the +X direction along a travel lane 32 surrounded by an inner wall 31 of a tunnel 30. The travel lane 32 is an example of a route. The vehicle 60 is an example of a moving body, and its traveling direction is the +X direction. The traveling direction of the vehicle 60 is the same as the traveling direction of vehicles other than the vehicle 60, not shown.

[0013] One guide marker 50A1 and nine power receiving markers 50A2 are provided on the inner wall 31 of the tunnel 30 along the traveling direction. That is, the one guide marker 50A1 and the nine power receiving markers 50A2 are located to the side (+Z direction) of the traveling direction. One power receiving device 50B and one power receiving antenna 50C are provided at the same position as each power receiving marker 50A2. In FIG. 1, the detailed configurations of the power receiving device 50B and the power receiving antenna 50C are not shown, so the reference numerals 50B and 50C are indicated along with the reference numeral 50A2 of each power receiving marker 50A2. In addition, a radio wave absorber 55 is provided on the inner wall 31 to surround the power receiving antennas 50C provided corresponding to the nine power receiving markers 50A2. Note that multiple power receiving antennas 50C may be provided for one power receiving device 50B. One power receiving antenna 50C is provided at the same position as each power receiving marker 50A2, and they are connected to one power receiving device 50B. This is preferable in that only one power receiving device 50B is required.

[0014] The guide marker 50A1 and the power receiving marker 50A2, for example, include a reflector that reflects infrared rays by retroreflection (retroreflection) and can also reflect infrared rays over their entire surfaces. The guide marker 50A1 and the power receiving marker 50A2 are different in color and therefore can be distinguished by the camera of the power supply device 100. For example, the height positions of the guide marker 50A1 and the power receiving marker 50A2 are the same.

[0015] The guide marker 50A1 is provided closer to the user than the power receiving marker 50A2 in the traveling direction. The guide marker 50A1 is a single marker that is long along the traveling direction, e.g., long in the X direction. The guide marker 50A1 is a marker that guides the position of the power receiving antenna 50C in the up-down direction, and is orange, for example. The relationship between the height of the guide marker 50A1 and the height of the power receiving antenna 50C is known, and the power supply device 100 stores height data that indicates the relationship between the height of the guide marker 50A1 and the height of the power receiving antenna 50C.

[0016] As an example, nine power receiving markers 50A2 are provided at the same height as the guide marker 50A1 and at equal intervals further back in the traveling direction than the guide marker 50A1. Therefore, when the vehicle 60 travels through the tunnel 30, it first travels through a section where the guide marker 50A1 is located, and then travels through a section where nine power receiving markers 50A2 are located. The position of the vehicle 60 shown in FIG. 1 is the boundary between the section where the guide marker 50A1 is located and the section where the first power receiving marker 50A2 is located.

[0017] The power receiving marker 50A2 is a marker that indicates the position of the power receiving antenna 50C in the traveling direction. For example, the power receiving marker 50A2 has a length in the traveling direction that is shorter than that of the guide marker 50A1, and is, for example, green in color.

[0018] The radio wave absorber 55 is provided on the inner wall 31 of the tunnel 30 so as to surround the nine power receiving antennas 50C, and is, for example, a sheet-shaped resin molded product capable of absorbing quasi-millimeter waves.

[0019] Here, a system including the power supply device 100, the guide marker 50A1, the power receiving marker 50A2, the power receiving device 50B, the power receiving antenna 50C, and the radio wave absorber 55 is the power supply system 10 of the embodiment.

[0020] The following description will be made with reference to FIG. 2 in addition to FIG. 1. FIG. 2 is a diagram illustrating an example of the configuration of a power supply device 100 according to an embodiment. FIG. 2 shows an inner wall 31 of a tunnel 30. A power receiving marker 50A2, a power receiving device 50B, and a power receiving antenna 50C are provided on the inner wall 31. As an example, the power receiving marker 50A2 is located at the highest position, the power receiving antenna 50C is located below the power receiving marker 50A2, and the power receiving device 50B is provided below the power receiving antenna 50C. The power receiving antenna 50C and the power receiving device 50B are connected by a power cable.

[0021] The power supply device 100 includes a housing 101, a power transmitting antenna 110, a high-frequency power supply 110A, a line scan camera 120, an elevator 130, and a control device 140. The elevator 130 is an example of an elevator mechanism, and the control device 140 is an example of a control unit. The power transmitting antenna 110 will be described using FIG. 3 in addition to FIGS. 1 and 2. FIG. 3 is a diagram showing an example of the configuration of the power transmitting antenna 110. The line scan camera 120 will be described using FIG. 4 in addition to FIGS. 1 and 2. FIG. 4 is a diagram showing an example of the configuration of the line scan camera 120. FIG. 4(A) shows an inner wall 31 and a guide marker 50A1 in addition to the line scan camera 120.

[0022] The housing 101 is a case fixed onto the elevator part 132 of the elevator 130, and holds the power transmitting antenna 110, the high frequency power supply 110A, and the line scan camera 120.

[0023] The power transmitting antenna 110 is held in the housing 101 and connected to a high-frequency power supply 110A. The high-frequency power supply 110A is, for example, a power supply that outputs high-frequency power in the quasi-millimeter wave band, and is turned on / off by the power transmission control unit 143 of the control device 140. Here, the quasi-millimeter wave band is, for example, a frequency band of 24 GHz to 30 GHz. The power supply device 100 uses, for example, high-frequency power in the 24 GHz band of the ISM (Industrial Scientific and Medical) band.

[0024] As shown in FIG. 3 , the power transmitting antenna 110 is an array antenna including a plurality of slots 111 arranged two-dimensionally in the X and Y directions, with the slots 111 arranged in a matrix. The plurality of slots 111 are an example of a plurality of antenna elements. For example, such a power transmitting antenna 110 can be fabricated by forming the slots 111 at equal intervals in a metal plate made of copper, aluminum, or the like. For example, the pitch between the slots 111 in the X and Y directions is ½ of the wavelength at the frequency of the high-frequency power. For example, the number of slots 111 is 1024, with 32 slots arranged in each of the X and Y directions. In FIG. 3 , not all of the 1024 slots 111 are shown.

[0025] The power transmitting antenna 110 does not have a phase adjustment function for the radio waves radiated from the multiple slots 111, and radiates a beam 115 (see FIGS. 1 and 2) forward in the +Z direction by performing beamforming with all the slots in phase. The beam 115 radiated from the power transmitting antenna 110 propagates in the +Z direction on the Z axis when the origin of the XYZ coordinate system is taken at the center of the 1024 slots 111 on the XY plane. With respect to the power transmitting antenna 110, the +Z direction is the forward direction. The directivity of the power transmitting antenna 110, which is configured as an array antenna, is fixed so that the beam 115 (power transmission signal) is radiated forward.

[0026] When beamforming is performed using quasi-millimeter wave radio waves, narrow angle In order to form the beam, the beam 115 obtained by combining the quasi-millimeter waves radiated from all the slots 111 is narrow angle where, narrow angle For example, this refers to a beam with a half-power angle of about 5 degrees in both the horizontal and vertical directions.

[0027] By increasing the number of slots 111 in the X and Y directions, it is possible to form a narrow and sharp beam 115, and it is possible to irradiate the narrow beam 115 with reduced spread to the front of the power transmitting antenna 110, up to the power receiving antenna 50C several meters away. Note that the fan-shaped area shown by the dashed line around the beam 115 in Fig. 1 represents a planar area parallel to the YZ plane including the origin when the origin of the XYZ coordinate system is taken at the center of the 1024 slots 111 on the XY plane, and indicates that the beam 115 is radiated in the +Z direction (front direction) along the Z direction within the YZ plane including the origin.

[0028] The power transmitting antenna 110 uses beamforming. narrow angle The number and arrangement of the slots 111 are not limited to the above-described configuration as long as the power transmitting antenna 110 has a plurality of slots 111. Furthermore, the power transmitting antenna 110 is not limited to a configuration having a plurality of slots 111, and may have, for example, a configuration having a plurality of patch-type antenna elements.

[0029] The line scan camera 120 is disposed in the X direction at the center positions of the 1024 slots 111 in the XY plane or on the Y axis passing through the centers of the 1024 slots 111 in the XY plane, so as to be able to scan in the up-down direction along an area 120A in the YZ plane, as shown in FIGS. 2 and 4A. The line scan camera 120 acquires an image in the up-down direction of the front by scanning in the YZ plane. The acquired image may include the guide marker 50A1 or the power receiving marker 50A2. Because the guide marker 50A1 and the power receiving marker 50A2 are different colors, using a color line scan camera capable of acquiring color images as the line scan camera 120 makes it possible to acquire an image including the orange guide marker 50A1 or the green power receiving marker 50A2.

[0030] FIG. 4(B) shows portions 31A and 50A1A scanned along region 120A of inner wall 31 and guide marker 50A1 shown in FIG. 4(A). FIG. 4(C) shows an example of an image obtained by scanning portions 31A and 50A1A shown in FIG. 4(B). As an example, line scan camera 120 scans portions 31A and 50A1A shown in FIG. 4(B) from top to bottom, so the first pixel (the pixel obtained by the first scan) is at the top of FIG. 4(C) and the last pixel (the pixel obtained by the last scan) is at the bottom of FIG. 4(C). The number of pixels in the X direction of the image acquired by line scan camera 120 is, for example, one to several pixels, and the number of pixels in the Y direction (vertical direction) is, for example, several hundred pixels. Here, as an example, the number of pixels in the X direction of the image acquired by line scan camera 120 is one pixel, and the number of pixels in the Y direction (vertical direction) is 100 pixels.

[0031] Since the portion 50A1A of the guide marker 50A1 is located in the vertical center of the portion 31A of the inner wall 31, an image of the portion 50A1A is included in pixels near the vertical center, as shown in FIG. 4(C). As an example, when an image of the guide marker 50A1 is acquired by the line scan camera 120, an image showing the guide marker 50A1 is obtained in three consecutive pixels in the vertical direction. Since the actual line scan camera 120 acquires a color image, the portion 50A1A is orange. The vertical position of the guide marker 50A1 can be determined by determining which three pixels from the top contain the orange image out of 100 pixels in the vertical direction of the image acquired by the line scan camera 120. In FIG. 4(C), the image of the portion 50A1A is indicated by three dots.

[0032] In this way, the line scan camera 120 can acquire an image including the guide marker 50A1. The guide marker 50A1 is a marker for guiding the vertical position of the power receiving antenna 50C. Therefore, when the vehicle 60 is traveling through the tunnel 30, the line scan camera 120 acquires an image indicating the vertical position of the guide marker 50A1, and the control device 140 detects the vertical position of the guide marker 50A1. This allows the power feeding device 100 to adjust the vertical position of the power transmitting antenna 110 to match the power receiving antenna 50C using the elevator 130. For example, the height position corresponding to the center pixel of three pixels including an orange image may be set as the vertical position of the guide marker 50A1, and the vertical position of the power transmitting antenna 110 may be adjusted using the elevator 130 to match the power receiving antenna 50C.

[0033] The line scan camera 120 can also acquire an image including the power receiving marker 50A2. As described above, the power receiving marker 50A2 is a marker that indicates the position of the power receiving antenna 50C in the traveling direction. The line scan camera 120 can acquire an image that indicates the position of the power receiving marker 50A2 in the up-down direction, and the control device 140 determines whether the power receiving marker 50A2 has been detected based on whether the power receiving marker 50A2 is included in an image acquired while the vehicle 60 is traveling through the tunnel 30.

[0034] As shown in FIG. 2, the elevator 130 has a base 131 and an elevator unit 132. The base 131 is fixed to a mounting surface 60A of the vehicle 60 (see FIG. 1). The elevator unit 132 is a part that can move up and down relative to the base 131 by an electric motor (not shown) or the like. A housing 101 that holds the power transmitting antenna 110, the high-frequency power source 110A, and the line scan camera 120 is fixed to the upper end of the elevator unit 132. Note that the high-frequency power source 110A may not be held by the housing 101 but may be fixed directly to the vehicle 60 and connected to the power transmitting antenna via a power cable, so that only the power transmitting antenna 110 and the line scan camera 120 can move up and down. This is preferable because it eliminates the need to carry the high-frequency power source 110A, which is relatively heavy, on the elevator.

[0035] The control device 140 is realized by a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), an input / output interface, an internal bus, etc. The control device 140 has a marker detection unit 141, an elevation control unit 142, and a power transmission control unit 143. The marker detection unit 141, the elevation control unit 142, and the power transmission control unit 143 are functional blocks representing the functions of a program executed by the control device 140. The processing executed by the control device 140 realizes a power feeding method in the power feeding device 100.

[0036] The marker detection unit 141 detects the guide marker 50A1 or the power receiving marker 50A2 based on the image acquired by the line scan camera 120. Because the guide marker 50A1 and the power receiving marker 50A2 have different colors, the marker detection unit 141 detects the guide marker 50A1 or the power receiving marker 50A2 based on the color of a pixel at the center in the vertical direction of the image acquired by the line scan camera 120. Detecting the guide marker 50A1 or the power receiving marker 50A2 includes detecting the presence of the guide marker 50A1, detecting the presence of the power receiving marker 50A2, and detecting the absence of the guide marker 50A1 or the power receiving marker 50A2.

[0037] When the guide marker 50A1 is detected by the marker detection unit 141, the lifting control unit 142 determines the height position corresponding to the center pixel of the three pixels in the vertical direction that contain the orange image as the vertical position of the guide marker 50A1, and adjusts the vertical position of the transmitting antenna 110 using the elevator 130 to match it with the receiving antenna 50C.

[0038] The power transmission control unit 143 controls power transmission. When the marker detection unit 141 detects the power receiving marker 50A2, the power transmission control unit 143 turns on the high-frequency power supply 110A and causes the power transmitting antenna 110 to emit a quasi-millimeter wave beam 115. The beam 115 is emitted to the power receiving antenna 50C located in front. When the marker detection unit 141 no longer detects the power receiving marker 50A2 for a predetermined time or longer, the power transmission control unit 143 turns off the high-frequency power supply 110A. When the vehicle 60 is traveling at a predetermined speed, the intervals between adjacent nine power receiving markers 50A2 arranged in the traveling direction are continuous for a predetermined time or longer. Therefore, the beam 115 is continuously emitted to the nine power receiving antennas 50C, and when the ninth power receiving marker 50A2 is no longer detected and a predetermined time has elapsed, the power transmission control unit 143 turns off the high-frequency power supply 110A.

[0039] The nine power receiving markers 50A2 may be replaced by a single power receiving marker 50A2. One power receiving marker is provided over a continuous section in which nine power receiving antennas 50C are connected. Because the power receiving marker is not interrupted over the continuous section, the beam 115 is continuously emitted to the nine power receiving antennas 50C, and when the power receiving marker 50A2 is no longer detected, the power transmission control unit 143 turns off the high-frequency power supply 110A.

[0040] 1, when the vehicle 60 travels in the +X-axis direction, the elevator 130 adjusts the height of the power transmitting antenna 110 in accordance with the vertical position of the guide marker 50A1 detected by the line scan camera 120, and when the power receiving marker 50A2 is detected, the beam 115 is emitted, so that the power receiving antenna 50C can receive the power transmission signal. That is, the power feeding device 100 can feed power to the power receiving device 50B.

[0041] For example, if a power receiving device 50B, a power receiving antenna 50C, a sensor that monitors loosening of bolts or the like at the fixing portion, and a wireless communication module are provided at a fixing portion that fixes an infrastructure such as a jet fan or a sign attached to the inner wall 31 of a tunnel 30 to the inner wall 31, and a beam is radiated from the power supply device 100 to the power receiving antenna 50C while the vehicle 60 is traveling, the power receiving device 50B connected to the power receiving antenna 50C generates power and activates the wireless communication module, which then radiates a signal representing the output of the sensor, which is received by the vehicle 60, thereby making it possible to inspect the fixing state of the infrastructure while traveling. A rectenna, for example, can be used as such a power receiving device 50B.

[0042] 1 has been used to describe a configuration in which the power supply device 100 communicates with the wireless communication module provided on the inner wall 31 of the tunnel 30, but the wireless communication module is not limited to being provided on the inner wall 31 of the tunnel 30 and may be installed in various locations, etc. In this way, the power supply device 100 can be used as a communication device.

[0043] <Effects> As described above, it is possible to provide the power supply device 100, the power supply system 10, and the power supply method that are capable of supplying power with a simple configuration.

[0044] Since the power supply device 100 does not scan the beam 115, it does not require hardware for beam scan control or a huge amount of data processing for control, and power can be supplied with a simple configuration.

[0045] Furthermore, the beam 115 is emitted in a direction directly in front of the power transmitting antenna 110, and is not emitted in an oblique direction. Furthermore, between adjacent power receiving antennas 50C, the beam 115 may be reflected by the inner wall 31 of the tunnel 30. If the beam 115 is emitted in an oblique direction and enters the inner wall 31 at an angle, the reflected wave from the inner wall 31 may spread widely in the direction of travel of the tunnel 30, potentially causing adjacent channel interference and other problems with wireless systems of other traveling vehicles and communications devices carried by passengers of other traveling vehicles. In particular, since the 24 GHz quasi-millimeter wave band is a frequency band used for radars and the like in vehicle ADAS (Advanced Driver-Assistance Systems), it is preferable to be able to reduce interference such as adjacent channel interference. In this regard, the power supply device 100 emits the beam 115 in a direction directly in front of the power transmitting antenna 110, thereby reducing interference.

[0046] Furthermore, when the beam 115 is radiated from an oblique direction, the distance to the power receiving antenna 50C becomes longer than when the beam 115 is radiated from the front, which reduces the power feeding efficiency and increases the time required to radiate the beam 115. In this regard, the power feeding device 100 feeds power by radiating the beam 115 in a frontal direction toward the power receiving antenna 50C located to the side (+Z direction) of the vehicle 60 relative to the traveling direction (+X direction) of the vehicle 60, and therefore the radiation time of the beam 115 can be shortened, and temporal interference can be reduced.

[0047] Furthermore, the power receiving antenna 50C has higher power receiving efficiency when receiving power from the front than when receiving power from an oblique direction. Because the power feeding device 100 feeds the beam 115 propagating from the front, the power receiving antenna 50C can receive power with the highest power receiving efficiency, minimizing losses in power transmission and reception. It is possible to feed the necessary power to the power receiving device 50B while minimizing the power of the power transmission signal.

[0048] The power transmitting antenna 110 has a plurality of slots 111 arranged two-dimensionally along an X axis along the direction of travel and a Y axis along the up-down direction. narrow angle Since it is an array antenna that emits a quasi-millimeter wave power transmission signal, it can emit a beam 115 in the front and can feed power with high power feeding efficiency. In addition, because it does not scan the beam 115, it does not require hardware for beam scan control or a huge amount of data processing for control, and power can be fed with a simple configuration.

[0049] Furthermore, the directivity of the multiple slots 111 of the power transmitting antenna 110 is fixed so that the power transmitting signal is emitted forward, so no hardware for beam scanning control or a huge amount of data processing for control is required, and power can be supplied with a simple configuration.

[0050] Furthermore, when the guide marker 50A1 is detected based on the front image acquired by the line scan camera 120, the elevator 130 adjusts the vertical position of the power transmitting antenna 110 so that the position of the power transmitting antenna 110 is aligned with the power receiving antenna 50C in the vertical direction when a power transmission signal is emitted, and when the line scan camera 120 detects the power receiving marker 50A2, power transmission control is performed to cause the power transmitting antenna 110 to emit a power transmission signal. Therefore, the position of the power transmitting antenna 110 is adjusted to be aligned with the power receiving antenna 50C, and the beam 115 can be emitted to the power receiving antenna 50C.

[0051] Furthermore, since the line scan camera 120 is used, which can acquire an image in the vertical direction of the front by scanning in the vertical direction, the height position of the guide marker 50A1 in the vertical direction of the front can be detected accurately and reliably.

[0052] Furthermore, since the beam 115 is continuously emitted to the multiple power receiving antennas 50C, a sufficient power feeding time can be provided, and therefore the number of power receiving antennas 50C can be set according to the amount of power that needs to be fed.

[0053] Furthermore, of the beam 115 emitted from the power transmitting antenna 110 toward the power receiving antenna 50C, the beam that is directly emitted to the inner wall 31 around the power receiving antenna 50C and the beam that is reflected and emitted to the inner wall 31 around the power receiving antenna 50C can be absorbed by the radio wave absorber 55. This makes it possible to reduce interference.

[0054] In the above description, the power supply device 100 successively emits the beams 115 to the nine power receiving antennas 50C, and turns off the high-frequency power supply 110A when the ninth power receiving marker 50A2 is no longer detected. However, the power supply device 100 may alternately turn on and off so that the beam 115 starts to be emitted when each power receiving marker 50A2 is detected, and the high-frequency power supply 110A is turned off when each power receiving marker 50A2 is no longer detected, thereby preventing the beam 115 from being emitted.

[0055] <First Modification> 2 has been described in which the power receiving marker 50A2 is at the highest position and the power receiving antenna 50C is located below the power receiving marker 50A2, but the heights of the power receiving marker 50A2 and the power receiving antenna 50C may be the same. In such a case, a power feeding device 100M1 according to a first modified example of the embodiment shown in FIG. 5 may be used. FIG. 5 is a diagram showing an example of the configuration of the power feeding device 100M1 according to the first modified example of the embodiment. In FIG. 5, the power receiving marker 50A2 is provided on the inner wall 31 so as to overlap the power receiving antenna 50C, and the heights of the power receiving marker 50A2 and the power receiving antenna 50C are the same.

[0056] The power feeding device 100M1 includes a built-in lens power transmitting antenna 110M instead of the power transmitting antenna 110 of the power feeding device 100 shown in Fig. 2. The built-in lens power transmitting antenna 110M is a device that combines the power transmitting antenna 110 shown in Fig. 2 with an optical lens that guides light to a line scan camera 120. The built-in lens power transmitting antenna 110M emits a beam 115, similar to the power transmitting antenna 110 shown in Fig. 2, and guides the light via the optical lens to the line scan camera 120 provided on the -Z direction side of the built-in lens power transmitting antenna 110M. Therefore, the line scan camera 120 can acquire images of the guide marker 50A1 and the power receiving marker 50A2, similar to the line scan camera 120 shown in Fig. 2.

[0057] <Second Modification> FIG. 6 is a diagram illustrating an example of the configuration of a power supply device 100M2 according to a second modified example of the embodiment. FIG. 6 illustrates a state in which the power supply device 100M2 is mounted on a vehicle 60. The power supply device 100M2 differs from the power supply device 100 illustrated in FIGS. 1 and 2 in that the power supply device 100M2 includes two power transmitting antennas 110 and two line scan cameras 120, as well as a radio wave absorber 155. FIG. 6 illustrates only the two power transmitting antennas 110, the two line scan cameras 120, and the radio wave absorber 155, among the components of the power supply device 100M2. The control device 140 controls power transmission from the two power transmitting antennas 110 based on images acquired by the two line scan cameras 120.

[0058] The two power transmitting antennas 110F, 110R, the two line scan cameras 120F, 120R, and the radio wave absorber 155 are provided on the left side (the side facing the +Z direction) of the vehicle 60. The left side of the vehicle 60 is the side facing the side where the guide marker 50A1 and the power receiving marker 50A2 are located.

[0059] The two power transmitting antennas 110F and 110R are arranged at a distance D apart on the left side of the vehicle 60. The power transmitting antenna 110F on the +X side is located in front in the traveling direction, and the power transmitting antenna 110R on the -X side is located in the rear in the traveling direction.

[0060] 6, the distance D corresponds to the pitch between the centers of the two power transmitting antennas 110F and 110R in the XY plane, for example, but may also be the distance between the end of the power transmitting antenna 110F in the -X direction and the end of the power transmitting antenna 110R in the +X direction. The distance D is the distance between the two power transmitting antennas 110F and 110R in the traveling direction.

[0061] The two line scan cameras 120F and 120R are provided above the two power transmitting antennas 110F and 110R, respectively, and the positions of the two line scan cameras 120F and 120R in the X direction coincide with the centers of the X direction widths of the power transmitting antennas 110F and 110R. Therefore, the distance between the two line scan cameras 120F and 120R is equal to the distance D.

[0062] The radio wave absorber 155 is provided on the left side of the vehicle 60 so as to surround the two power transmitting antennas 110F, 110R and the two line scan cameras 120F, 120R. Similar to the radio wave absorber 55 provided on the inner wall 31 of the tunnel 30, the radio wave absorber 155 may be, for example, a sheet-like resin molded product or the like that is capable of absorbing quasi-millimeter waves.

[0063] When power is supplied to the power receiving device 50B in a vehicle 60 equipped with such a power supply device 100M2, it is preferable that the power transmitting antenna 110F located at the front in the traveling direction first radiates the beam 115, and that the power transmitting antenna 110R located at the rear start radiating the beam 115 after the power transmitting antenna 110F has finished radiating the beam 115. For example, if there is a limit (upper limit) on the power of the power transmission signal, it is preferable to radiate a power transmission signal (beam 115) with power close to the upper limit in order to improve power supply efficiency. However, if there is a period in which the two power transmitting antennas 110F and 110R simultaneously radiate the beam 115, the total power will exceed the upper limit. To avoid this situation, it is preferable that the power transmitting antenna 110R located at the rear start radiating the beam 115 after the power transmitting antenna 110F has finished radiating the beam 115.

[0064] To achieve such time-division power transmission, for example, the interval between adjacent power receiving markers 50A2 in the traveling direction of the vehicle 60 is set to correspond to the distance D between the power transmitting antennas 110F and 110R, and when the control device 140 detects the next power receiving marker 50A2 while causing the power transmitting antenna 110F to transmit power, the control device 140 stops emitting the beam 115 from the power transmitting antenna 110F and causes the power transmitting antenna 110R to start emitting the beam 115. Furthermore, when the control device 140 causes the power transmitting antenna 110F to transmit power and the power receiving marker 50A2 is no longer detected, the control device 140 stops emitting the beam 115 from the power transmitting antenna 110F, and when the control device 140 detects the next power receiving marker 50A2, the control device 140 causes the power transmitting antenna 110F to start emitting the beam 115.

[0065] Furthermore, when the power transmission control of the two power transmitting antennas 110F, 110R is performed by separate control devices 140, time-division power transmission may be achieved, for example, as follows: The length of the section in which the power receiving antenna 50C and the power receiving marker 50A2 are provided along the traveling direction may be set to a length that is shorter by a predetermined margin than the distance between the adjacent power transmitting antennas 110F, 110R in the traveling direction, and the two control devices 140 may start power transmission when they detect the power receiving marker 50A2 and end power transmission when they no longer detect the power receiving marker 50A2. In this way, even when the power transmission control of the two power transmitting antennas 110F, 110R is performed by separate control devices 140, power transmission by the power transmitting antenna 110R can be started after power transmission by the power transmitting antenna 110F is completed, thereby achieving time-division power transmission.

[0066] When power is transmitted using the two front and rear power transmission antennas 110F and 110R, the power receiving device 50B can obtain twice the power compared to when power is transmitted using a single power transmission antenna 110, thereby enabling efficient power supply during one run of the vehicle 60.

[0067] The power transmission is not limited to the case where the two power transmitting antennas 110F and 110R transmit power in a time-division manner, but may be performed by three or more power transmitting antennas 110 in a time-division manner using a similar method.

[0068] Furthermore, of the beams 115 radiated from the power transmitting antennas 110F and 110R toward the power receiving antenna 50C, the beams radiated to the left side of the vehicle 60 due to reflection can be absorbed by the radio wave absorber 155. This makes it possible to reduce interference.

[0069] The above describes the power supply device, power supply system, and power supply method according to exemplary embodiments of the present disclosure. However, the present disclosure is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims. [Explanation of symbols]

[0070] 10 Power Supply System 30 Tunnel 31 Inner wall 50A1 Guide Marker 50A2 Receiving Marker 50B Power receiving device 50C receiving antenna 60 vehicles 60A mounting surface 100, 100M1, 100M2 power supply equipment 110, 110F, 110R power transmission antenna 110A high frequency power supply 110M lens built-in power transmission antenna 111 Slots 115 Beam 120, 120F, 120R line scan cameras 130 Elevator 140 Control device 141 Marker detection unit 142 Lift control section 143 Power transmission control unit 155 Radio wave absorber

Claims

1. a power supply device mounted on a moving body that moves along a route on which a power receiving antenna and a power receiving marker indicating the position of the power receiving antenna are arranged, the power receiving antenna and the power receiving marker being located to the side of the moving body with respect to a traveling direction; a power transmission antenna capable of emitting a quasi-millimeter wave power transmission signal at a narrow angle in front of the vehicle to the side with respect to the traveling direction; a camera arranged to face the front and capture an image of the front; a control unit that performs power transmission control to cause the power transmitting antenna to emit the power transmission signal when the power receiving marker is detected based on the front image acquired by the camera; A power supply device including:

2. 2. The power supply device according to claim 1, wherein the power transmitting antenna is an array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis along the traveling direction and a second axis along a vertical direction, and radiating the narrow-angle quasi-millimeter wave power transmitting signal toward the front.

3. The power feeding device according to claim 2 , wherein the directivity of the array antenna is fixed so as to radiate the power transmission signal in the forward direction.

4. further comprising an elevation mechanism capable of adjusting the position of the power transmitting antenna in the up and down direction; a guide marker for guiding a position of the power receiving antenna in a vertical direction is arranged on a side of the moving body in the traveling direction, in front of the power receiving antenna and the power receiving marker in the traveling direction, the camera is capable of acquiring an image in the up and down direction of the front, The control unit when the guide marker is detected based on the image of the front side acquired by the camera, the lifting mechanism adjusts the position of the power transmitting antenna in the vertical direction so that the position of the power transmitting antenna is aligned with the position of the power receiving antenna in the vertical direction when the power transmission signal is emitted; The power feeding device according to claim 1 , wherein when the power receiving marker is detected by the camera, power transmission control is performed to cause the power transmitting antenna to emit the power transmission signal.

5. The power supply device according to claim 4 , wherein the camera is a line scan camera capable of acquiring an image of the front surface in the vertical direction by scanning in the vertical direction.

6. The power transmitting antenna includes a plurality of the power transmitting antennas, the plurality of power transmitting antennas are arranged along the traveling direction, 6. The power supply device according to claim 1, wherein a length of a section in which the power receiving antenna is provided along the traveling direction corresponds to a distance between adjacent power transmitting antennas in the traveling direction among the plurality of power transmitting antennas.

7. the power receiving marker is provided along the traveling direction over the section together with the power receiving antenna, 7. The power feeding device according to claim 6, wherein the control unit performs the power transmission control based on a detection result of the power receiving marker based on the image of the front side acquired by the camera, such that a front power transmitting antenna of adjacent power transmitting antennas in the traveling direction finishes emitting the power transmission signal before a rear power transmitting antenna finishes emitting the power transmission signal.

8. the power receiving marker is provided along the traveling direction over the section together with the power receiving antenna, 7. The power supply device according to claim 6, wherein a length of a section in which the power receiving antenna and the power receiving marker are provided along the traveling direction is shorter than a length between adjacent power transmitting antennas in the traveling direction by a predetermined margin.

9. The power supply device according to claim 1 , further comprising a radio wave absorber provided on a side portion of the lateral side of the moving object.

10. a power receiving antenna and a power receiving marker arranged along a path along which the moving object moves; a power supply device mounted on the moving body; A power supply system including: the power receiving antenna and the power receiving marker are located to the side of the moving object with respect to a traveling direction, The power supply device is a power transmission antenna capable of emitting a quasi-millimeter wave power transmission signal at a narrow angle in front of the vehicle to the side with respect to the traveling direction; a camera arranged to face the front and capture an image of the front; a control unit that performs power transmission control to cause the power transmitting antenna to emit the power transmission signal when the power receiving marker is detected based on the front image acquired by the camera; A power supply system having:

11. A power supply method for a power supply device mounted on a moving object that moves along a path on which a power receiving antenna and a power receiving marker are arranged, the power receiving antenna and the power receiving marker being positioned to a side of the moving object with respect to a traveling direction thereof, The power supply device is a power transmission antenna capable of emitting a quasi-millimeter wave power transmission signal at a narrow angle in front of the vehicle to the side with respect to the traveling direction; a camera that is arranged facing the front and captures an image of the front; Including, When the power receiving marker is detected based on the image of the front side acquired by the camera, the power transmitting antenna is caused to emit the power transmitting signal.

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