Control method and program

Abstract

The purpose of the present disclosure is to improve convenience. This control method comprises a position detection process and a movement control process. In the movement control process, a movement system (M1) is controlled, on the basis of the position of an electric power reception coil detected in the position detection process, so that at least one of a first electric power transmission coil (81A) and a second electric power transmission coil (81B) is moved. The movement control process includes a first process for moving a first Y-axis rail (6A) along an X-axis rail (4), a second process for moving a first electric power transmission unit (8A) along the first Y-axis rail (6A), a third process for moving a second Y-axis rail (6B) along the X-axis rail (4) independently of the movement of the first Y-axis rail (6A), and a fourth process for moving a second electric power transmission unit (8B) along the second Y-axis rail (6B).

Description

Control method and program

[0001] The present disclosure generally relates to a control method and a program, and more particularly to a control method and a program for moving a power transmitting coil.

[0002] The contactless charging device described in Patent Document 1 includes a table, a primary coil, a moving stage, and a moving mechanism. The device to be charged is placed on the table's upper surface. The primary coil charges the device to be charged by electromagnetic induction. The primary coil is fixed to the upper surface of the moving stage. The moving mechanism includes two Hall screws extending parallel to each other along the y direction. One end of each Hall screw is connected to an actuator for rotating the Hall screw around its long axis. When the two actuators are rotated synchronously, the moving stage reciprocates in the y direction according to the direction of rotation.

[0003] JP 2009-189087 A

[0004] The present disclosure aims to provide a control method and program that can improve convenience.

[0005] A control method according to one aspect of the present disclosure is a control method for controlling a mobile system. The mobile system moves a first power transmission unit including a first power transmission coil and a second power transmission unit including a second power transmission coil. The first power transmission coil transmits power to a power receiving coil included in a power receiving terminal. The second power transmission coil transmits power to the power receiving coil. The control method includes a position detection process and a movement control process. The position detection process detects the position of the power receiving coil. The movement control process controls the mobile system to move at least one of the first power transmission coil and the second power transmission coil based on the position of the power receiving coil detected in the position detection process. When the position of one of the power receiving coils is detected in the position detection process, the movement control process moves one of the first power transmission coil and the second power transmission coil to a position facing the one of the power receiving coils. The first power transmission unit is movably connected to a first Y-axis rail along the Y-axis direction. The second power transmission unit is movably coupled to a second Y-axis rail that extends along the Y-axis direction. The first Y-axis rail and the second Y-axis rail are movably coupled to an X-axis rail that extends along an X-axis direction that intersects with the Y-axis direction. The movement control process includes a first process of moving the first Y-axis rail along the X-axis rail, a second process of moving the first power transmission unit along the first Y-axis rail, a third process of moving the second Y-axis rail along the X-axis rail independently of the movement of the first Y-axis rail, and a fourth process of moving the second power transmission unit along the second Y-axis rail.

[0006] A program according to one aspect of the present disclosure is a program readable by a computer system, causing one or more processors of the computer system to execute the control method.

[0007] FIG. 1 is a plan view of a main part of a wireless power supply device according to a first embodiment. FIG. 2 is a front view of a main part of the wireless power supply device. FIG. 3 is a side view of a main part of the wireless power supply device. FIG. 4 is an exploded perspective view of the wireless power supply device. FIG. 5 is a perspective view of the wireless power supply device. FIG. 6 is a block diagram of the wireless power supply device and a power receiving terminal. FIG. 7 is a flowchart showing a basic operation of the wireless power supply device. FIG. 8 is a plan view showing an example of a state when the wireless power supply device is powered on. FIG. 9 is a plan view showing another example of a state when the wireless power supply device is powered on. FIG. 10 is a plan view showing yet another example of a state when the wireless power supply device is powered on. FIG. 11 is a flowchart showing a detailed operation of the wireless power supply device. FIG. 12 is a plan view of the wireless power supply device. FIG. 13 is a front cross-sectional view of a main part of the wireless power supply device. FIG. 14 is a schematic diagram of a main part of a wireless power supply device according to a second embodiment. FIG. 15 is a schematic diagram of a main part of the wireless power supply device. Fig. 16 is a flowchart showing the operation of the wireless power supply device of the same. Fig. 17 is a perspective view of a main part of a wireless power supply device according to a third embodiment. Fig. 18 is a perspective view of a main part of a wireless power supply device according to a modification of the third embodiment. Fig. 19 is a perspective view of a main part of a wireless power supply device according to a fourth embodiment. Fig. 20 is a perspective view of a main part of a wireless power supply device according to a fifth embodiment. Fig. 21 is a cross-sectional view of a main part of the same. Fig. 22 is a perspective view of a main part of a wireless power supply device according to a first modification of the fifth embodiment. Fig. 23 is a cross-sectional view of a main part of the same. Fig. 24 is a perspective view of a main part of a wireless power supply device according to a second modification of the fifth embodiment. Fig. 25 is a front view of a main part of the same. Fig. 26 is a schematic plan view of a main part of a wireless power supply device according to a sixth embodiment. Fig. 27 is a schematic plan view of a main part of a wireless power supply device according to a seventh embodiment. Fig. 28 is a schematic plan view of a main part of a wireless power supply device according to an eighth embodiment. Fig. 29 is a schematic plan view of a main part of a wireless power supply device according to a ninth embodiment.

[0008] In the following embodiments, the wireless power supply device 1 and a control method for a mobile system M1 of the wireless power supply device 1 according to the present disclosure will be described with reference to the drawings. However, the following embodiments are merely a part of various embodiments of the present disclosure. The following embodiments can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the following embodiments, including modified examples, may be realized in appropriate combinations.

[0009] Furthermore, the drawings described in the following embodiments are schematic drawings, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios.

[0010] In addition, arrows representing front, back, left, right, up, down, and so on in each drawing are merely shown for the purpose of explanation and have no substance. Also, arrows representing the X-axis and Y-axis in each drawing are merely shown for the purpose of explanation and have no substance.

[0011] Furthermore, the front-rear, left-right, and up-down directions in this disclosure are merely examples and are not intended to limit the directions in which the wireless power supply device 1 may be used.

[0012] In addition, the X-axis direction and the Y-axis direction intersect each other. In the present disclosure, it is described that the X-axis direction and the Y-axis direction are perpendicular to each other, that the X-axis direction coincides with the left-right direction, and that the Y-axis direction coincides with the front-rear direction, but it is not essential that the X-axis direction and the Y-axis direction are perpendicular to each other.

[0013] Furthermore, the flowcharts shown in each drawing (such as FIG. 7) are merely examples of a method of using (controlling) the wireless power supply device 1 according to the present disclosure, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0014] 1 to 5 illustrate a wireless power supply device 1 of this embodiment. When a power receiving terminal 9 (see FIG. 5) is placed in a power transmittable area 210 (see FIG. 5) provided on the surface of the wireless power supply device 1, the wireless power supply device 1 transmits power to the power receiving terminal 9. The power receiving terminal 9 has, for example, an electric circuit that operates using power received from the wireless power supply device 1. The power receiving terminal 9 also has, for example, a battery, and charges the battery using the power received from the wireless power supply device 1.

[0015] As shown in Fig. 1 , the wireless power supply device 1 of this embodiment includes a power transmission unit 8, a position detection device 3 (see Fig. 4 ), a mobile system M1, and a housing 2. The power transmission unit 8 includes a power transmission coil 81. The power transmission coil 81 transmits power to a power receiving coil 91 (see Fig. 5 ) included in a power receiving terminal 9. The position detection device 3 detects the position of the power receiving coil 91. The mobile system M1 moves the power transmission coil 81 to a position facing the power receiving coil 91 based on the position of the power receiving coil 91 detected by the position detection device 3. The housing 2 accommodates the power transmission unit 8, the mobile system M1, and the position detection device 3. The movement system M1 has an X-axis rail 4 extending along the X-axis direction, a Y-axis rail 6 extending along the Y-axis direction intersecting the X-axis direction, an X-axis drive unit 5 that moves the Y-axis rail 6 along the X-axis rail 4, and a Y-axis drive unit 7 that moves a power transmission unit 8 movably connected to the Y-axis rail 6 along the Y-axis rail 6. The Y-axis rail 6 is movably connected to the X-axis rail 4. The X-axis drive unit 5 is held by the Y-axis rail 6. The Y-axis drive unit 7 is held by the power transmission unit 8.

[0016] For example, if the X-axis drive unit 5 is held by the X-axis rail 4 and drives the X-axis rail 4 to move the Y-axis rail 6 along the X-axis rail 4, the longer the X-axis rail 4, the greater the output (power) required from the X-axis drive unit 5. For example, if the X-axis drive unit 5 has a motor that drives the X-axis rail 4, the output of the motor required to move the Y-axis rail 6 along the X-axis rail 4 increases as the X-axis rail 4 becomes longer and the distance traveled by the Y-axis rail 6 increases. As the motor output increases, the dimensions of the motor also increase. For example, the height of the motor required to smoothly move the Y-axis rail 6 a distance of 10 cm may be approximately 10 mm, whereas the height of the motor required to smoothly move the Y-axis rail 6 a distance of 40 cm may be approximately 40 mm.

[0017] In contrast, according to the above-described configuration of this embodiment, since the X-axis driver 5 is held by the Y-axis rail 6, the X-axis driver 5 only needs to have an output (power) according to the length of the Y-axis rail 6. Therefore, even if the length of the X-axis rail 4 is long, the output (power) required by the X-axis driver 5 can be prevented from increasing. Therefore, the wireless power supply device 1 can be made thinner.

[0018] Furthermore, the output (power) required by the X-axis driver 5 is constant regardless of the length of the X-axis rail 4. Therefore, there is an advantage that the configurations of the Y-axis rail 6, the X-axis driver 5, and the Y-axis driver 7 can be made common between a wireless power supply device 1 designed with a relatively long X-axis rail 4 and a wireless power supply device 1 designed with a relatively short X-axis rail 4.

[0019] Furthermore, the output (power) required by the X-axis drive unit 5 is constant regardless of the number of Y-axis rails 6 connected to the X-axis rail 4. Therefore, there is an advantage that the number of Y-axis rails 6 can be increased or decreased as desired without making design changes such as reselecting the X-axis drive unit 5.

[0020] As shown in FIG. 1 , the wireless power supply device 1 of this embodiment includes two power transmission units 8, two Y-axis rails 6, two X-axis drive units 5, and two Y-axis drive units 7.

[0021] Hereinafter, the two power transmission units 8 will also be referred to as a first power transmission unit 8A and a second power transmission unit 8B. Furthermore, the power transmission coil 81 included in the first power transmission unit 8A will also be referred to as a first power transmission coil 81A, and the power transmission coil 81 included in the second power transmission unit 8B will also be referred to as a second power transmission coil 81B.

[0022] The two Y-axis rails 6 are also referred to as a first Y-axis rail 6A and a second Y-axis rail 6B. The two X-axis drive units 5 are also referred to as a first X-axis drive unit 5A and a second X-axis drive unit 5B. The two Y-axis drive units 7 are also referred to as a first Y-axis drive unit 7A and a second Y-axis drive unit 7B.

[0023] The second power transmitting coil 81B of the second power transmitting unit 8B transmits power to the power receiving coil 91 of the power receiving terminal 9 .

[0024] The second Y-axis rail 6B is movably connected to the X-axis rail 4. The second Y-axis rail 6B extends along the Y-axis direction.

[0025] The second X-axis driving unit 5B moves the second Y-axis rail 6B along the X-axis rail 4, independently of the movement of the first Y-axis rail 6A. The second X-axis driving unit 5B is held by the second Y-axis rail 6B.

[0026] The second Y-axis driving unit 7B moves the second power transmission unit 8B, which is movably connected to the second Y-axis rail 6B, along the second Y-axis rail 6B. The second Y-axis driving unit 7B is held by the second power transmission unit 8B.

[0027] In this way, the first Y-axis rail 6A and the second Y-axis rail 6B are movably connected to the common X-axis rail 4, which has the effect of reducing the number of X-axis rails 4 and making the movement system M1 more compact.

[0028] The mobile system M1 of the wireless power supply device 1 is controlled by a control method. The control method is executed by, for example, a computer system. The mobile system M1 moves a first power transmission unit 8A including a first power transmission coil 81A and a second power transmission unit 8B including a second power transmission coil 81B. The first power transmission coil 81A transmits power to a power receiving coil 91 provided in the power receiving terminal 9. The second power transmission coil 81B transmits power to the power receiving coil 91. The control method includes a position detection process and a movement control process. The position detection process detects the position of the power receiving coil 91. The movement control process controls the mobile system M1 to move at least one of the first power transmission coil 81A and the second power transmission coil 81B based on the position of the power receiving coil 91 detected in the position detection process. When the position of one power receiving coil 91 is detected in the position detection process, the movement control process moves one of the first power transmitting coil 81A and the second power transmitting coil 81B to a position facing the one power receiving coil 91. The first power transmitting unit 8A is movably connected to a first Y-axis rail 6A that extends along the Y-axis direction. The second power transmitting unit 8B is movably connected to a second Y-axis rail 6B that extends along the Y-axis direction. The first Y-axis rail 6A and the second Y-axis rail 6B are movably connected to an X-axis rail 4 that extends along the X-axis direction that intersects with the Y-axis direction. The movement control process includes a first process of moving the first Y-axis rail 6A along the X-axis rail 4, a second process of moving the first power transmission unit 8A along the first Y-axis rail 6A, a third process of moving the second Y-axis rail 6B along the X-axis rail 4 independently of the movement of the first Y-axis rail 6A, and a fourth process of moving the second power transmission unit 8B along the second Y-axis rail 6B.

[0029] According to the above configuration, the first power transmission unit 8A and the second power transmission unit 8B can be moved in the X-axis direction and the Y-axis direction by the first to fourth processes while the first Y-axis rail 6A and the second Y-axis rail 6B are movably connected to the common X-axis rail 4. This has the effect of improving convenience compared to a case where only the first power transmission unit 8A is moved. Furthermore, compared to a case where the first Y-axis rail 6A is movably connected to the first X-axis rail, while the second Y-axis rail 6B is not movably connected to the first X-axis rail but is movably connected to the second X-axis rail, it has the effect of reducing the number of X-axis rails 4 and making the movement system M1 more compact.

[0030] The order in which the first to fourth processes are executed is not particularly limited. For example, the first process, the second process, the third process, and the fourth process may be executed in this order, or as another example, the second process, the fourth process, the third process, and the first process may be executed in this order.

[0031] The above control method can be realized as a program readable by a computer system. The program of this embodiment is a program for causing one or more processors of a computer system to execute the above control method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0032] (Details) (1) Overall Configuration The wireless power supply device 1 of this embodiment will be described in more detail below.

[0033] As shown in FIGS. 1 and 4 , the wireless power supply device 1 includes a first power transmission unit 8A, a second power transmission unit 8B, a position detection device 3, a mobile system M1, a housing 2, and a controller 14. The mobile system M1 includes two X-axis rails 4 (4A and 4B), two X-axis drive units 5, two Y-axis rails 6, two Y-axis drive units 7, two cables 12, and two follower units 13. As shown in FIG. 1 , the mobile system M1 preferably further includes two first support bases 11A and two second support bases 11B. Providing these support bases 11A and 11B in the mobile system M1 allows for the adjustment of the height of the X-axis rails 4. This allows the mobile system M1 to be standardized for multiple wireless power supply devices with different power transmission areas 210 or multiple wireless power supply devices with different housing 2 shapes, thereby reducing costs.

[0034] The wireless power supply device 1 includes two Y-axis rail units U1 (see FIG. 1 ). Each of the two Y-axis rail units U1 is movably connected to two X-axis rails 4. Each of the two Y-axis rail units U1 includes the above-mentioned power transmission unit 8, X-axis drive unit 5, Y-axis rail 6, Y-axis drive unit 7, cable 12, and follower unit 13.

[0035] 1, the number of Y-axis rail units U1 is two, but it may be one or three or more. The multiple Y-axis rail units U1 included in one wireless power supply device 1 may all have the same structure. This has the effect of reducing the manufacturing cost of the multiple Y-axis rail units U1.

[0036] Another advantage is that a common Y-axis rail unit U1 can be used for a wireless power supply device 1 in which the X-axis rail 4 is designed to be relatively long and a wireless power supply device 1 in which the X-axis rail 4 is designed to be relatively short.

[0037] As shown in Fig. 6 , the wireless power supply device 1 further includes a plurality of (two in Fig. 6 ) power transmission circuits 83 and a communication circuit 84. In Fig. 6 , double lines connecting components represent power lines, and single lines connecting components represent communication lines.

[0038] (2) Housing As shown in FIGS. 4 and 5, the housing 2 has a cover 21 and a base 22.

[0039] The cover 21 has a rectangular parallelepiped shape. The cover 21 has an opening on the bottom surface. The cover 21 also has a display device 211. The display device 211 displays a predetermined information, as described below. The display device 211 includes, for example, a display. The area in which the display device 211 is provided includes at least a portion of the power transmission area 210. When the power receiving terminal 9 is placed in the power transmission area 210, one of the two power transmission coils 81 moves to a position facing the power receiving coil 91 of the power receiving terminal 9 and transmits power to the power receiving coil 91.

[0040] The base 22 has a rectangular parallelepiped shape. The base 22 has an opening 220 on its upper surface. The opening 220 of the base 22 faces the opening on the lower surface of the cover 21. The cover 21 is attached to the base 22 and covers the opening 220 of the base 22. The two power transmission units 8, the position detection device 3, and the mobile system M1 are housed in the space between the cover 21 and the base 22. More specifically, as shown in FIG. 4 , the two power transmission units 8 and the mobile system M1 are disposed below the position detection device 3.

[0041] (3) Controller, Power Transmission Circuit, and Communication Circuit The controller 14 includes a computer system having one or more processors and a memory. At least some of the functions of the controller 14 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium (such as a memory card) that can be read by the computer system.

[0042] 1, the controller 14 has an identification unit 141 and a movement control unit 142. Note that these merely indicate functions realized by the controller 14 and do not necessarily indicate actual configurations.

[0043] The identification unit 141 determines the position of the power receiving coil 91 based on the detection result of the position detection device 3. The movement control unit 142 controls the movement of the two power transmission units 8 by controlling the operation of the two X-axis drive units 5 and the two Y-axis drive units 7.

[0044] The controller 14 may be housed in the housing 2 as shown in Fig. 1 . Alternatively, the controller 14 may be disposed outside the housing 2. Furthermore, the controller 14 may be a component of a device separate from the wireless power supply device 1.

[0045] The two power transmitting circuits 83 correspond one-to-one to the two power transmitting coils 81. Each power transmitting circuit 83 supplies power to the corresponding power transmitting coil 81.

[0046] Each power transmission circuit 83 includes, for example, a full-bridge inverter or a class D or class E oscillator circuit. The power transmission circuit 83 is connected, for example, to a DC power supply and converts DC power input from the DC power supply into AC power for output. This AC power is supplied to the power transmission coil 81 via the cable 12 and is sent into space by the power transmission coil 81.

[0047] The communication circuit 84 wirelessly communicates with the communication circuit 94 of the power receiving terminal 9, and receives, for example, information about the power receiving terminal 9 that is necessary for transmitting power from the power transmitting coil 81 to the power receiving coil 91. This information is sent to the controller 14 and is used to control the transmission frequency of the transmission power sent by the power transmitting coil 81, control the magnitude of the transmission power, and so on.

[0048] The controller 14, the two power transmission circuits 83, and the communication circuit 84 may be integrated into one package, or may be distributed across multiple packages.

[0049] (4) Position Detection Device As shown in Fig. 4, the position detection device 3 has a first detection unit 31 and a second detection unit 32. The first detection unit 31 includes a plurality of first search coils 310. The second detection unit 32 includes a plurality of second search coils 320.

[0050] The first detector 31 and the second detector 32 are each shaped like a plate. The first detector 31 overlaps the second detector 32 in the up-down direction.

[0051] The position detection device 3 has, for example, a printed circuit board, which may be, for example, a double-sided board or a multi-layer board. The printed circuit board includes a first layer (for example, a layer provided on the upper surface) and a second layer (for example, a layer provided on the lower surface or a layer between the upper and lower surfaces) that overlaps the first layer in the vertical direction. The multiple first search coils 310 are arranged on the first layer of the printed circuit board, and the multiple second search coils 320 are arranged on the second layer of the printed circuit board.

[0052] Each of the first search coils 310 has a rectangular shape. The longitudinal direction of each of the first search coils 310 is aligned in the front-rear direction. The first search coils 310 are aligned in the left-right direction.

[0053] Each of the second search coils 320 has a rectangular shape. The longitudinal direction of each of the second search coils 320 is aligned in the left-right direction. The second search coils 320 are lined up in the front-rear direction.

[0054] Furthermore, the identification unit 141 of the controller 14 supplies pulse signals to the plurality of first search coils 310 and the plurality of second search coils 320 .

[0055] When the power receiving terminal 9 is placed on the upper surface of the cover 21, the power receiving coil 91 of the power receiving terminal 9 is excited by a pulse signal and outputs an echo signal to the opposing first search coil 310 among the multiple first search coils 310. The first search coil 310 receives the echo signal and outputs it to the identification unit 141. The identification unit 141 determines the X coordinate of the power receiving coil 91 based on the position information of each of the multiple first search coils 310 and the level of the echo signal. For example, the identification unit 141 determines the X coordinate of the first search coil 310 among the multiple first search coils 310 whose echo signal level is equal to or greater than a threshold and is the largest, as the X coordinate of the power receiving coil 91.

[0056] Furthermore, when the power receiving terminal 9 is placed on the upper surface of the cover 21, the power receiving coil 91 of the power receiving terminal 9 is excited by a pulse signal and outputs an echo signal to the opposing second search coil 320 among the plurality of second search coils 320. The second search coil 320 receives the echo signal and outputs it to the identification unit 141. The identification unit 141 determines the Y coordinate of the power receiving coil 91 based on the position information of each of the plurality of second search coils 320 and the level of the echo signal. For example, the identification unit 141 determines the Y coordinate of the second search coil 320 among the plurality of second search coils 320 whose echo signal level is equal to or greater than a threshold and is the largest, as the Y coordinate of the power receiving coil 91.

[0057] In this way, the identification unit 141 determines the position of the power receiving coil 91 on the upper surface of the cover 21. The position detection device 3 detects the position of the power receiving coil 91 and generates a signal (echo signal) that the identification unit 141 uses to determine the position of the power receiving coil 91 on the upper surface of the cover 21.

[0058] Similarly, when multiple power receiving terminals 9 (i.e., multiple power receiving coils 91 ) are placed on the top surface of the cover 21 , the identification unit 141 determines the position of each of the multiple power receiving coils 91 on the top surface of the cover 21 .

[0059] (5) Power Receiving Terminal As shown in Fig. 5, the power receiving terminal 9 has a power receiving coil 91. The shape of the power receiving coil 91 is, for example, circular. However, the shape of the power receiving coil 91 is not limited to circular and may be, for example, rectangular. In the present disclosure, the term "rectangle" is a concept that includes square and oblong shapes.

[0060] As shown in FIG. 6 , the power receiving terminal 9 includes a load 92 , a power receiving circuit 93 , a communication circuit 94 , and a controller 95 in addition to a power receiving coil 91 .

[0061] The load 92 includes a battery and a circuit that operates using power supplied from the battery. Note that it is not essential for the power receiving terminal 9 to have a battery, and the power receiving terminal 9 may be able to attach a battery.

[0062] The power receiving terminal 9 charges a battery with the power received by the power receiving coil 91. The power receiving terminal 9 is, for example, a mobile phone such as a smartphone, a tablet computer, a digital camera, a record player, or a charger.

[0063] The power receiving circuit 93 may include various circuits such as a rectifier circuit, a frequency conversion circuit, a constant voltage / constant current control circuit, a modulation / demodulation circuit for communication, etc. The power receiving circuit 93 converts the high-frequency AC power received by the power receiving coil 91 into DC power or low-frequency AC power that can be used by the load 92. The power receiving circuit 93 may also include various sensors that measure the voltage, current, etc. output from the power receiving coil 91.

[0064] The communication circuit 94 wirelessly communicates with the communication circuit 84 of the power transmitting unit 8 and transmits, for example, information about the power receiving terminal 9 that is necessary for power transmission from the power transmitting coil 81 to the power receiving coil 91 .

[0065] The controller 95 controls the operations of the load 92 , the power receiving circuit 93 , and the communication circuit 94 .

[0066] (6) Power Transmission Units Next, the two power transmission units 8 (i.e., the first power transmission unit 8A and the second power transmission unit 8B) will be described.

[0067] As shown in FIG. 1 , each of the two power transmission units 8 includes a power transmission coil 81 and a base 82 .

[0068] As described above, the power transmission coil 81 included in the first power transmission unit 8A is also referred to as the first power transmission coil 81A, and the power transmission coil 81 included in the second power transmission unit 8B is also referred to as the second power transmission coil 81B.

[0069] Furthermore, the base 82 included in the first power transmission unit 8A will also be referred to as a first base 82A, and the base 82 included in the second power transmission unit 8B will also be referred to as a second base 82B.

[0070] Since the two power transmission units 8 have a common configuration, only one of the power transmission units 8 will be described below.

[0071] The shape of the power transmission coil 81 is, for example, circular. However, the shape of the power transmission coil 81 is not limited to circular and may be, for example, rectangular. The axial direction of the power transmission coil 81 is aligned with the up-down direction.

[0072] The power transmitting coil 81 is held by a base 82. More specifically, the power transmitting coil 81 is disposed on the upper surface of the base 82. The power transmitting coil 81 is movably connected to the Y-axis rail 6 via the base 82.

[0073] The base 82 has a plate-like shape. The thickness direction of the base 82 is along the up-down direction. When viewed from above, the shape of the base 82 is, for example, rectangular. However, when viewed from above, the shape of the base 82 is not limited to a rectangular shape and may be, for example, a circular shape.

[0074] The base 82 of each power transmission unit 8 may be provided with ferrite on the upper surface that contacts the power transmission coil 81. The ferrite arranged below the power transmission coil 81 in this manner weakens the electromagnetic coupling between the power transmission coil 81 and the base 82 and the Y-axis rail 6, etc., that are located below the power transmission coil 81, which has the excellent effect of allowing the power transmission coil 81 to efficiently transmit AC power.

[0075] The two cables 12 correspond one-to-one to the two power transmitting coils 81. Each cable 12 is electrically connected to the corresponding power transmitting coil 81. Each cable 12 supplies power to the corresponding power transmitting coil 81.

[0076] Each cable 12 includes a power line connecting the power transmission circuit 83 and the power transmission coil 81 and a control line from the controller 14 .

[0077] Each cable 12 has one end 121 connected to the power transmission unit 8 and a fixed portion 122 fixed to a position facing the Y-axis rail 6 in the X-axis direction. In the example shown in Fig. 1 , the fixed portion 122 of each cable 12 is passed through a through hole 221 provided in the base 22 and is fixed inside the through hole 221.

[0078] Furthermore, the fixed portion 122 is disposed to the left of the Y-axis rail 6. Therefore, the cable 12 is extended in the X-axis direction (i.e., the longitudinal direction of the movement range of the power transmission coil 81), which reduces the movement distance of the cable 12 in the Y-axis direction, thereby reducing wear on the cable 12 due to movement in the Y-axis direction.

[0079] The power transmitting coil 81 transmits power in a contactless manner to the opposing power receiving coil 91. The power transmitting coil 81 transmits power to the power receiving coil 91 by, for example, an electromagnetic coupling (electromagnetic induction) method or a magnetic field resonance method.

[0080] (7) Mobile System Next, each component of the mobile system M1 will be described.

[0081] (7.1) X-Axis Rails and Support Base As shown in Fig. 1, each of the two X-axis rails 4 (4A and 4B) extends in the X-axis direction. That is, the longitudinal direction of each of the two X-axis rails 4 is along the X-axis direction. The two X-axis rails 4 face each other in the Y-axis direction.

[0082] 2, the X-rail 4B has a plurality of teeth aligned in the X-axis direction on its upper surface, and similarly, the X-rail 4A has a plurality of teeth aligned in the X-axis direction on its upper surface.

[0083] A first end of the X-axis rail 4A in the longitudinal direction is supported by one of the two first support bases 11A, and a second end of the X-axis rail 4A in the longitudinal direction is supported by the other of the two first support bases 11A.

[0084] A first end of the X-axis rail 4B in the longitudinal direction is supported by one of the two second support bases 11B. A second end of the X-axis rail 4B in the longitudinal direction is supported by the other of the two second support bases 11B.

[0085] The X-axis rail 4 does not move, while the Y-axis rail 6 moves. A shorter Y-axis rail 6 is preferable because it allows the Y-axis rail 6 to be moved with less force. Therefore, as shown in Figure 1, it is preferable that the length of the X-axis rail 4 in the X-axis direction is longer than the length of the Y-axis rail 6 in the Y-axis direction.

[0086] (7.2) Y-Axis Rails As shown in Fig. 1, each of the two Y-axis rails 6 (i.e., the first Y-axis rail 6A and the second Y-axis rail 6B) extends in the Y-axis direction. That is, the longitudinal direction of each of the two Y-axis rails 6 is along the Y-axis direction. The two Y-axis rails 6 face each other in the X-axis direction.

[0087] Each Y-axis rail 6 has a tooth portion 61 and a slider 62. The tooth portion 61 and the slider 62 each extend in the Y-axis direction. The tooth portion 61 and the slider 62 are aligned in a direction perpendicular to the Y-axis.

[0088] As shown in FIG. 3, the toothed portion 61 has a plurality of teeth arranged in the Y-axis direction on its upper surface.

[0089] The Y-axis drive unit 7 and the power transmission unit 8 can slide on the upper surface of the slider 62 .

[0090] The X-axis driving unit 5 is held at a first end of the Y-axis rail 6. The follower unit 13 is held at a second end of the Y-axis rail 6.

[0091] The Y-axis rail 6 has an upper surface 603 (see FIG. 3 ) that faces the power transmission coil 81, the X-axis drive unit 5, and the Y-axis drive unit 7. In other words, the power transmission coil 81, the X-axis drive unit 5, and the Y-axis drive unit 7 are arranged above the Y-axis rail 6. Therefore, compared to a case where some of the power transmission coil 81, the X-axis drive unit 5, and the Y-axis drive unit 7 are arranged above the Y-axis rail 6 and the rest are arranged below the Y-axis rail 6, there is an effect that the Y-axis rail unit U1 can be made thinner.

[0092] The upper surface 603 also faces the base 82 and the follower part 13 .

[0093] (7.3) X-Axis Drive Unit The two X-axis drive units 5 correspond one-to-one to the two Y-axis rails 6. Each X-axis drive unit 5 is held by the corresponding Y-axis rail 6.

[0094] As shown in FIGS. 1 and 2, each of the two X-axis drive units 5 has a motor 51 and a gear 52 (spur gear).

[0095] The motor 51 is held by the Y-axis rail 6. The motor 51 has an output shaft 510. The output shaft 510 protrudes outward from the Y-axis rail 6 along the Y-axis direction. A gear 52 is fixed to the output shaft 510, and the motor 51 rotates the gear 52 together with the output shaft 510.

[0096] The gear 52 meshes with the X-axis rail 4B. As the gear 52 rotates, the gear 52 receives a reaction force from the X-axis rail 4B. As the gear 52 rotates, the Y-axis rail unit U1, which includes the X-axis drive unit 5, the Y-axis rail 6, the Y-axis drive unit 7, the power transmission unit 8, and the driven unit 13, moves in the X-axis direction.

[0097] (7.4) Follower Part The two follower parts 13 correspond one-to-one to the two Y-axis rails 6. Each follower part 13 is held by the corresponding Y-axis rail 6.

[0098] As shown in FIGS. 1 and 2, each of the two driven parts 13 has a support part 131 and a gear 132 (spur gear).

[0099] The support part 131 is held by the Y-axis rail 6. The support part 131 has an output shaft 1310. The output shaft 1310 protrudes outward from the Y-axis rail 6 along the Y-axis direction. The output shaft 1310 is held rotatably. A gear 132 is fixed to the output shaft 1310. The gear 132 is rotatable together with the output shaft 1310.

[0100] The gear 132 meshes with the X-axis rail 4A.

[0101] When the gear 52 of the X-axis drive unit 5 rotates and the Y-axis rail unit U1 moves in the X-axis direction, the gear 132 rotates.

[0102] Therefore, when the gear 52 of the X-axis drive unit 5 rotates, the gear 52 of the X-axis drive unit 5 meshes with the X-axis rail 4B, and the gear 132 of the follower unit 13 meshes with the X-axis rail 4A, causing the Y-axis rail unit U1 to move in the X-axis direction.

[0103] The output shaft 1310 is rotatably held in the support part 131, which reduces friction and enables efficient rotation, thereby reducing the load on the motor 51 of the X-axis drive part 5 and enabling the selection of a smaller motor 51, which has the effect of enabling the wireless power supply device 1 to be made thinner.

[0104] (7.5) Y-Axis Drive Unit The two Y-axis drive units 7 (i.e., the first Y-axis drive unit 7A and the second Y-axis drive unit 7B) correspond one-to-one to the two power transmission units 8. Each Y-axis drive unit 7 is held by the corresponding power transmission unit 8.

[0105] The two Y-axis drive units 7 correspond one-to-one to the two Y-axis rails 6 .

[0106] A moving unit U2 (see FIG. 1) including a Y-axis drive unit 7 and a power transmission unit 8 corresponding to each other is slidable on the corresponding Y-axis rail 6. Specifically, the first moving unit U2 including the first Y-axis drive unit 7A and the first power transmission unit 8A is slidable on the first Y-axis rail 6A, and the second moving unit U2 including the second Y-axis drive unit 7B and the second power transmission unit 8B is slidable on the second Y-axis rail 6B.

[0107] As shown in FIGS. 1 and 3, each of the two Y-axis drive units 7 has a motor 71 and a gear 72 (spur gear).

[0108] The motor 71 is held by the power transmission unit 8. The motor 71 has an output shaft 710. The output shaft 710 extends along the X-axis direction. A gear 72 is fixed to the output shaft 710, and the motor 71 rotates the gear 72 together with the output shaft 710.

[0109] The gear 72 meshes with the toothed portion 61 of the Y-axis rail 6. As the gear 72 rotates, the gear 72 receives a reaction force from the Y-axis rail 6. The moving unit U2, which includes the corresponding Y-axis drive unit 7 and power transmission unit 8, moves in the Y-axis direction as the gear 72 rotates. More specifically, the moving unit U2 moves in the Y-axis direction as the gear 72 meshes with the toothed portion 61 and the contact portion with the slider 62 slides relative to the slider 62.

[0110] (8) Basic Operation Next, the basic operation of the wireless power supply device 1 will be described with reference to FIG.

[0111] In the following description, it is assumed that the power receiving terminal 9 has a battery, and that power transmission from the power transmitting coil 81 to the power receiving coil 91 ends when charging of the battery is completed.

[0112] 7 illustrates an example of the operation of the wireless power supply device 1 when one power receiving terminal 9 is located in the power transmission area 210 (see FIG. 5 ). The position detection device 3 detects the position of the power receiving coil 91 in the power transmission area 210 (step ST1). When the identification unit 141 of the controller 14 determines the position of the power receiving coil 91, the movement control unit 142 of the controller 14 determines which of the two power transmitting coils 81 to move to a position facing the power receiving coil 91. The movement control unit 142 then controls the mobile system M1 to move the power transmitting coil 81 to a position facing the power receiving coil 91 (step ST2). When the movement of the power transmitting coil 81 is complete, power transmission from the power transmitting coil 81 to the power receiving coil 91 begins (step ST3). The power receiving terminal 9 charges its battery using the power received by the power receiving coil 91.

[0113] When charging of the battery in the power receiving terminal 9 is completed (step ST4: Yes), power transmission from the power transmitting coil 81 to the power receiving coil 91 is terminated (step ST5).

[0114] (9) Initial Position When the mobile system M1 is powered on, the two power transmission units 8 may move to their respective initial positions. That is, the movement control process for controlling the mobile system M1 may include a process for moving the first power transmission coil 81A and the second power transmission coil 81B to their corresponding initial positions when the mobile system M1 is powered on.

[0115] Furthermore, each power transmitting coil 81 may also move to its initial position when power transmission from the power transmitting coil 81 to the power receiving coil 91 is completed. In other words, the movement control process for controlling the mobile system M1 may include a process for moving one of the first power transmitting coil 81A and the second power transmitting coil 81B to its initial position when power transmission from one of the first power transmitting coil 81A and the second power transmitting coil 81B to the power receiving coil 91 is completed. Each power transmitting coil 81 may move to its initial position after a predetermined time has elapsed since power transmission was completed.

[0116] 8 to 10 each show an example of a state in which two power transmission units 8 are in the initial position.

[0117] 8 , at least a portion of a movement range R10A of the first power transmission coil 81A overlaps with at least a portion of a movement range R10B of the second power transmission coil 81B. The first power transmission coil 81A moves on a first plane, and the second power transmission coil 81B moves on a second plane that is coplanar with the first plane. The first and second planes are planes that extend along both the X-axis and Y-axis directions. That is, the first and second planes are planes that are perpendicular to the up-down direction.

[0118] A combined range R10 (see FIG. 8 ) formed by combining the movement range R10A of the first power transmission coil 81A and the movement range R10B of the second power transmission coil 81B is preferably square or rectangular. In the example shown in FIG. 8 , the combined range R10 is rectangular.

[0119] In the example shown in Figure 8, when the first power transmission coil 81A and the second power transmission coil 81B are in their corresponding initial positions, the first power transmission coil 81A and the second power transmission coil 81B are positioned diagonally opposite each other in the combined range R10.

[0120] 9, when the first power transmission coil 81A and the second power transmission coil 81B are located at their corresponding initial positions, the first power transmission coil 81A and the second power transmission coil 81B are arranged adjacent to each other. Furthermore, in the example shown in FIG. 9, the first power transmission coil 81A and the second power transmission coil 81B are arranged adjacent to the center R101 of the combined range R10. Note that the first power transmission coil 81A and the second power transmission coil 81B may be arranged adjacent to each other, and at least one of the first power transmission coil 81A and the second power transmission coil 81B may be arranged to overlap the center R101 of the combined range R10. Therefore, the first power transmission coil 81A and the second power transmission coil 81B may be arranged adjacent to each other, and at least one of the first power transmission coil 81A and the second power transmission coil 81B may be arranged adjacent to or overlap the center R101 of the combined range R10.

[0121] 10 , when the first power transmission coil 81A and the second power transmission coil 81B are located at their corresponding initial positions, the second power transmission coil 81B is located adjacent to the center R101 of the summation range R10, and the first power transmission coil 81A is located adjacent to an apex R102 of the summation range R10. Note that the second power transmission coil 81B may be located overlapping the center R101 of the summation range R10. Alternatively, the first power transmission coil 81A may be located adjacent to or overlapping the center R101 of the summation range R10, and the second power transmission coil 81B may be located adjacent to an apex of the summation range R10. In other words, one of the first power transmission coil 81A and the second power transmission coil 81B may be located adjacent to or overlapping the center R101 of the summation range R10, and the other may be located adjacent to an apex (one of the four apexes) of the summation range R10.

[0122] 8 and 10 , the initial positions of the first power transmitting coil 81A and the second power transmitting coil 81B are spaced apart, which has the effect of reducing the possibility of interference (contact) between the first power transmitting coil 81A and the second power transmitting coil 81B. Furthermore, since the power receiving terminal 9 is often placed near the center of the power transmittable area 210 (see FIG. 5 ), the examples shown in FIGS. 9 and 10 have the effect of shortening the time required to move the power transmitting coil 81 to a position facing the power receiving coil 91.

[0123] 10 , when the initial position of one of the first power transmission coil 81A and the second power transmission coil 81B is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the other is adjacent to the apex R102 of the combined range R10, the initial positions of the first power transmission coil 81A and the second power transmission coil 81B may be changed each time a predetermined condition is satisfied. For example, the predetermined condition is that one of the power transmission coils 81 ends power transmission. Alternatively, the predetermined condition is that the mobile system M1 is powered on. When the initial position of the first power transmission coil 81A is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the second power transmission coil 81B is adjacent to the apex of the combined range R10, the initial positions of the second power transmission coil 81B may be changed so that the initial position of the second power transmission coil 81B is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the first power transmission coil 81A is adjacent to the apex R102 of the combined range R10, if the predetermined condition is satisfied. Furthermore, when a predetermined condition is satisfied in a case where the initial position of the second power transmission coil 81B is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the first power transmission coil 81A is adjacent to the apex R102 of the combined range R10, the initial positions of the first power transmission coil 81A may be changed so that the initial position of the first power transmission coil 81A is adjacent to or overlaps with the center R101 of the combined range R10 and the initial position of the second power transmission coil 81B is adjacent to the apex of the combined range R10. This has the effect of reducing the possibility that only one of the power transmission coils 81 whose initial position is set near the center R101 is frequently selected as the power transmission coil 81 that transmits power. This has the effect of averaging out the operating time of the power transmission circuit 83 and enabling the life of the power transmission circuit 83 to be extended.

[0124] (10) Detailed Operation Example Next, an operation example corresponding to the case where two power receiving terminals 9 are placed in the power transmittable area 210 will be described with reference to FIG.

[0125] In the following, charging the receiving terminal 9 with the transmitting coil 81 means that the transmitting coil 81 moves to a position opposite the receiving coil 91 of the receiving terminal 9, and the receiving terminal 9 charges the battery using the power transmitted from the transmitting coil 81 and received by the receiving coil 91.

[0126] Of the two power receiving terminals 9, the power receiving terminal 9 that is placed first in the power transmission area 210 is also referred to below as the first power receiving terminal 9A. Also, of the two power receiving terminals 9, the power receiving terminal 9 that is placed later in the power transmission area 210 is also referred to below as the second power receiving terminal 9B.

[0127] If both sides in the X-axis direction are defined as left and right, respectively, the first Y-axis rail 6A is disposed to the left of the second Y-axis rail 6B. When the first Y-axis rail 6A is disposed at the left end of the movement range of the first Y-axis rail 6A and the second Y-axis rail 6B is disposed at the right end of the movement range of the second Y-axis rail 6B, the midpoint between the first Y-axis rail 6A and the second Y-axis rail 6B is defined as the reference position. The reference position is a position on line SL1 in FIG. 8. Line SL1 is a line extending in the Y-axis direction. The X-coordinate of line SL1 is the average value of the X-coordinate of the left end of the movement range of the first Y-axis rail 6A and the X-coordinate of the right end of the movement range of the second Y-axis rail 6B.

[0128] 11 , the position detection device 3 detects the position of the first power receiving coil 91A in the power transmission area 210 (step ST11). If the position of the first power receiving coil 91A is to the left of the reference position (step ST12: Yes), the first power receiving terminal 9A is charged by the first power transmitting coil 81A (step ST13). That is, the first power transmitting coil 81A moves to a position facing the first power receiving coil 91A, and the first power receiving terminal 9A charges its battery using the power transmitted from the first power transmitting coil 81A and received by the first power receiving coil 91A.

[0129] If the charging of the first power receiving terminal 9A is completed without the position detection device 3 detecting the second power receiving coil 91B (step ST14: No, step ST15: Yes), the process ends.

[0130] If the position detection device 3 detects the second power receiving coil 91B before charging of the first power receiving terminal 9A is completed (step ST14: Yes), it determines whether the second power receiving coil 91B is located to the right of the first power receiving coil 91A (step ST16). That is, the X coordinate of the first power receiving coil 91A is compared with the X coordinate of the second power receiving coil 91B. If the X coordinate of the first power receiving coil 91A is smaller than the X coordinate of the second power receiving coil 91B, the second power receiving coil 91B is located to the right of the first power receiving coil 91A.

[0131] If the second receiving coil 91B is positioned to the right of the first receiving coil 91A (step ST16: Yes), the first receiving terminal 9A continues to be charged by the first transmitting coil 81A while the second receiving terminal 9B is charged by the second transmitting coil 81B (step ST17).

[0132] On the other hand, if the second power receiving coil 91B is located to the left of the first power receiving coil 91A in step ST16 (step ST16: No), the first power receiving terminal 9A is charged by the second power transmitting coil 81B, and the second power receiving terminal 9B is charged by the first power transmitting coil 81A (step ST18). That is, the first power transmitting coil 81A stops charging the first power receiving terminal 9A, moves to a position opposite the second power receiving coil 91B, and charges the second power receiving terminal 9B. Also, the second power transmitting coil 81B moves to a position opposite the first power receiving coil 91A, and charges the first power receiving terminal 9A.

[0133] After step ST17 or step ST18, when charging of the two power receiving terminals 9 is completed (step ST19), the process ends.

[0134] Next, a case where the position of the first power receiving coil 91A is to the right of the reference position in step ST12 (step ST12: No) will be described. In this case, the first power receiving terminal 9A is charged by the second power transmitting coil 81B (step ST20).

[0135] If the charging of the first power receiving terminal 9A is completed without the position detection device 3 detecting the second power receiving coil 91B (step ST21: No, step ST22: Yes), the process ends.

[0136] If the position detection device 3 detects the second receiving coil 91B before charging of the first receiving terminal 9A is completed (step ST21: Yes), it determines whether the second receiving coil 91B is positioned to the right of the first receiving coil 91A (step ST16).

[0137] If the second power receiving coil 91B is located to the right of the first power receiving coil 91A (step ST16: Yes), the first power transmitting coil 81A charges the first power receiving terminal 9A, and the second power transmitting coil 81B charges the second power receiving terminal 9B (step ST17). That is, the second power transmitting coil 81B stops charging the first power receiving terminal 9A, moves to a position opposite the second power receiving coil 91B, and charges the second power receiving terminal 9B. Also, the first power transmitting coil 81A moves to a position opposite the first power receiving coil 91A and charges the first power receiving terminal 9A.

[0138] On the other hand, if the second receiving coil 91B is positioned to the left of the first receiving coil 91A in step ST16 (step ST16: No), the first receiving terminal 9A continues to be charged by the second transmitting coil 81B while the second receiving terminal 9B is charged by the first transmitting coil 81A (step ST18).

[0139] After step ST17 or step ST18, when charging of the power receiving terminal 9 is completed (step ST19), the process ends.

[0140] If the first power receiving coil 91A is in the reference position in step ST12, step ST13 may be executed, or step ST20 may be executed.

[0141] Furthermore, if the X coordinate of the second power receiving coil 91B is equal to the X coordinate of the first power receiving coil 91A in step ST16, the user may be prompted to move the second power receiving coil 91B, for example, by a display process described later. Alternatively, if the configuration of the sixth or seventh embodiment described later is employed, if the X coordinate of the second power receiving coil 91B is equal to the X coordinate of the first power receiving coil 91A in step ST16, step ST17 or step ST18 may be executed.

[0142] As described above, in the movement control process, the power transmission coil 81 is selected from the first power transmission coil 81A and the second power transmission coil 81B to be moved to a position facing the power receiving coil 91, depending on the position of the power receiving coil 91 detected in the position detection process. More specifically, if the first power receiving coil 91A is positioned to the left of the reference position, the first power transmission coil 81A is moved to a position facing the first power receiving coil 91A. On the other hand, if the first power receiving coil 91A is positioned to the right of the reference position, the second power transmission coil 81B is moved to a position facing the first power receiving coil 91A.

[0143] Furthermore, when power is being transmitted from the first power transmission coil 81A or the second power transmission coil 81B to the first power receiving coil 91A, if the position of the second power receiving coil 91B is detected by the position detection process, the movement control process transmits power from the first power transmission coil 81A to the first power receiving coil 91A and also transmits power from the second power transmission coil 81B to the second power receiving coil 91B if the second power receiving coil 91B is positioned to the right of the first power receiving coil 91A.

[0144] Furthermore, when power is being transmitted from the first power transmission coil 81A or the second power transmission coil 81B to the first power receiving coil 91A, if the position of the second power receiving coil 91B is detected by the position detection process, the movement control process transmits power from the first power transmission coil 81A to the second power receiving coil 91B and also transmits power from the second power transmission coil 81B to the first power receiving coil 91A if the second power receiving coil 91B is positioned to the left of the first power receiving coil 91A.

[0145] This has the effect of reducing the distance traveled by each of the first power transmitting coil 81A and the second power transmitting coil 81B while reducing interference between the first power transmitting coil 81A and the second power transmitting coil 81B.

[0146] (11) Display Processing The control method further includes a display processing for controlling the display device 211 (see FIGS. 5 and 12 ) to display a predetermined display on the display device 211. More specifically, the display processing causes the display device 211 to display at least one of the position of the first power transmitting coil 81A, the position of the second power transmitting coil 81B, the power transmitting area 210 of the first power transmitting coil 81A and the second power transmitting coil 81B, and a recommended area recommended as a location for placing the power receiving terminal 9. This makes it easier for the user to determine where to place the power receiving terminal 9.

[0147] 12 is a plan view of the housing 2. A display device 211 is disposed on the top surface of the housing 2. When the power receiving terminal 9 is disposed in a power transmittable area 210 provided on the top surface of the housing 2, power is transmitted from the power transmitting coil 81 to the power receiving terminal 9.

[0148] The power transmission area 210 is an area on the top surface of the housing 2 that faces the movement range (total range R10 (see FIG. 8 )) of the two power transmission coils 81. In FIG. 12 , the power transmission area 210 and the outer edge of the display device 211 (approximately) coincide with each other, but the power transmission area 210 and the outer edge of the display device 211 do not have to coincide with each other.

[0149] When the power receiving terminal 9 is placed in a search area 212 provided on the top surface of the housing 2, the position detection device 3 detects the position of the power receiving terminal 9. The search area 212 is an area on the top surface of the housing 2 that faces the multiple first search coils 310 and the multiple second search coils 320. As an example, as shown in FIG. 12 , the search area 212 includes the power transmittable area 210.

[0150] The display device 211 displays the position of the first power transmitting coil 81A by, for example, illuminating an area facing the first power transmitting coil 81A. The display device 211 also displays the position of the second power transmitting coil 81B by, for example, illuminating an area facing the second power transmitting coil 81B.

[0151] The display device 211 displays the power transmittable area 210 by, for example, lighting up the power transmittable area 210 .

[0152] When the power receiving terminal 9 is located within the search area 212 but outside the power transmittable area 210, the display device 211 displays, for example, an arrow 213 indicating the direction in which the power receiving terminal 9 should be moved, thereby displaying a recommended area that is recommended as a location for the power receiving terminal 9. The arrow 213 points in the direction in which the power transmittable area 210 is located. Alternatively, the display device 211 may illuminate a portion (for example, near the center) of the power transmittable area 210 to display the portion as a recommended area.

[0153] If the power receiving terminal 9 is equipped with a display device such as a display, the power receiving terminal 9 may perform processing equivalent to display processing in response to a signal received from the wireless power supply device 1. That is, the power receiving terminal 9 may display at least one of the position of the first power transmitting coil 81A, the position of the second power transmitting coil 81B, the power transmittable area 210, and the recommended area. For example, the power receiving terminal 9 may display an arrow 213 indicating the direction in which the power receiving terminal 9 should be moved.

[0154] (12) Method of Moving Power Transmission Unit The contents described in this section "(12) Method of Moving Power Transmission Unit" can be applied to both the first power transmission unit 8A and the second power transmission unit 8B.

[0155] Fig. 13 is a cross-sectional view of a portion of the wireless power supply device 1. As shown in Fig. 13, both sides in the X-axis direction are designated as left and right, respectively. One end 121 of a cable 12 is connected to the power transmission unit 8, and the cable 12 has a fixed portion 122 whose position is fixed relative to the housing 2 that houses the Y-axis rail 6. In Fig. 13, the fixed portion 122 is provided at a position to the left of the Y-axis rail 6.

[0156] The closer the power transmission unit 8 is positioned to the fixed portion 122, the smaller the contact area between the bottom surface 200 of the housing 2 and the cable 12. In other words, the closer the Y-axis rail unit U1 including the power transmission unit 8 is positioned to the fixed portion 122, the smaller the contact area between the bottom surface 200 of the housing 2 and the cable 12. For example, the contact area between the bottom surface 200 and the cable 12 is smaller when the power transmission unit 8 is on the left side, as shown by the solid line in Fig. 13, than when the power transmission unit 8 is on the right side, as shown by the dashed dotted line in Fig. 13.

[0157] The smaller the contact area between the bottom surface 200 and the cable 12, the smaller the contact friction of the cable 12 when the power transmission unit 8 moves in the Y-axis direction. Therefore, it is preferable that the power transmission unit 8 moves in the Y-axis direction with the contact area between the bottom surface 200 and the cable 12 kept small. This has the effect of suppressing wear on the cable 12.

[0158] Therefore, in the movement control process, when the Y-axis rail 6 is moved along the X-axis rail 4 in a direction away from the fixed part 122 (to the right) and the power transmission unit 8 is moved in the Y-axis direction, the power transmission unit 8 is moved in the Y-axis direction, and then the Y-axis rail 6 is moved along the X-axis rail 4 in a direction away from the fixed part 122. Moving the Y-axis rail 6 along the X-axis rail 4 in a direction away from the fixed part 122 is, for example, when moving from the solid line portion to the dashed dotted line portion in FIG.

[0159] Furthermore, in the movement control process, when the Y-axis rail 6 is moved along the X-axis rail 4 in a direction approaching the fixed part 122 (to the left) and the power transmission unit 8 is moved in the Y-axis direction, the Y-axis rail 6 is moved along the X-axis rail 4 in a direction approaching the fixed part 122, and then the power transmission unit 8 is moved in the Y-axis direction. When the Y-axis rail 6 is moved along the X-axis rail 4 in a direction approaching the fixed part 122, for example, it is moved from the dashed line portion to the solid line portion in FIG. 13 .

[0160] A structure in which the fixed portion 122 of the cable 12 is provided at a position to the right of the Y-axis rail 6 is also possible.

[0161] Furthermore, it is also possible to desirably provide the fixed portion 122 of the cable 12 connected to the first power transmission unit 8A on the left side of the housing 2, and the fixed portion 122 of the cable 12 connected to the second power transmission unit 8B on the right side of the housing 2. This not only has the effect of shortening the cables 12 connected to each power transmission unit 8, but also has the effect of reducing tangles in the cables 12 and simplifying control of their routing. In particular, the above effects can be expected to be significant in the configuration shown in FIG. 8.

[0162] When the wireless power supply device 1 includes a plurality of power transmission units 8, the fixed portions 122 of the plurality of cables 12 extending from the plurality of power transmission units 8 may be collectively provided at the right or left position of the Y-axis rail 6. This makes it possible to collectively arrange the controller 14 and the power transmission circuit 83 to which the cables 12 are connected at the right or left position of the Y-axis rail 6, which has the effect of simplifying the structural design of the wireless power supply device 1 and making it smaller.

[0163] (13) Conditions that the wireless power supply device must satisfy Next, referring to Figure 9, we will explain the conditions that the wireless power supply device 1 must satisfy when at least one of the first power transmission unit 8A and the second power transmission unit 8B (or at least one of the two Y-axis rail units U1) moves.

[0164] If both sides in the X-axis direction are defined as left and right, respectively, the first Y-axis rail 6A is disposed to the left of the second Y-axis rail 6B.

[0165] The distance from a first center line 600A that passes through the center of the first Y-axis rail 6A and runs along the Y-axis direction to the right end of the first Y-axis rail 6A is defined as a first distance Wa. The distance from a second center line 600B that passes through the center of the second Y-axis rail 6B and runs along the Y-axis direction to the left end of the second Y-axis rail 6B is defined as a second distance Wb. The distance between the first center line 600A and the second center line 600B is defined as a distance La. In this case, it is preferable that the movement control process controls the movement of at least one of the first power transmission unit 8A and the second power transmission unit 8B so that La ≧ Wa + Wb is satisfied. This has the effect of suppressing interference between the first Y-axis rail 6A and the second Y-axis rail 6B.

[0166] 9, a first protrusion is provided that protrudes to the right from the first Y-axis rail 6A. More specifically, the motor 71 of the Y-axis drive unit 7 corresponds to the first protrusion. Here, the distance from the first center line 600A to the right end of the first protrusion is defined as a third distance Wc.

[0167] 9, a second protrusion is provided that protrudes to the left from the second Y-axis rail 6B. More specifically, the gear 72 of the Y-axis drive unit 7 corresponds to the second protrusion. Here, the distance from the second center line 600B to the left end of the second protrusion is defined as a fourth distance Wd.

[0168] In the movement control process, it is preferable to control the movement of at least one of the first power transmission unit 8A and the second power transmission unit 8B so as to satisfy La≧Wc+Wd, which has the effect of suppressing interference between the first protrusion and the second protrusion and the Y-axis rail 6.

[0169] Furthermore, the distance between the first center line 600A and the right end of the first power transmission unit 8A is defined as distance Ta. The distance between the second center line 600B and the left end of the second power transmission unit 8B is defined as distance Tb. The width of the first power transmission unit 8A in the Y-axis direction is defined as width Sa. The width of the second power transmission unit 8B in the Y-axis direction is defined as width Sb. The distance in the Y-axis direction between the center of the first power transmission unit 8A and the center of the second power transmission unit 8B is defined as distance Lb. In this case, it is preferable that the movement control process controls the movement of at least one of the first power transmission unit 8A and the second power transmission unit 8B so as to satisfy at least one of La ≧ Ta + Tb and 2Lb ≧ Sa + Sb. This has the effect of suppressing interference between the first power transmission unit 8A and the second power transmission unit 8B.

[0170] (Embodiment 2) Hereinafter, a wireless power supply device 1 and a control method according to embodiment 2 will be described with reference to Fig. 14 to Fig. 16. The configuration of the wireless power supply device 1 of embodiment 2 is the same as the configuration of the wireless power supply device 1 of embodiment 1, so the same reference numerals are used for each configuration and description thereof will be omitted.

[0171] 14 and 15 are schematic diagrams showing the positional relationship of a first power transmitting coil 81A, a second power transmitting coil 81B, a first power receiving coil 91A, and a second power receiving coil 91B when viewed from above. In FIGS. 14 and 15, each coil is represented by a single circle corresponding to its outer periphery.

[0172] When power is being transmitted from the first power transmitting coil 81A to the first power receiving coil 91A, if the second power receiving coil 91B is placed in the power transmission area 800A near the first power transmitting coil 81A, it is preferable to perform a warning process, etc., which will be described later. Similarly, when power is being transmitted from the second power transmitting coil 81B to the first power receiving coil 91A, if the second power receiving coil 91B is placed in the power transmission area 800B near the second power transmitting coil 81B, it is preferable to perform a warning process, etc., which will be described later.

[0173] The power transmission areas 800A and 800B are predetermined areas.

[0174] The power transmission area 800A includes an area facing the first power transmission coil 81A. The power transmission area 800A moves together with the first power transmission coil 81A. As an example, as shown in FIG. 14 , the power transmission area 800A is an area surrounding the first power transmission coil 81A when viewed from above.

[0175] The power transmission area 800B includes an area facing the second power transmission coil 81B. The power transmission area 800B moves together with the second power transmission coil 81B. As an example, as shown in FIG. 14 , the power transmission area 800B is an area surrounding the second power transmission coil 81B when viewed from above.

[0176] (15) Control Method The control method of the mobile system M1 includes a stop process, a warning process, a first restart process, and a second restart process.

[0177] (15.1) First Example First, the stop process, warning process, first restart process, and second restart process that are executed in a state where power is being transmitted from the first power transmitting coil 81A to the first power receiving coil 91A will be described.

[0178] When power is being transmitted from the first power transmitting coil 81A to the first power receiving coil 91A, if the position detection process detects that the second power receiving coil 91B is located within the power transmission area 800A of the first power transmitting coil 81A, as shown in Figure 14, a stop process is executed to stop power transmission by the first power transmitting coil 81A.

[0179] When the stop process is performed, a warning process is executed to warn the user. The warning process is executed, for example, immediately before the stop process, simultaneously with the stop process, or immediately after the stop process. In the warning process, the user is warned, for example, by flashing the display device 211 or by displaying characters indicating a warning on the display device 211. Alternatively, in the warning process, the user is warned, for example, by sound.

[0180] After the stop process, if only one of the first power receiving coil 91A and the second power receiving coil 91B is located within the power transmission area 800A of the first power transmitting coil 81A, a first restart process is executed to resume power transmission by the first power transmitting coil 81A.

[0181] After a predetermined time has elapsed since the execution of the stop process, if both the first power receiving coil 91A and the second power receiving coil 91B are located within the power transmission area 800A of the first power transmitting coil 81A, a second restart process is executed, as shown in Fig. 14. In the second restart process, as shown in Fig. 15, the first power transmitting coil 81A is moved away from the second power receiving coil 91B, the second power transmitting coil 81B is moved to a position facing the second power receiving coil 91B, and power is transmitted from the first power transmitting coil 81A to the first power receiving coil 91A and from the second power transmitting coil 81B to the second power receiving coil 91B.

[0182] If the user removes the second power receiving terminal 9B when the warning process is performed, charging of the first power receiving terminal 9A can be resumed without moving the first power transmitting coil 81A. This has the effect of suppressing a decrease in the efficiency of power transmission from the first power transmitting coil 81A to the first power receiving coil 91A due to movement of the first power transmitting coil 81A during the second restart process. On the other hand, it has the effect of increasing the possibility of charging the second power receiving terminal 9B compared to when the second restart process is not performed.

[0183] As a modified example, the second restart process may be performed without waiting for a predetermined time to elapse after the stop process. That is, after the stop process, the first power transmitting coil 81A may be moved away from the second power receiving coil 91B, the second power transmitting coil 81B may be moved to a position facing the second power receiving coil 91B, and power may be transmitted from the first power transmitting coil 81A to the first power receiving coil 91A and from the second power transmitting coil 81B to the second power receiving coil 91B. In this case, the warning process may be omitted.

[0184] (15.2) Second Example Next, the stop process, warning process, first restart process, and second restart process that are executed in a state where power is being transmitted from the second power transmitting coil 81B to the first power receiving coil 91A will be described.

[0185] When power is being transmitted from the second power transmission coil 81B to the first power receiving coil 91A, if the position detection process detects that the second power receiving coil 91B is located within the power transmission area 800B of the second power transmission coil 81B, a stop process is executed to stop power transmission by the second power transmission coil 81B.

[0186] When the stop process is performed, a warning process is executed to warn the user. The warning process is executed, for example, immediately before the stop process, simultaneously with the stop process, or immediately after the stop process. In the warning process, the user is warned, for example, by flashing the display device 211 or by displaying characters indicating a warning on the display device 211. Alternatively, in the warning process, the user is warned, for example, by sound.

[0187] After the stop process, if only one of the first power receiving coil 91A and the second power receiving coil 91B is located within the power transmission area 800B of the second power transmitting coil 81B, a first restart process is executed to resume power transmission by the second power transmitting coil 81B.

[0188] If both the first power receiving coil 91A and the second power receiving coil 91B are located within the power transmission area 800B of the second power transmitting coil 81B after a predetermined time has elapsed since the execution of the stop process, a second restart process is executed. In the second restart process, the second power transmitting coil 81B is moved away from the second power receiving coil 91B, the first power transmitting coil 81A is moved to a position facing the second power receiving coil 91B, power is transmitted from the second power transmitting coil 81B to the first power receiving coil 91A, and power is transmitted from the first power transmitting coil 81A to the second power receiving coil 91B.

[0189] As a modified example, the second restart process may be performed without waiting for a predetermined time to elapse after the stop process. That is, after the stop process, the second power transmitting coil 81B may be moved away from the second power receiving coil 91B, the first power transmitting coil 81A may be moved to a position facing the second power receiving coil 91B, power may be transmitted from the second power transmitting coil 81B to the first power receiving coil 91A, and power may be transmitted from the first power transmitting coil 81A to the second power receiving coil 91B. In this case, the warning process may be omitted.

[0190] (15.3) Details of the First Example Next, a series of flows of the stop process, warning process, first restart process, and second restart process of "(15.1) First Example" will be described with reference to Fig. 16 . Note that "(15.2) Second Example" is an example in which the first power transmission coil 81A and the second power transmission coil 81B of "(15.1) First Example" are simply interchanged. Therefore, by simply interchangeing the first power transmission coil 81A and the second power transmission coil 81B in the following description, the series of flows of the stop process, warning process, first restart process, and second restart process of "(15.2) Second Example" can be described.

[0191] First, the first power transmitting coil 81A moves to a position facing the first power receiving coil 91A, and the first power receiving terminal 9A is charged by the first power transmitting coil 81A (step ST31). After that, the position detection device 3 detects the second power receiving coil 91B (step ST32).

[0192] If the second power receiving coil 91B is located within the power transmission area 800A of the first power transmitting coil 81A (step ST33: Yes), a stop process and a warning process are executed (steps ST34 and ST35). If the first power receiving coil 91A or the second power receiving coil 91B moves out of the power transmission area 800A of the first power transmitting coil 81A before a predetermined time has elapsed (step ST36: No), a first restart process is executed to restart power transmission by the first power transmitting coil 81A (step ST45). Then, when charging of the power receiving terminal 9 by the first power transmitting coil 81A is completed (step ST46), the process ends.

[0193] On the other hand, if the first power receiving coil 91A and the second power receiving coil 91B are still located within the power transmission area 800A of the first power transmitting coil 81A even after a predetermined time has elapsed after the stop process and the warning process (step ST36: Yes, step ST37: Yes), a second restart process is executed (step ST38). That is, as shown in Fig. 15 , the first power transmitting coil 81A is moved away from the second power receiving coil 91B, and the second power transmitting coil 81B is moved to a position facing the second power receiving coil 91B.

[0194] If at least one of the first power receiving terminal 9A and the second power receiving terminal 9B is chargeable (step ST39: Yes), charging of the chargeable power receiving terminal 9 is started (step ST40), and when charging is completed (step ST41), the process ends. However, depending on the arrangement of the first power receiving coil 91A and the second power receiving coil 91B, it is possible that neither the first power receiving terminal 9A nor the second power receiving terminal 9B is chargeable after step ST38 is executed (step ST39: No). In this case, the wireless power supply device 1 outputs an error (step ST42). The error output may be, for example, an error message displayed on the display device 211 or a sound to notify the user of the error.

[0195] In addition, if the second receiving coil 91B is located outside the power transmission area 800A of the first transmitting coil 81A in step ST33 (step ST33: No), for example, the second receiving terminal 9B is charged by the second transmitting coil 81B (step ST43), and when charging is completed (step ST44), the processing is terminated.

[0196] As a variant of this embodiment, when the second receiving coil 91B is detected in step ST32, if the position of the second receiving coil 91B is to the left of the position of the first receiving coil 91A, the first receiving terminal 9A may be charged by the second transmitting coil 81B, and the second receiving terminal 9B may be charged by the first transmitting coil 81A.

[0197] Third Embodiment A wireless power supply device 1 according to a third embodiment will be described below with reference to Fig. 17. Components similar to those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

[0198] The movement system M1 of this embodiment has a guide rod 401 instead of the X-axis rail 4A. The guide rod 401 is aligned along the X-axis direction. That is, the guide rod 401 extends along the X-axis direction. The guide rod 401 is fixed to the housing 2, for example. More specifically, the guide rod 401 is fixed to the housing 2, for example, via a support member.

[0199] The Y-axis rail 6 has a first portion 601 movably connected to the guide rod 401. The first portion 601 is configured to replace the follower portion 13 (see FIG. 1). As an example, as shown in FIG. 17, the first portion 601 includes a through-hole 6011 through which the guide rod 401 passes.

[0200] The contact surface of the guide rod 401 with the Y-axis rail 6 is preferably flat or cylindrically curved. The contact surface of the guide rod 401 with the Y-axis rail 6 is preferably smooth and has low frictional resistance.

[0201] Furthermore, it is preferable that the contact surface of the Y-axis rail 6 with the guide rod 401 be flat or cylindrically curved. It is also preferable that the contact surface of the Y-axis rail 6 with the guide rod 401 be a surface that is smooth and has low frictional resistance.

[0202] The shape of the guide rod 401 and the corresponding through hole 6011 may be, for example, a circular cylinder, an elliptical cylinder, a polygonal cylinder including a rectangular cylinder, etc. However, the shapes of the guide rod 401 and the corresponding through hole 6011 are not limited to these.

[0203] As an example, the first portion 601 is provided at one end (rear end) of the Y-axis rail 6 .

[0204] The Y-rail 6 is movably connected to the guide rod 401 and the X-rail 4B (see FIG. 1).

[0205] When the gear 52 of the X-axis drive unit 5 rotates and the Y-axis rail unit U1 moves in the X-axis direction, the first portion 601 of the Y-axis rail 6 slides on the surface of the guide rod 401 .

[0206] In this embodiment, a guide rod 401 is provided instead of the X-axis rail 4A, and the first part 601 of the Y-axis rail 6 slides on the surface of the guide rod 401, which has the effect of enabling the Y-axis rail 6 to move more smoothly in the X-axis direction.

[0207] 18 , instead of the through-hole 6011, the first portion 601 may include a recess 6012 through which the guide rod 401 passes. This reduces the contact area between the guide rod 401 and the first portion 601, thereby reducing contact resistance and enabling a smaller motor to be selected as the motor 51 of the X-axis drive unit 5. This has the effect of enabling the wireless power supply device 1 to be made thinner.

[0208] Fourth Embodiment A wireless power supply device 1 according to a fourth embodiment will be described below with reference to Fig. 19. Components similar to those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

[0209] First, the movement system M1 of this embodiment has a guide rod 401 instead of the X-axis rail 4A, similar to the third embodiment. Hereinafter, the guide rod 401 will also be referred to as a first guide rod 401.

[0210] The movement system M1 further has a second guide rod 402 in addition to the first guide rod 401. The second guide rod 402 is aligned along the X-axis direction. That is, the second guide rod 402 extends along the X-axis direction. The second guide rod 402 faces the first guide rod 401 in the Y-axis direction. The second guide rod 402 is fixed to the housing 2, for example. More specifically, the second guide rod 402 is fixed to the housing 2, for example, via a support member.

[0211] The Y-axis rail 6 further has a second portion 602 movably connected to the second guide rod 402. As an example, as shown in Fig. 19, the second portion 602 includes a through hole 6021 through which the second guide rod 402 passes. As another example, the second portion 602 includes a recess through which the second guide rod 402 passes.

[0212] The contact surface of the second guide rod 402 with the Y-axis rail 6 is preferably flat or cylindrically curved. The contact surface of the second guide rod 402 with the Y-axis rail 6 is preferably smooth and has low frictional resistance.

[0213] Furthermore, it is preferable that the contact surface of the Y-axis rail 6 with the second guide rod 402 be flat or cylindrically curved. It is also preferable that the contact surface of the Y-axis rail 6 with the second guide rod 402 be a surface that is smooth and has low frictional resistance.

[0214] As an example, the second portion 602 is provided at one end (front end) of the Y-axis rail 6 .

[0215] The Y-axis rail 6 is movably connected to the first guide rod 401, the second guide rod 402, and the X-axis rail 4B.

[0216] When the gear 52 of the X-axis drive unit 5 rotates and the Y-axis rail unit U1 moves in the X-axis direction, the first part 601 of the Y-axis rail 6 slides on the surface of the first guide rod 401, and the second part 602 slides on the surface of the second guide rod 402.

[0217] In this embodiment, a first guide rod 401 and a second guide rod 402 are provided instead of the X-axis rail 4A, and the Y-axis rail 6 slides on the surfaces of the first guide rod 401 and the second guide rod 402, which has the effect of enabling the Y-axis rail 6 to move more smoothly in the X-axis direction.

[0218] Fifth Embodiment A wireless power supply device 1 according to a fifth embodiment will be described below with reference to Fig. 20 and Fig. 21. The same components as those in the first embodiment will be denoted by the same reference numerals and will not be described again.

[0219] The movement system M1 of this embodiment has a first guide rail 403 instead of the X-axis rail 4A. The movement system M1 of this embodiment also has a second guide rail 404.

[0220] The first guide rail 403 and the second guide rail 404 are fixed to, for example, the housing 2. More specifically, the first guide rail 403 and the second guide rail 404 are fixed to, for example, the side wall or the bottom wall of the housing 2.

[0221] The first guide rail 403 is aligned along the X-axis direction. That is, the first guide rail 403 extends along the X-axis direction.

[0222] The first guide rail 403 has a first recess 4031. The first recess 4031 is provided on the surface (front surface) facing the Y-axis rail 6. The first recess 4031 is provided continuously in the X-axis direction.

[0223] The second guide rail 404 is aligned along the X-axis direction. That is, the second guide rail 404 extends along the X-axis direction. The second guide rail 404 faces the first guide rail 403 in the Y-axis direction.

[0224] The second guide rail 404 has a second recess 4041. The second recess 4041 is provided on the surface (rear surface) facing the Y-axis rail 6. In other words, the second recess 4041 is provided on the surface (rear surface) facing the first recess 4031. The second recess 4041 is provided continuously in the X-axis direction.

[0225] The Y-axis rail 6 is disposed between the first guide rail 403 and the second guide rail 404 .

[0226] The Y-axis rail 6 has a first connecting portion 605 that is movably connected to the first guide rail 403. The first connecting portion 605 is configured to replace the follower portion 13 (see FIG. 1). As an example, the first connecting portion 605 is provided at one end (front end) of the Y-axis rail 6. The first connecting portion 605 is inserted into the first recess 4031 of the first guide rail 403.

[0227] The Y-axis rail 6 has a second connecting portion 606 that is movably connected to the second guide rail 404. As an example, the second connecting portion 606 is provided at one end (rear end) of the Y-axis rail 6. The second connecting portion 606 is inserted into the second recess 4041 of the second guide rail 404.

[0228] The Y-axis rail 6 is movably connected to the first guide rail 403, the second guide rail 404, and the X-axis rail 4B.

[0229] When the gear 52 of the X-axis drive unit 5 rotates and the Y-axis rail unit U1 moves in the X-axis direction, the first connecting part 605 slides in the X-axis direction within the first recess 4031, and the second connecting part 606 slides in the X-axis direction within the second recess 4041.

[0230] In this embodiment, a first guide rail 403 and a second guide rail 404 are provided instead of the X-axis rail 4A, and the Y-axis rail 6 slides on the first guide rail 403 and the second guide rail 404, which has the effect of enabling the Y-axis rail 6 to move more smoothly in the X-axis direction. Also, by mechanically fixing the first guide rail 403 and the second guide rail 404 to the housing 2, the first guide rail 403 and the second guide rail 404 are made less likely to bend, which has the effect of improving the robustness of the first guide rail 403 and the second guide rail 404.

[0231] It should be noted that the movement system M1 may have only one of the first guide rail 403 and the second guide rail 404.

[0232] (Modification 1 of Embodiment 5) A wireless power supply device 1 according to Modification 1 of Embodiment 5 will be described below with reference to Fig. 22 and Fig. 23. Only differences from the above-described Embodiment 5 (referred to as Basic Example 5) will be described below.

[0233] In this modified example 1, the shapes of the first guide rail 403 and the second guide rail 404 are different from those in basic example 5. That is, the first guide rail 403 has a first through hole 4032 instead of the first recess 4031. Moreover, the second guide rail 404 has a second through hole 4042 instead of the second recess 4041.

[0234] The first through-holes 4032 penetrate the first guide rail 403 in the Y-axis direction. The first through-holes 4032 are provided continuously in the X-axis direction. The first connecting portions 605 of the Y-axis rail 6 are inserted into the first through-holes 4032.

[0235] The second through-holes 4042 penetrate the second guide rail 404 in the Y-axis direction. The second through-holes 4042 are provided continuously in the X-axis direction. The second connecting portion 606 of the Y-axis rail 6 is inserted into the second through-holes 4042.

[0236] When the gear 52 of the X-axis drive unit 5 rotates and the Y-axis rail unit U1 moves in the X-axis direction, the first connecting part 605 slides in the X-axis direction within the first through hole 4032, and the second connecting part 606 slides in the X-axis direction within the second through hole 4042.

[0237] In this modified example 1, the same effects as those in the basic example 5 can be obtained.

[0238] It should be noted that the movement system M1 may have only one of the first guide rail 403 and the second guide rail 404.

[0239] (Modification 2 of Embodiment 5) A wireless power supply device 1 according to Modification 2 of Embodiment 5 will be described below with reference to Fig. 24 and Fig. 25. Only differences from Basic Example 5 will be described below.

[0240] In this modified example 2, the shapes of the first connecting portion 605 and the second connecting portion 606 are different from those in basic example 5. That is, the first connecting portion 605 has a recess 6050 into which the first guide rail 403 is inserted. The second connecting portion 606 has a recess 6060 into which the second guide rail 404 is inserted.

[0241] The recess 6050 is provided on the surface (rear surface) of the first connecting portion 605 opposite to the center of the Y-axis rail 6. The recess 6050 is provided continuously in the X-axis direction.

[0242] The recess 6060 is provided on the surface (front surface) of the second connecting portion 606 opposite to the center of the Y-axis rail 6. The recess 6060 is provided continuously in the X-axis direction.

[0243] The shape of the first guide rail 403 is a shape (long rectangular parallelepiped in the illustrated example) that conforms to the recess 6050 of the first connecting portion 605 .

[0244] The shape of the second guide rail 404 is a shape (long rectangular parallelepiped in the illustrated example) that conforms to the recess 6060 of the second connecting portion 606 .

[0245] When the gear 52 of the X-axis drive unit 5 rotates and the Y-axis rail unit U1 moves in the X-axis direction, the first connecting part 605 slides in the X-axis direction on the inner surface of the recess 6050, and the second connecting part 606 slides in the X-axis direction on the inner surface of the recess 6060.

[0246] In the second modification, the same effects as those in the fifth basic example can be obtained.

[0247] It should be noted that the movement system M1 may have only one of the first guide rail 403 and the second guide rail 404.

[0248] Sixth Embodiment A wireless power supply device 1 according to a sixth embodiment will be described below with reference to Fig. 26. The same components as those in the first embodiment will be denoted by the same reference numerals and will not be described again.

[0249] 26 is a simplified diagram of two Y-axis rail units U1. The first center line 600A is a straight line that passes through the center of the first Y-axis rail 6A and extends along the Y-axis direction. The center 801A of the first power transmission coil 81A is located closer to the second Y-axis rail 6B (to the right) than the first center line 600A.

[0250] The second center line 600B is a straight line along the Y-axis direction that passes through the center of the second Y-axis rail 6B. The center 801B of the second power transmission coil 81B is located closer to the first Y-axis rail 6A (to the left) than the second center line 600B.

[0251] According to the present embodiment, even when two power receiving coils 91 are arranged side by side in the Y-axis direction in the power transmittable area 210, the two power transmitting coils 81 are more likely to move to positions facing the two power receiving coils 91, respectively, than in the first embodiment. This has the effect of increasing the possibility that two power receiving terminals 9 can be charged by the two power transmitting coils 81. It also has the effect of improving the efficiency of power transmission from the two power transmitting coils 81 to the two power receiving coils 91.

[0252] For example, the first power transmission unit 8A and the second power transmission unit 8B may be arranged so that the center 801A of the first power transmission coil 81A and the center 801B of the second power transmission coil 81B are aligned in the Y-axis direction when the first Y-axis rail 6A and the second Y-axis rail 6B are closest to each other.

[0253] Seventh Embodiment A wireless power supply device 1 according to a seventh embodiment will be described below with reference to Fig. 27. The same components as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

[0254] The configuration of this embodiment is applicable to both the first power transmission unit 8A and the second power transmission unit 8B.

[0255] The base 82 includes a rotation mechanism 821. The rotation mechanism 821 holds the power transmitting coil 81 rotatably about a central axis 822 that is perpendicular to the X-axis and Y-axis directions. The central axis 822 is provided at a position different from the center 801 of the power transmitting coil 81. As an example, the central axis 822 is provided on the center line 600 of the Y-axis rail 6. The center line 600 is a straight line that passes through the center of the Y-axis rail 6 and extends along the Y-axis direction.

[0256] The base 82 includes, for example, a base main body 820 and a rotation mechanism 821. The base main body 820 holds the power transmission coil 81. The rotation mechanism 821 is mechanically fixed to the base main body 820 and protrudes from the base main body 820. The rotation mechanism 821 is, for example, a shaft of a motor that constitutes the rotation drive unit 15. The motor can rotate the base main body 820 via the rotation mechanism 821.

[0257] The Y-axis rail unit U1 further includes a rotation drive unit 15. The rotation drive unit 15 is held by the Y-axis rail 6. The rotation drive unit 15 includes, for example, a motor. The motor is connected to a rotation mechanism 821. The motor applies a rotational force to the base main body 820 via the rotation mechanism 821, causing the base 82 to rotate. The power transmission coil 81 rotates together with the base 82.

[0258] That is, the power transmission unit 8 rotates relative to the Y-axis rail 6 around a central axis 822 that is provided at a position different from the center 801 of the power transmission coil 81. For example, the power transmission unit 8 can rotate to the position shown by the dashed line in FIG.

[0259] Therefore, the control method of the mobile system M1 of this embodiment includes a process of rotating the power transmission coil 81 relative to the Y-axis rail 6 around a central axis 822 that is located at a position different from the center 801 of the power transmission coil 81 and is perpendicular to the X-axis direction and the Y-axis direction.

[0260] Rotation of the power transmission coil 81 displaces the power transmission coil 81. This has the effect of widening the power transmission area 210. For example, when the Y-axis rail 6 is positioned at the left end, the power transmission area 210 can be widened to the left by rotating the power transmission unit 8 and positioning it more to the left. Furthermore, for example, when the power transmission unit 8 moves to the rear end along the Y-axis rail 6, the power transmission area 210 can be widened to the rear by rotating the power transmission unit 8 and positioning it more to the rear.

[0261] Furthermore, for example, when two power transmission units 8 are close to each other in the X-axis direction, the same effect as in embodiment 6 can be obtained by rotating the first power transmission unit 8A so that the center 801A of the first power transmission coil 81A is located on the side closer to the second Y-axis rail 6B (on the right side) than the first center line 600A, as shown in Figure 26 of embodiment 6. Furthermore, when two power transmission units 8 are close to each other in the X-axis direction, the same effect as in embodiment 6 can be obtained by rotating the second power transmission unit 8B so that the center 801B of the second power transmission coil 81B is located on the side closer to the first Y-axis rail 6A (on the left side) than the second center line 600B, as shown in Figure 26 of embodiment 6.

[0262] The motor of the rotation drive unit 15 may be arranged so that its output shaft is aligned perpendicular to the vertical direction. In this case, even if the motor is long in the direction along the output shaft, the Y-axis rail unit U1 can be made thinner. The rotation drive unit 15 may further include a conversion mechanism that converts the rotational force of the motor's output shaft into rotational force centered on an axis aligned in the vertical direction. The conversion mechanism may include, for example, multiple gears.

[0263] Eighth Embodiment A wireless power supply device 1 according to an eighth embodiment will be described below with reference to Fig. 28. The same components as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

[0264] The wireless power supply device 1 of this embodiment differs from the first embodiment in that the base 82 of each of the two power transmission units 8 has a circular shape. As a whole, each of the two power transmission units 8 has a circular shape.

[0265] The conditions that the wireless power supply device 1 must satisfy when at least one of the first power transmission unit 8A and the second power transmission unit 8B (or at least one of the two Y-axis rail units U1) of this embodiment moves will be described.

[0266] The distance between a first center line 600A that passes through the center of the first Y-axis rail 6A and runs along the Y-axis direction and a second center line 600B that passes through the center of the second Y-axis rail 6B and runs along the Y-axis direction is defined as distance La. The shape of the first power transmission unit 8A is a circle with a radius Ra. The shape of the second power transmission unit 8B is a circle with a radius Rb. The distance in the Y-axis direction between the center 801A of the first power transmission unit 8A and the center 801B of the second power transmission unit 8B is defined as distance Lb. The distance in the X-axis direction between the center 801A of the first power transmission unit 8A and the center 801B of the second power transmission unit 8B is defined as distance Lc.

[0267] At this time, in the movement control process, Lc ２ +Lb ２ ≧(Ra+Rb) ２ It is preferable to control the movement of at least one of the first power transmission unit 8A and the second power transmission unit 8B so as to satisfy the following condition: This has the effect of suppressing interference between the first power transmission unit 8A and the second power transmission unit 8B.

[0268] In this embodiment, the center 801A of the first power transmission unit 8A is on the first center line 600A. The center 801B of the second power transmission unit 8B is on the second center line 600B. Therefore, in the movement control process, La ２ +Lb ２ ≧(Ra+Rb) ２ It is also preferable to control the movement of at least one of the first power transmission unit 8A and the second power transmission unit 8B so as to satisfy the following condition.

[0269] In this embodiment, the center 801A of the first power transmission unit 8A is on the first center line 600A. The center 801B of the second power transmission unit 8B is on the second center line 600B. Therefore, the distance Lc is equal to the distance La.

[0270] In this embodiment, similarly to the seventh embodiment, the power transmission coil 81 may be configured to be rotatable.

[0271] Ninth Embodiment A wireless power supply device 1 according to a ninth embodiment will be described below with reference to Fig. 29. The same components as those in the first embodiment will be denoted by the same reference numerals and will not be described again.

[0272] The wireless power supply device 1 of this embodiment differs from the first embodiment in that the base 82 of each of the two power transmission units 8 has a circular shape. As a whole, each of the two power transmission units 8 has a circular shape.

[0273] The conditions that the wireless power supply device 1 must satisfy when at least one of the first power transmission unit 8A and the second power transmission unit 8B (or at least one of the two Y-axis rail units U1) of this embodiment moves will be described.

[0274] The distance between a first center line 600A that passes through the center of the first Y-axis rail 6A and runs along the Y-axis direction and a second center line 600B that passes through the center of the second Y-axis rail 6B and runs along the Y-axis direction is defined as distance La. The shape of the first power transmission unit 8A is a circle with a radius Ra. The shape of the second power transmission unit 8B is a circle with a radius Rb. The distance in the Y-axis direction between the center 801A of the first power transmission unit 8A and the center 801B of the second power transmission unit 8B is defined as distance Lb.

[0275] If the negative side in the X-axis direction is defined as the left, the first Y-axis rail 6A is disposed to the left of the second Y-axis rail 6B.

[0276] The center 801A of the first power transmitting coil 81A is shifted in the X-axis direction from the first center line 600A by a positive shift amount Pa. In other words, when the center 801A is located to the right of the first center line 600A, the shift amount Pa is a positive value.

[0277] The center 801B of the second power transmitting coil 81B is shifted in the X-axis direction from the second center line 600B by a negative deviation amount Pb. In other words, when the center 801B is to the left of the second center line 600B, the deviation amount Pb is a negative value.

[0278] At this time, in the movement control process, (La-Pa+Pb) ２ +Lb ２ ≧(Ra+Rb) ２It is preferable to control the movement of at least one of the first power transmission unit 8A and the second power transmission unit 8B so as to satisfy the following condition: This has the effect of suppressing interference between the first power transmission unit 8A and the second power transmission unit 8B.

[0279] In this embodiment, similarly to the seventh embodiment, the power transmission coil 81 may be configured to be rotatable.

[0280] (Modifications of Embodiments 1 to 8) Modifications of Embodiments 1 to 8 are listed below. The following modifications may be implemented in appropriate combinations.

[0281] It is not essential that the two X-axis rails 4A and 4B are supported by the support base (the first support base 11A or the second support base 11B). The two X-axis rails 4A and 4B may be placed on the bottom surface of the housing 2, for example.

[0282] Only one of the Y-axis drive unit 7 and the power transmission unit 8 may be in contact with the slider 62 and slide on the surface of the slider 62. That is, at least one of the Y-axis drive unit 7 and the power transmission unit 8 may be in contact with the slider 62 and slide on the surface of the slider 62. Furthermore, it is preferable that the slider 62 has a guide rail that guides the movement of at least one of the Y-axis drive unit 7 and the power transmission unit 8. The guide rail includes, for example, a groove extending in the Y-axis direction into which a portion of at least one of the Y-axis drive unit 7 and the power transmission unit 8 is inserted.

[0283] The fixed portion 122 of the cable 12 may be connected and fixed to the controller 14 .

[0284] The X-axis rail 4 may be a ball screw with a helical screw on the circumferential surface. When the gear 52 of the X-axis drive unit 5 rotates, the gear 52 receives a reaction force in the X-axis direction from the ball screw, and the Y-axis rail unit U1 moves in the X-axis direction.

[0285] When the first receiving coil 91A is placed in the power transmission area 210, the transmitting coil 81A or the second transmitting coil 81B, whichever is closer to the first receiving coil 91A, may be moved to a position opposite the first receiving coil 91A.

[0286] The entity that executes the wireless power supply device 1 or the control method according to the present disclosure includes a computer system. The computer system is primarily composed of a processor and a memory as hardware. At least a portion of the functions of the entity that executes the wireless power supply device 1 or the control method according to the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided by being stored on a non-transitory recording medium readable by the computer system, such as a memory card, an optical disk, or a hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0287] In addition, in the embodiment, multiple functions that are integrated into one housing may be distributed across multiple housings. For example, the controller 14 may be provided outside the housing 2 that houses the mobile system M1.

[0288] In the present disclosure, when comparing two values, "greater than or equal to" may be used instead of "greater than." There is no technical difference between "greater than or equal to" and "greater than or equal to." Similarly, "less than" may be used instead of "less than or equal to."

[0289] (Summary) The above-described embodiments and the like disclose the following aspects.

[0290] A control method according to a first aspect is a control method for controlling a mobile system (M1). The mobile system (M1) moves a first power transmission unit (8A) including a first power transmission coil (81A) and a second power transmission unit (8B) including a second power transmission coil (81B). The first power transmission coil (81A) transmits power to a power receiving coil (91) included in a power receiving terminal (9). The second power transmission coil (81B) transmits power to the power receiving coil (91). The control method includes a position detection process and a movement control process. The position detection process detects the position of the power receiving coil (91). The movement control process controls the mobile system (M1) to move at least one of the first power transmission coil (81A) and the second power transmission coil (81B) based on the position of the power receiving coil (91) detected in the position detection process. When the position of one power receiving coil (91) is detected in the position detection process, the movement control process moves one of the first power transmitting coil (81A) and the second power transmitting coil (81B) to a position facing the one power receiving coil (91). The first power transmitting unit (8A) is movably connected to a first Y-axis rail (6A) along the Y-axis direction. The second power transmitting unit (8B) is movably connected to a second Y-axis rail (6B) along the Y-axis direction. The first Y-axis rail (6A) and the second Y-axis rail (6B) are movably connected to an X-axis rail (4) along an X-axis direction that intersects with the Y-axis direction. The movement control process includes a first process of moving the first Y-axis rail (6A) along the X-axis rail (4), a second process of moving the first power transmission unit (8A) along the first Y-axis rail (6A), a third process of moving the second Y-axis rail (6B) along the X-axis rail (4) independently of the movement of the first Y-axis rail (6A), and a fourth process of moving the second power transmission unit (8B) along the second Y-axis rail (6B).

[0291] According to the above configuration, with the first Y-axis rail (6A) and the second Y-axis rail (6B) connected to the common X-axis rail (4), the first power transmission unit (8A) and the second power transmission unit (8B) can be moved in the X-axis direction and the Y-axis direction by the first to fourth processes. This has the effect of improving convenience compared to a case where only the first power transmission unit (8A) is moved. Furthermore, it has the effect of making the movement system (M1) more compact compared to a case where the first Y-axis rail (6A) is connected to the first X-axis rail, while the second Y-axis rail (6B) is not connected to the first X-axis rail and the second Y-axis rail (6B) is connected to the second X-axis rail.

[0292] In addition, in the control method according to the second aspect, in the first aspect, in the movement control process, at least a portion of the movement range (R10A) of the first power transmission unit (8A) is overlapped with at least a portion of the movement range (R10B) of the second power transmission unit (8B).

[0293] According to the above configuration, there is an effect that power can be transmitted to each of two power receiving terminals (9) arranged close to each other.

[0294] In the control method according to the third aspect, in the second aspect, the movement control process includes a process of moving the first power transmitting coil (81A) and the second power transmitting coil (81B) to their corresponding initial positions when the mobile system (M1) is powered on. A combined range (R10) of the movement range (R10A) of the first power transmitting coil (81A) and the movement range (R10B) of the second power transmitting coil (81B) is a square or rectangular shape. When the first power transmission coil (81A) and the second power transmission coil (81B) are in their corresponding initial positions, the first power transmission coil (81A) and the second power transmission coil (81B) are arranged at diagonal positions in the combined range (R10); the first power transmission coil (81A) and the second power transmission coil (81B) are adjacent to each other, and at least one of the first power transmission coil (81A) and the second power transmission coil (81B) is arranged adjacent to or overlapping the center (R101) of the combined range (R10); or one of the first power transmission coil (81A) and the second power transmission coil (81B) is arranged adjacent to or overlapping the center (R101) of the combined range (R10), and the other is arranged adjacent to a vertex (R102) of the combined range (R10).

[0295] The above configuration has the effect of, for example, quickly moving the power transmitting coil (81) to a position facing the power receiving coil (91).

[0296] In addition, in the control method according to the fourth aspect, in the second or third aspect, the movement control process selects the power transmission coil (81) to be moved to a position opposite the power receiving coil (91) from the first power transmission coil (81A) and the second power transmission coil (81B) depending on the position of the power receiving coil (91) detected in the position detection process.

[0297] The above configuration has the effect of, for example, quickly moving the power transmitting coil (81) to a position facing the power receiving coil (91).

[0298] In addition, in the control method according to the fifth aspect, when both sides in the X-axis direction in the fourth aspect are defined as left and right, respectively, the first Y-axis rail (6A) is positioned to the left of the second Y-axis rail (6B). When the first Y-axis rail (6A) is positioned at the left end of the movement range of the first Y-axis rail (6A) and the second Y-axis rail (6B) is positioned at the right end of the movement range of the second Y-axis rail (6B), the midpoint between the first Y-axis rail (6A) and the second Y-axis rail (6B) is defined as the reference position. When the power receiving coil (91) is positioned to the left of the reference position, the first power transmitting coil (81A) is moved to a position facing the power receiving coil (91). When the power receiving coil (91) is positioned to the right of the reference position, the second power transmitting coil (81B) is moved to a position facing the power receiving coil (91).

[0299] The above configuration has the effect of enabling the power transmitting coil (81) to be quickly moved to a position facing the power receiving coil (91).

[0300] In a control method according to a sixth aspect, in the fifth aspect, the power receiving coil (91) is a first power receiving coil (91A). In the position detection process, the position of a second power receiving coil (91B) separate from the first power receiving coil (91A) is further detected. When power is being transmitted from the first power transmitting coil (81A) or the second power transmitting coil (81B) to the first power receiving coil (91A) and the position detection process detects the position of the second power receiving coil (91B), in the movement control process, if the second power receiving coil (91B) is located to the right of the first power receiving coil (91A), power is transmitted from the first power transmitting coil (81A) to the first power receiving coil (91A) and from the second power transmitting coil (81B) to the second power receiving coil (91B). When power is being transmitted from the first power transmitting coil (81A) or the second power transmitting coil (81B) to the first power receiving coil (91A), if the position of the second power receiving coil (91B) is detected in the position detection process, in the movement control process, if the second power receiving coil (91B) is positioned to the left of the first power receiving coil (91A), power is transmitted from the first power transmitting coil (81A) to the second power receiving coil (91B) and from the second power transmitting coil (81B) to the first power receiving coil (91A).

[0301] The above configuration has an advantage of reducing the possibility of interference between the first power transmitting coil (81A) and the second power transmitting coil (81B).

[0302] Furthermore, in a control method according to a seventh aspect, in any one of the second to sixth aspects, if both sides in the X-axis direction are defined as left and right, respectively, the first Y-axis rail (6A) is disposed to the left of the second Y-axis rail (6B). The distance from a first center line (600A) passing through the center of the first Y-axis rail (6A) along the Y-axis direction to the right end of the first Y-axis rail (6A) is defined as a first distance Wa. The distance from a second center line (600B) passing through the center of the second Y-axis rail (6B) along the Y-axis direction to the left end of the second Y-axis rail (6B) is defined as a second distance Wb. The distance between the first center line (600A) and the second center line (600B) is defined as a distance La. In the movement control process, the movement of at least one of the first power transmission unit (8A) and the second power transmission unit (8B) is controlled so as to satisfy La≧Wa+Wb.

[0303] The above configuration has the effect of suppressing interference between the first Y-axis rail (6A) and the second Y-axis rail (6B).

[0304] In addition, in the control method according to the eighth aspect, when a first protrusion protruding to the right from the first Y-axis rail (6A) is provided in the seventh aspect, the distance from the first center line (600A) to the right end of the first protrusion is defined as the third distance Wc. When a second protrusion protruding to the left from the second Y-axis rail (6B) is provided, the distance from the second center line (600B) to the left end of the second protrusion is defined as the fourth distance Wd. In the movement control process, the movement of at least one of the first power transmission unit (8A) and the second power transmission unit (8B) is controlled so as to satisfy La≧Wc+Wd.

[0305] The above configuration has the effect of suppressing interference between the first and second protrusions and the Y-axis rail (6).

[0306] In addition, in the control method according to the ninth aspect, in the seventh or eighth aspect, the distance between the first center line (600A) and the right end of the first power transmission unit (8A) is defined as distance Ta. The distance between the second center line (600B) and the left end of the second power transmission unit (8B) is defined as distance Tb. The width of the first power transmission unit (8A) in the Y-axis direction is defined as width Sa. The width of the second power transmission unit (8B) in the Y-axis direction is defined as width Sb. The distance in the Y-axis direction between the center (801A) of the first power transmission unit (8A) and the center (801B) of the second power transmission unit (8B) is defined as Lb. In the movement control process, the movement of at least one of the first power transmission unit (8A) and the second power transmission unit (8B) is controlled so as to satisfy at least one of La ≧ Ta + Tb and 2Lb ≧ Sa + Sb.

[0307] The above configuration has the effect of suppressing interference between the first power transmission unit (8A) and the second power transmission unit (8B).

[0308] In addition, in a control method according to a tenth aspect, in any one of the seventh to ninth aspects, the first power transmission unit (8A) has a circular shape with a radius Ra. The second power transmission unit (8B) has a circular shape with a radius Rb. The distance in the Y-axis direction between the center (801A) of the first power transmission unit (8A) and the center (801B) of the second power transmission unit (8B) is defined as distance Lb. The distance in the X-axis direction between the center (801A) of the first power transmission unit (8A) and the center (801B) of the second power transmission unit (8B) is defined as distance Lc. In the movement control process, Lc ２ +Lb ２ ≧(Ra+Rb) ２ The movement of at least one of the first power transmission unit (8A) and the second power transmission unit (8B) is controlled so as to satisfy the following condition.

[0309] The above configuration has the effect of suppressing interference between the first power transmission unit (8A) and the second power transmission unit (8B).

[0310] In addition, in a control method according to an eleventh aspect, in any one of the seventh to tenth aspects, the first power transmission unit (8A) has a circular shape with a radius Ra. The second power transmission unit (8B) has a circular shape with a radius Rb. The distance in the Y-axis direction between the center (801A) of the first power transmission unit (8A) and the center (801B) of the second power transmission unit (8B) is defined as a distance Lb. If the negative side in the X-axis direction is defined as the left, the first Y-axis rail (6A) is disposed to the left of the second Y-axis rail (6B). The center (801A) of the first power transmission coil (81A) is shifted in the X-axis direction from the first center line (600A) by a positive deviation amount Pa. The center (801B) of the second power transmission coil (81B) is shifted in the X-axis direction from the second center line (600B) by a negative deviation amount Pb. In the movement control process, (La-Pa+Pb) ２ +Lb ２ ≧(Ra+Rb) ２ The movement of at least one of the first power transmission unit (8A) and the second power transmission unit (8B) is controlled so as to satisfy the following condition.

[0311] The above configuration has the effect of suppressing interference between the first power transmission unit (8A) and the second power transmission unit (8B).

[0312] In addition, in a control method according to a twelfth aspect, in any one of the first to eleventh aspects, the power receiving coil (91) is a first power receiving coil (91A). In the position detection process, the position of a second power receiving coil (91B) separate from the first power receiving coil (91A) is further detected. The control method includes, when power is being transmitted from the first power transmitting coil (81A) to the first power receiving coil (91A), and when the position detection process detects that the second power receiving coil (91B) is located within a predetermined power transmission area (800A) of the first power transmitting coil (81A), a stop process for stopping power transmission by the first power transmitting coil (81A) and a warning process for warning the user when the stop process is performed; and, when only one of the first power receiving coil (91A) and the second power receiving coil (91B) is located within the power transmission area (800A) of the first power transmitting coil (81A) after the stop process, a warning process for warning the user when the first power transmitting coil (81A) is located within the power transmission area (800A) of the first power transmitting coil (81A), a warning process for warning the user when the stop process is performed. and a second restart process, which, when a predetermined time has elapsed since the execution of the stop process and both the first power receiving coil (91A) and the second power receiving coil (91B) are arranged within the power transmission area (800A) of the first power transmitting coil (81A), moves the first power transmitting coil (81A) away from the second power receiving coil (91B), moves the second power transmitting coil (81B) to a position opposite the second power receiving coil (91B), transmits power from the first power transmitting coil (81A) to the first power receiving coil (91A), and transmits power from the second power transmitting coil (81B) to the second power receiving coil (91B).

[0313] According to the above configuration, if the user removes the second power receiving coil (91B) when the warning process is performed, power transmission to the first power receiving coil (91A) can be continued without moving the first power transmitting coil (81A). This has the effect of suppressing a decrease in the efficiency of power transmission from the first power transmitting coil (81A) to the first power receiving coil (91A) due to movement of the first power transmitting coil (81A) in the second restart process. On the other hand, it has the effect of increasing the likelihood of power transmission to the second power receiving coil (91B) compared to when the second restart process is not performed.

[0314] In addition, in a control method according to a thirteenth aspect, in any one of the first to twelfth aspects, the power receiving coil (91) is a first power receiving coil (91A). In the position detection process, the position of a second power receiving coil (91B) separate from the first power receiving coil (91A) is further detected. The control method includes, when power is being transmitted from the second power transmitting coil (81B) to the first power receiving coil (91A), a stop process for stopping power transmission by the second power transmitting coil (81B) when the position detection process detects that the second power receiving coil (91B) is located within a predetermined power transmission area (800B) of the second power transmitting coil (81B), a warning process for warning the user when the stop process is performed, and a warning process for warning the user when only one of the first power receiving coil (91A) and the second power receiving coil (91B) is located within the power transmission area (800B) of the second power transmitting coil (81B) after the stop process. and a second restart process, which, when a predetermined time has elapsed since the execution of the stop process and both the first power receiving coil (91A) and the second power receiving coil (91B) are arranged within the power transmission area (800B) of the second power transmitting coil (81B), moves the second power transmitting coil (81B) away from the second power receiving coil (91B), moves the first power transmitting coil (81A) to a position facing the second power receiving coil (91B), transmits power from the second power transmitting coil (81B) to the first power receiving coil (91A), and transmits power from the first power transmitting coil (81A) to the second power receiving coil (91B).

[0315] According to the above configuration, if the user removes the second power receiving coil (91B) when the warning process is performed, power transmission to the first power receiving coil (91A) can be continued without moving the second power transmitting coil (81B). This has the effect of preventing a decrease in the efficiency of power transmission from the second power transmitting coil (81B) to the first power receiving coil (91A) due to movement of the second power transmitting coil (81B) in the second restart process. On the other hand, it has the effect of increasing the likelihood of power transmission to the second power receiving coil (91B) compared to when the second restart process is not performed.

[0316] In addition, the control method according to a fourteenth aspect, in any one of the first to thirteenth aspects, further includes a display process for displaying on a display device (211) at least one of the position of the first power transmission coil (81A), the position of the second power transmission coil (81B), the power transmission area (210) of the first power transmission coil (81A) and the second power transmission coil (81B), and a recommended area recommended as a location for placing the power receiving terminal (9).

[0317] The above configuration has the effect of making it easier for the user to determine where to place the power receiving terminal (9).

[0318] In addition, in a control method according to a fifteenth aspect, in any one of the first to fourteenth aspects, one end (121) of a cable (12) is connected to the first power transmission unit (8A). The cable (12) has a fixed portion (122) whose position is fixed relative to a housing (2) that houses the first Y-axis rail (6A). In the movement control process, when the first Y-axis rail (6A) is moved along the X-axis rail (4) in a direction away from the fixed portion (122) and the first power transmission unit (8A) is moved in the Y-axis direction, the first power transmission unit (8A) is moved in the Y-axis direction, and then the first Y-axis rail (6A) is moved along the X-axis rail (4) in a direction away from the fixed portion (122). In the movement control process, when the first Y-axis rail (6A) is moved along the X-axis rail (4) in a direction approaching the fixed part (122) and the first power transmission unit (8A) is moved in the Y-axis direction, the first Y-axis rail (6A) is moved along the X-axis rail (4) in a direction approaching the fixed part (122), and then the first power transmission unit (8A) is moved in the Y-axis direction.

[0319] The above configuration has the effect of suppressing wear on the cable (12).

[0320] In addition, the control method according to a sixteenth aspect is any one of the first to fifteenth aspects, and further includes a process of rotating the first power transmission coil (81A) relative to the first Y-axis rail (6A) around a central axis (822) that is provided at a position different from the center (801A) of the first power transmission coil (81A) and is perpendicular to the X-axis direction and the Y-axis direction.

[0321] According to the above configuration, there is an effect that the area (210) in which the power transmission coil (81) can transmit power can be widened.

[0322] The configurations other than the first aspect are not essential for the control method and can be omitted as appropriate.

[0323] A program according to a seventeenth aspect is a program for causing one or more processors of a computer system to execute the control method according to any one of the first to sixteenth aspects.

[0324] According to the above configuration, the same effects as those of the first aspect can be obtained.

[0325] Not limited to the above-described aspects, various configurations (including modified examples) of the wireless power supply device (1) according to the embodiment can be embodied as a control method, a (computer) program, or a non-transitory recording medium on which a program is recorded.

[0326] DESCRIPTION OF SYMBOLS 2 Housing 4 X-axis rail 6A First Y-axis rail 6B Second Y-axis rail 8A First power transmitting unit 8B Second power transmitting unit 9 Power receiving terminal 12 Cable 81A First power transmitting coil 81B Second power transmitting coil 91 Power receiving coil 91A First power receiving coil 91B Second power receiving coil 121 One end 122 Fixed part 210 Power transmittable area 211 Display device 600A First center line 600B Second center line 800A Power transmission area 800B Power transmission area 801A Center 801B Center 822 Central axis M1 Mobile system R10 Total range R10A Movement range R10B Movement range R101 Center R102 Vertex

Claims

1. A control method for controlling a mobile system that moves a first power transmission unit including a first power transmission coil that transmits power to a power receiving coil of a power receiving terminal, and a second power transmission unit including a second power transmission coil that transmits power to the power receiving coil, the control method comprising: a position detection process that detects a position of the power receiving coil; and a movement control process that controls the mobile system to move at least one of the first power transmission coil and the second power transmission coil based on the position of the power receiving coil detected in the position detection process, wherein when the position of one of the power receiving coils is detected in the position detection process, the movement control process moves one of the first power transmission coil and the second power transmission coil to a position facing the one of the power receiving coils, the first power transmission unit is movably connected to a first Y-axis rail along the Y-axis direction, and the second power transmission unit is movably connected to a second Y-axis rail along the Y-axis direction, the first Y-axis rail and the second Y-axis rail are movably connected to an X-axis rail along an X-axis direction that intersects with the Y-axis direction, and the movement control process includes: a first process of moving the first Y-axis rail along the X-axis rail; a second process of moving the first power transmission unit along the first Y-axis rail; a third process of moving the second Y-axis rail along the X-axis rail independently of the movement of the first Y-axis rail; and a fourth process of moving the second power transmission unit along the second Y-axis rail.

2. The control method according to claim 1, wherein in the movement control process, at least a part of the movement range of the first power transmission unit is caused to overlap at least a part of the movement range of the second power transmission unit.

3. The control method of claim 2, wherein the movement control process includes a process of moving the first power transmission coil and the second power transmission coil to their respective corresponding initial positions when the mobile system is powered on, a combined range formed by combining the movement range of the first power transmission coil and the movement range of the second power transmission coil is square or rectangular, and when the first power transmission coil and the second power transmission coil are in their respective corresponding initial positions, the first power transmission coil and the second power transmission coil are disposed at diagonal positions in the combined range, the first power transmission coil and the second power transmission coil are adjacent to each other, and at least one of the first power transmission coil and the second power transmission coil is disposed adjacent to or overlapping the center of the combined range, or one of the first power transmission coil and the second power transmission coil is disposed adjacent to or overlapping the center of the combined range, and the other is disposed adjacent to an apex of the combined range.

4. The control method according to claim 2 or 3, wherein in the movement control process, a power transmission coil to be moved to a position opposite the power receiving coil is selected from the first power transmission coil and the second power transmission coil depending on the position of the power receiving coil detected in the position detection process.

5. The control method according to claim 4, wherein, assuming that both sides in the X-axis direction are the left and the right, the first Y-axis rail is positioned to the left of the second Y-axis rail, the first Y-axis rail is positioned at the left end of the moving range of the first Y-axis rail, and the second Y-axis rail is positioned at the right end of the moving range of the second Y-axis rail, a midpoint between the first Y-axis rail and the second Y-axis rail is set as a reference position, and when the power receiving coil is positioned to the left of the reference position, the first power transmitting coil is moved to a position facing the power receiving coil, and when the power receiving coil is positioned to the right of the reference position, the second power transmitting coil is moved to a position facing the power receiving coil.

6. The control method according to claim 5, wherein the receiving coil is a first receiving coil, and the position detection process further detects the position of a second receiving coil separate from the first receiving coil, and when the position detection process detects the position of the second receiving coil while power is being transmitted from the first transmitting coil or the second transmitting coil to the first receiving coil, the movement control process transmits power from the first transmitting coil to the first receiving coil and transmits power from the second transmitting coil to the second receiving coil if the second receiving coil is located to the right of the first receiving coil, and transmits power from the first transmitting coil to the second receiving coil and transmits power from the second transmitting coil to the first receiving coil if the second receiving coil is located to the left of the first receiving coil.

7. The control method according to any one of claims 2 to 6, wherein, assuming that both sides in the X-axis direction are the left and the right, respectively, the first Y-axis rail is disposed to the left of the second Y-axis rail, a distance from a first center line that passes through the center of the first Y-axis rail along the Y-axis direction to the right end of the first Y-axis rail is a first distance Wa, a distance from a second center line that passes through the center of the second Y-axis rail along the Y-axis direction to the left end of the second Y-axis rail is a second distance Wb, and a distance between the first center line and the second center line is a distance La, and in the movement control process, the movement of at least one of the first power transmission unit and the second power transmission unit is controlled so as to satisfy La≧Wa+Wb.

8. The control method described in claim 7, wherein when a first protrusion protruding to the right from the first Y-axis rail is provided, the distance from the first center line to the right end of the first protrusion is a third distance Wc, and when a second protrusion protruding to the left from the second Y-axis rail is provided, the distance from the second center line to the left end of the second protrusion is a fourth distance Wd, and in the movement control process, the movement of at least one of the first power transmission unit and the second power transmission unit is controlled so as to satisfy La≧Wc+Wd.

9. The control method according to claim 7 or 8, wherein the distance between the first center line and the right end of the first power transmission unit is distance Ta, the distance between the second center line and the left end of the second power transmission unit is distance Tb, the width of the first power transmission unit in the Y-axis direction is width Sa, the width of the second power transmission unit in the Y-axis direction is width Sb, and the distance in the Y-axis direction between the center of the first power transmission unit and the center of the second power transmission unit is Lb, and in the movement control process, the movement of at least one of the first power transmission unit and the second power transmission unit is controlled so as to satisfy at least one of La≧Ta+Tb and 2Lb≧Sa+Sb.

10. The first power transmission unit has a circular shape with a radius Ra, the second power transmission unit has a circular shape with a radius Rb, a distance in the Y-axis direction between a center of the first power transmission unit and a center of the second power transmission unit is a distance Lb, and a distance in the X-axis direction between the center of the first power transmission unit and the center of the second power transmission unit is a distance Lc, and in the movement control process, ２ +Lb ２ ≧(Ra+Rb) ２ The control method according to claim 7 , further comprising controlling movement of at least one of the first power transmission unit and the second power transmission unit so as to satisfy the following:

11. The first power transmitting unit has a circular shape with a radius Ra, the second power transmitting unit has a circular shape with a radius Rb, the distance in the Y-axis direction between the center of the first power transmitting unit and the center of the second power transmitting unit is a distance Lb, when the negative side in the X-axis direction is the left, the first Y-axis rail is disposed to the left of the second Y-axis rail, the center of the first power transmitting coil is shifted in the X-axis direction from the first center line by a positive deviation amount Pa, and the center of the second power transmitting coil is shifted in the X-axis direction from the second center line by a negative deviation amount Pb, and in the movement control process, (La-Pa+Pb) ２ +Lb ２ ≧(Ra+Rb) ２ The control method according to any one of claims 7 to 10, further comprising controlling movement of at least one of the first power transmission unit and the second power transmission unit so as to satisfy the following:

12. The receiving coil is a first receiving coil, and the position detection process further detects the position of a second receiving coil different from the first receiving coil, and the control method includes a stop process for stopping power transmission by the first transmitting coil when the position detection process detects that the second receiving coil is located within a predetermined power transmission area of ​​the first transmitting coil while power is being transmitted from the first transmitting coil to the first receiving coil, a warning process for warning a user when the stop process is performed, and a first restart process for restarting power transmission by the first transmitting coil when only one of the first receiving coil and the second receiving coil is located within the power transmission area of ​​the first transmitting coil after the stop process. The control method according to any one of claims 1 to 11, further comprising: a second restart process in which, when a predetermined time has elapsed since the stop process was executed and both the first power receiving coil and the second power receiving coil are located within the power transmission area of ​​the first power transmitting coil, the first power transmitting coil is moved away from the second power receiving coil, the second power transmitting coil is moved to a position facing the second power receiving coil, and power is transmitted from the first power transmitting coil to the first power receiving coil and from the second power transmitting coil to the second power receiving coil.

13. The receiving coil is a first receiving coil, and the position detection process further detects the position of a second receiving coil different from the first receiving coil, and the control method includes a stop process for stopping power transmission by the second transmitting coil when the position detection process detects that the second receiving coil is located within a predetermined power transmission area of ​​the second transmitting coil while power is being transmitted from the second transmitting coil to the first receiving coil, a warning process for warning a user when the stop process is performed, and a first restart process for restarting power transmission by the second transmitting coil when only one of the first receiving coil and the second receiving coil is located within the power transmission area of ​​the second transmitting coil after the stop process. The control method according to any one of claims 1 to 12, further comprising: a second restart process, in which, when a predetermined time has elapsed since the stop process was executed and both the first power receiving coil and the second power receiving coil are located within the power transmission area of ​​the second power transmitting coil, the second power transmitting coil is moved away from the second power receiving coil, the first power transmitting coil is moved to a position facing the second power receiving coil, power is transmitted from the second power transmitting coil to the first power receiving coil, and power is transmitted from the first power transmitting coil to the second power receiving coil.

14. The control method according to any one of claims 1 to 13, further comprising a display process for causing a display device to display at least one of the position of the first power transmission coil, the position of the second power transmission coil, the power transmission area of ​​the first power transmission coil and the second power transmission coil, and a recommended area recommended as a location for placing the power receiving terminal.

15. A control method according to any one of claims 1 to 14, wherein one end of a cable is connected to the first power transmission unit, the cable having a fixed portion whose position is fixed relative to a housing that accommodates the first Y-axis rail, and in the movement control process, when the first Y-axis rail is moved along the X-axis rail in a direction away from the fixed portion and the first power transmission unit is moved in the Y-axis direction, the first power transmission unit is moved in the Y-axis direction and then the first Y-axis rail is moved along the X-axis rail in a direction away from the fixed portion, and when the first Y-axis rail is moved along the X-axis rail in a direction approaching the fixed portion and the first power transmission unit is moved in the Y-axis direction, the first Y-axis rail is moved along the X-axis rail in a direction approaching the fixed portion and then the first power transmission unit is moved in the Y-axis direction.

16. The control method according to any one of claims 1 to 15, further comprising a step of rotating the first power transmission coil relative to the first Y-axis rail around a central axis that is provided at a position different from the center of the first power transmission coil and is perpendicular to the X-axis direction and the Y-axis direction.

17. A program readable by a computer system, causing one or more processors of the computer system to execute the control method according to any one of claims 1 to 16.

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