JP6375703B2 - Power transmission device and non-contact power feeding system - Google Patents

Description

The present invention relates to a power transmission device and a non-contact power supply system.

For example, in an apparatus that operates in water, it is difficult to use an internal combustion engine or to lay an electric wire, and thus electric power provided in a storage battery is often used as a power source. As a non-contact power feeding system for charging a storage battery in water, a proposal as shown in Patent Document 1 below has been made.
In such a non-contact power feeding system, when the distance between the power receiving coil and the power transmitting coil is increased, the power feeding efficiency is reduced (see Patent Document 2). For this reason, in order to perform stable electric power feeding, it is desirable that the positional relationship between the power receiving coil and the power transmitting coil is fixed.

JP 2004-166459 A JP 2012-34468 A

  However, since there are currents and ocean currents in the water, and there are also dust and driftwood drifting in the water, the positional relationship between the power reception device (underwater station) and the power transmission device (underwater robot) as disclosed in Patent Document 1. If power is supplied with firmly fixed, there is a possibility of damage if dust or driftwood collides. Therefore, it is desirable to supply power in a state where the power receiving device and the power transmission device are gently fixed so that the positions of the power transmission device and the power receiving device may move relatively freely within a certain range. However, in that case, the distance between the power receiving coil and the power transmitting coil increases, and the power supply efficiency may decrease.

The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a power transmission device and a non-contact power supply system that can suppress a decrease in power supply efficiency while preventing damage to the power reception device and the power transmission device.

  In order to solve the above-described problems, the present invention provides a power transmission device that performs non-contact power feeding using a coil pair that is provided so as to face a power receiving device having a relatively movable relationship. A recess that can accommodate at least a part of the power receiving device with a gap, a first coil that forms the coil pair that can be opposed on one side of the wall facing the recess, and a wall facing the recess And a second coil that forms the coil pair that can be opposed to each other on the other side.

  According to the present invention, there is provided a power transmission device that performs non-contact power feeding using a coil pair provided so as to be able to face a power receiving device having a relatively movable relationship, and the power receiving device includes: A body part that can be accommodated in the recess part with at least a gap, and the coil pair that is provided in the body part and can be opposed to one side of the wall part facing the recess part. A configuration is adopted in which a first coil to be formed and a second coil that is provided in the main body and forms the coil pair that can be opposed to each other on the other side of the wall facing the recess.

  Moreover, in the power transmission device of the present invention, the first coil and the second coil are supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the recess. A configuration is adopted in which a control device that controls electric power to be used is included.

  Further, in the power transmission device of the present invention, the contactless power feeding is performed between the power receiving device and the power receiving device having a load to which the power by the contactless power feeding is supplied, and the control device receives power supplied to the load. If it is within the set range, the power supplied to the coil forming the coil pair with higher power supply efficiency is increased, and the power supplied to the coil forming the coil pair with lower power supply efficiency is decreased. The configuration is adopted.

  Further, in the power transmission device of the present invention, the contactless power feeding is performed between the power receiving device and the power receiving device having a load to which the power by the contactless power feeding is supplied, and the control device receives power supplied to the load. When larger than the set range, a configuration is adopted in which the electric power supplied to the coils forming the coil pair with the lower power supply efficiency is reduced.

  Further, in the power transmission device of the present invention, the contactless power feeding is performed between the power receiving device and the power receiving device having a load to which the power by the contactless power feeding is supplied, and the control device receives power supplied to the load. When it is smaller than the set range, a configuration is adopted in which the power supplied to the coils forming the coil pair with higher power supply efficiency is increased.

  Moreover, in the power transmission apparatus of this invention, the structure of having a scraper member which can remove the foreign material which exists between the said coil pairs with relative movement with the said power receiving apparatus is employ | adopted.

  Moreover, in the power transmission apparatus of this invention, the structure of performing the said non-contact electric power feeding in water is employ | adopted.

  Further, in the present invention, a power receiving device that receives non-contact power feeding using a coil pair provided so as to be able to face a power transmitting device having a relatively movable relationship, and at least the power transmitting device A recess that can accommodate a part of the recess, a first coil that forms the coil pair that can be opposed on one side of the facing wall of the recess, and the other side of the facing wall of the recessed portion can be opposed to each other And a second coil forming the coil pair.

  Further, in the present invention, a power receiving device that receives non-contact power feeding using a pair of coils provided so as to face each other with a power transmitting device having a relatively movable relationship, wherein the power transmitting device includes: A body part that can be accommodated in the recess part with at least a gap, and the coil pair that is provided in the body part and can be opposed to one side of the wall part facing the recess part. A configuration is adopted in which a first coil to be formed and a second coil that is provided in the main body and forms the coil pair that can be opposed to each other on the other side of the wall facing the recess.

  In the power receiving device of the present invention, a configuration is adopted in which a scraper member is provided that can remove foreign matter existing between the pair of coils with relative movement with the power transmitting device.

  Moreover, in the power receiving apparatus of this invention, the structure of receiving the said non-contact electric power feeding in water is employ | adopted.

  Further, in the present invention, there is provided a non-contact power feeding system that performs non-contact power feeding using a coil pair provided so as to be capable of being opposed between a power receiving device and a power transmitting device in which at least one of them is movable, A configuration is adopted in which the device includes a power transmission device including the above-described recess, and the power reception device includes a power reception device including the main body described above that can be accommodated in the recess.

  In the present invention, there is provided a non-contact power feeding system that performs non-contact power feeding using a pair of coils provided so as to face each other between a power receiving device and a power transmitting device in which at least one of the power receivers is movable, A configuration is adopted in which the power receiving device including the concave portion described above is included as the device, and the power transmitting device including the main body portion described above that can be accommodated in the concave portion is employed as the power transmitting device.

According to the present invention, a concave portion is provided in one of the power receiving device and the power transmitting device, and at least a part of the other is accommodated with a gap in the concave portion so that it can move freely to some extent. The positioning state can be easily released. For this reason, damage to the power reception device and the power transmission device can be prevented. Further, according to the present invention, by providing the coil pair on one side of the wall portion facing the recess and providing the coil pair on the other side, even if the power receiving device and the power transmission device move in the recess, for example, one side Even if the inter-coil distance of the coil pair is increased and the power supply efficiency is lowered, the inter-coil distance of the other coil pair is reduced and the power supply efficiency is improved. For this reason, the fall of electric power feeding efficiency can be suppressed.
Therefore, in this invention, the power transmission apparatus and non-contact electric power feeding system which can suppress the fall of electric power feeding efficiency are obtained, preventing damage to a power receiving apparatus and a power transmission apparatus.

It is a whole block diagram of the non-contact electric power feeding system in 1st Embodiment of this invention. It is an arrow AA figure in FIG. It is the figure which looked at the non-contact electric power feeding system which concerns on one modification of 1st Embodiment of this invention from the side surface direction of the underwater moving body. It is the figure which looked at the non-contact electric power feeding system which concerns on the modification of 1st Embodiment of this invention from the front direction of the underwater moving body. It is the figure which looked at the non-contact electric power feeding system which concerns on the modification of 1st Embodiment of this invention from the front direction of the underwater moving body. It is an arrow B figure in FIG. It is the figure which looked at the non-contact electric power feeding system which concerns on the modification of 1st Embodiment of this invention from the front direction of the underwater moving body. It is the figure which looked at the non-contact electric power feeding system in 2nd Embodiment of this invention from the side surface direction of the underwater moving body. It is arrow C figure in FIG. 8, and is a whole block diagram of the non-contact electric power feeding system in 2nd Embodiment of this invention. It is the figure which looked at the power transmission coil support part and power transmission coil of the non-contact electric power feeding system which concern on the modification of 2nd Embodiment of this invention from the side surface direction of the underwater moving body. It is the figure which looked at the power transmission coil support part and power transmission coil of the non-contact electric power feeding system which concern on the modification of 2nd Embodiment of this invention from the lower surface direction of the underwater moving body. It is a principal part block diagram of the non-contact electric power feeding system in 3rd Embodiment of this invention. It is the figure which looked at the non-contact electric power feeding system in 3rd Embodiment of this invention from the front direction of the underwater moving body. It is the figure which looked at the non-contact electric power feeding system which concerns on the modification of 3rd Embodiment of this invention from the front direction of the underwater moving body. It is a top view of the underwater mobile concerning the modification of a 3rd embodiment of the present invention. It is the figure which looked at the non-contact electric power feeding system which concerns on the modification of 3rd Embodiment of this invention from the front direction of the underwater moving body. It is the figure which looked at the non-contact electric power feeding system which concerns on the modification of 3rd Embodiment of this invention from the front direction of the underwater moving body.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is an overall configuration diagram of a non-contact power feeding system 1 according to the first embodiment of the present invention. 2 is an arrow AA diagram in FIG.
The non-contact power feeding system 1 performs non-contact power feeding using the coil pair 5 between a power receiving device and a power transmitting device in which at least one of them can move. In this embodiment, as shown in FIG. Furthermore, the underwater vehicle 10 is a power receiving device, and the platform 20 to which the underwater vehicle 10 returns is a power transmission device. The underwater vehicle 10 can move relative to the platform 20.

  The underwater vehicle 10 is an autonomous unmanned underwater vehicle capable of navigating underwater without a track, and is equipped with a mission device (not shown) for underwater exploration, for example. The mission equipment is, for example, a sonar for investigating the topography of the seabed or acquiring geological information under the seabed, a thermometer for measuring the temperature of seawater, and information on the distribution of specific chemical substances in seawater from the amount of light absorbed. It is a sensor to measure.

  The underwater vehicle 10 has a main thruster 2 at the rear, a ladder 3 (up / down rudder fin) at the rear upper and lower sides, an elevator (left / right rudder fin: not shown), etc. There are a vertical thruster (not shown), a horizontal thruster (not shown), etc. at the front. The speed control is performed by changing the rotation speed of the main thruster 2. The left and right angle control is performed by controlling the left and right angles of the rudder 3 as a rudder, and a horizontal thruster is used in combination when turning with a smaller radius. Vertical angle control is performed by controlling the vertical angle of the left and right elevators that serve as the rudder, and a vertical thruster is used in combination when turning at a smaller radius.

  The underwater moving body 10 is provided with a power receiving coil 11. The power receiving coil 11 has a sufficient water resistance and pressure resistance and is a cover member made of a nonmagnetic and nonconductive material (plastic, fiber reinforced plastic, etc.) that allows passage of an electromagnetic field used for non-contact power feeding. 4 is provided behind. The cover member 4 has a smooth surface and can reduce fluid resistance that hinders navigation.

  The power receiving coil 11 is provided at the upper part and the lower part of the substantially cylindrical body of the underwater moving body 10. The power receiving coil 11 receives AC power in a contactless manner by electromagnetically coupling with a power transmitting coil 21 provided on the platform 20. In such non-contact power feeding, an electrode or connector exposed to the outside is unnecessary, and therefore, the electrode or connector is not broken or the electrode is not rusted in water during power feeding. Note that the shape, size, and method (solenoid type, circular type, etc.) of the power receiving coil 11 and the power transmitting coil 21 may be any as long as non-contact power feeding is possible, and the shapes of the power receiving coil 11 and the power transmitting coil 21 are acceptable.・ The size may be different.

  The non-contact power feeding from the power transmission coil 21 to the power receiving coil 11 in the non-contact power feeding system 1 of the present embodiment is performed based on the magnetic field resonance method. That is, the power transmission coil 21 and the power reception coil 11 are connected to a resonance capacitor (not shown) for constituting a resonance circuit. Further, for example, the capacitance of the resonance capacitor is the same as the resonance frequency of the power transmission side resonance circuit composed of the power transmission coil 21 and the resonance capacitor and the resonance frequency of the power reception side resonance circuit composed of the power reception coil 11 and the resonance capacitor. The frequency is set.

In addition to the power receiving coil 11, the underwater moving body 10 is provided with a power receiving side power conversion circuit 12, a load 13, and a communication device 14.
The power receiving side power conversion circuit 12 is a power conversion circuit that converts the received power received by the power receiving coil 11 from the power transmitting coil 21 by non-contact power supply into DC power and supplies the DC power to the load 13. That is, the power receiving side power conversion circuit 12 supplies a current to the load 13, and this current is the impedance of the load 13, the output of the power transmission side power conversion circuit 23, and between them (the power transmission side DC / AC conversion circuit 22 , Power transmission coil 21, transmission of electromagnetic field between power transmission coil 21 and power reception coil 11, and circuit characteristics of power reception side power conversion circuit 12). The power receiving side power conversion circuit 12 may be only a rectifier circuit (for example, a diode bridge) and a smoothing circuit (for example, a π-type circuit including a reactor and a capacitor), and further includes a DC / DC converter. It may be.
One power receiving side power conversion circuit 12 is provided for each of the two power receiving coils 11, and outputs of the two power receiving side power conversion circuits 12 are connected in parallel and connected to the load 13. That is, the DC power received by the upper power receiving coil 11 (first coil of the power receiving device described later) in FIG. 1 and converted by the upper power receiving side power conversion circuit 12, and the lower power receiving coil 11 in FIG. The sum of the power and the DC power received by a second power receiving circuit 12 (which will be described later) is supplied to the load 13.

The load 13 is a power storage device capable of storing sufficient power as a driving power source for the underwater vehicle 10, for example, a lithium ion secondary battery, a nickel hydride secondary battery, a large-capacity electric double layer capacitor, or the like. . The load 13 is a load other than the power storage device, for example, a resistance use load (for example, a heating element or a lighting device), an inductance use load (for example, a combination of an inverter having a DC / AC conversion function and a motor), or the like. It may be a combination of a power storage device and a load other than the power storage device.
The communication device 14 communicates with a communication device 25 provided on the platform 20. For communication in water, it is preferable to use acoustic communication means. Note that radio wave communication means and optical communication means can be used within a short distance.

  The platform 20 is a watercraft or an underwater base to which the underwater vehicle 10 returns. The platform 20 is provided with a recess 30 that can accommodate at least a part of the underwater vehicle 10 (main body) with a gap. As shown in FIG. 2, the concave portion 30 of the present embodiment is a horizontal hole that opens slightly larger than the underwater moving body 10. The recess 30 is open in a rectangular shape, and includes a wall portion 31 that forms the upper and lower sides of the rectangle and faces each other, and a wall portion 32 that forms the left and right sides of the rectangle and faces each other. Moreover, the recessed part 30 is connected with each of the wall parts 31 and 32, and has the wall part 33 which faces the head of the underwater moving body 10, as shown in FIG.

  The platform 20 is provided with a power transmission coil 21. The power transmission coil 21 has a wall portion made of a nonmagnetic and nonconductive material (plastic, fiber reinforced plastic, etc.) that has sufficient water resistance and pressure resistance and allows an electromagnetic field used for non-contact power feeding to pass therethrough. 31 is provided behind. In addition, although the wall parts 32 and 33 of this embodiment are integrally formed with the wall part 31, since it does not exist in the area | region where the electromagnetic field of non-contact electric power feeding passes, it does not necessarily form with a nonmagnetic and nonelectroconductive material. do not have to.

  On the surface of the wall portion 31, there is provided an impact absorbing member 35 that absorbs an impact of the underwater moving body 10 colliding with a water current or an ocean current. The shock absorbing member 35 is made of a resilient nonmagnetic and nonconductive material such as rubber. Further, the walls 32 and 33 are provided with an impact absorbing member 36 that absorbs an impact caused by the underwater moving body 10 colliding with a water current or an ocean current. Since the shock absorbing member 36 is not in a region where an electromagnetic field of non-contact power feeding passes, any material can be used as long as it has elasticity.

  The power transmission coils 21 are provided behind the wall portions 31 that face each other above and below the recess 30. In addition, the power receiving coil 11 (first coil of the power receiving device) and the power transmitting coil 21 (first coil of the power transmitting device) provided so as to face each other on the one side (wall portion 31A side) of the wall portion 31 facing the concave portion 30. Forms the first coil pair 5A. Further, the power receiving coil 11 (second coil of the power receiving device) and the power transmitting coil 21 (second coil of the power transmitting device) provided so as to face each other on the other side (wall portion 31B side) of the wall portion 31 facing the recess 30. Forms the second coil pair 5B.

In addition to the power transmission coil 21, the platform 20 is provided with a power transmission side DC / AC conversion circuit 22, a power transmission side power conversion circuit 23, a power source 24, a communication device 25, and a control device 26.
The power transmission side DC / AC conversion circuit 22 is an inverter circuit on the power transmission side, and includes a commonly used circuit such as a half bridge or a full bridge, and the DC power supplied from the power transmission side power conversion circuit 23 is subjected to magnetic field resonance. The AC power is converted to AC power having a frequency suitable for the non-contact power supply of the system and supplied to the power transmission coil 21. As an inverter circuit, the gate of a semiconductor power device such as a power MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) or IGBT (Insulated Gate Bipolar Transistor) is driven by a pulse signal, and the period and length of the pulse signal are changed to perform PWM. (Pulse Width Modulation) A modulation method is generally used.
As shown in FIG. 1, one power transmission side DC / AC conversion circuit 22 is provided for each power transmission coil 21.

The power transmission side power conversion circuit 23 is a power conversion circuit that converts the power supplied from the power source 24 into DC power and supplies the power to the power transmission side DC / AC conversion circuit 22. The power transmission side power conversion circuit 23 outputs power according to a command from the control device 26. It can be changed. In addition, when AC power is supplied from the power supply 24, the power transmission side power conversion circuit 23 is configured by combining, for example, a rectifier circuit configured by a diode bridge and a DC / DC converter having a function of step-up / step-down / step-up / step-down. Further, a configuration having a PFC (Power Factor Correction) function may be used. The power transmission side power conversion circuit 23 may be a DC / DC converter having a function of step-up or step-down or step-up / step-down when direct current power is supplied from the power source 24. In the case of these configurations, the output power of the power transmission side power conversion circuit 23 can be changed by changing the output voltage of the DC / DC converter. The converter to be used may be either a non-insulating type (such as a chopper) or an insulating type (such as using a transformer).
As shown in FIG. 1, one power transmission side power conversion circuit 23 is provided for each power transmission side DC / AC conversion circuit 22.
The power source 24 is, for example, a commercial power source, a solar battery, wind power generation, or the like, and supplies the power to the power transmission side power conversion circuit 23.

  The communication device 25 is for communicating with the underwater mobile object 10. For example, the communication device 25 performs acoustic positioning using ultrasonic waves for positioning the underwater moving body 10 in water. As the acoustic positioning, for example, a USBL (Ultra-Short Base Line) method can be adopted. In USBL, the distance from the round-trip time of sound waves and underwater sound speed to the target (underwater moving body 10) is determined, and the angle is determined from the phase difference in the USBL receiving array (a plurality of receiving elements are arranged). The relative position of the target in the three-dimensional space with respect to the USBL transceiver (transmitter / receiver) can be obtained.

  The platform 20 on which the transceiver is mounted obtains the target latitude / longitude by adding the position relative to the target to the position (longitude / latitude) and attitude angle (tilt and azimuth from the horizontal) of the transceiver on the earth coordinates. By transmitting this position to the underwater vehicle 10 by acoustic communication, the underwater vehicle 10 can obtain the current position. Note that the inertial navigation method may be employed for underwater positioning, or may be used in combination with the acoustic positioning in order to increase navigation accuracy.

  Inertial navigation is a short period of time with sensors (for example, gyroscopes and Doppler velocimeters) mounted on the target attitude angle (left-right angle, vertical angle, azimuth angle) and the target velocity in the three-dimensional space with respect to the water bottom. Measure at intervals, find out how much you moved in which direction in earth coordinates, and add it. According to this inertial navigation, there is a merit that positioning is possible at a short interval. However, since the position error increases with time, the positioning position by the inertial navigation is changed from the USBL positioning position where the position error does not increase with time and the regular position. Therefore, accumulation of position errors can be prevented.

  The control device 26 is connected to the communication device 25, and after confirming that the underwater mobile body 10 is accommodated in the recess 30 of the platform 20, the power transmission side power conversion circuit 23 is operated, and the underwater mobile body 10 and the platform are connected. 20, non-contact power feeding is performed using the first coil pair 5 </ b> A and the second coil pair 5 </ b> B provided so as to face each other. The control device 26 controls the power supplied to each of the first coil pair 5A and the second coil pair 5B based on the power feeding efficiency of each of the first coil pair 5A and the second coil pair 5B. It is like that.

  Specifically, the control device 26 uses the communication devices 14 and 25 from the underwater moving body 10 to the platform 20 to connect the power receiving side power conversion circuit 12 connected to the power receiving coil 11 forming the first coil pair 5A. Is receiving power (Pr_1: measured value) and the power being received by the power receiving side power conversion circuit 12 connected to the receiving coil 11 forming the second coil pair 5B (Pr_2: measured value) And electric power (Pbatt: output value from a battery controller (not shown)) necessary for charging the load 13 is acquired. The power is measured by measuring the DC voltage and current at the output end of the power receiving side power conversion circuit 12 at a period sufficiently shorter than the power fluctuation, and multiplying the voltage value and current value measured at each time. This can be done by averaging the power value over time.

  Further, the control device 26 supplies power (Ps_1 :) supplied by the power transmission side power conversion circuit 23 connected via the power transmission side DC / AC conversion circuit 22 and the power transmission coil 21 forming the first coil pair 5A. Measured value) and the power (Ps_2: measured value) supplied by the power transmission side power conversion circuit 23 connected to the power transmission coil 21 forming the second coil pair 5B and the power transmission side DC / AC conversion circuit 22 ) And get. The power measurement is obtained by measuring the DC voltage and current at the input end of the transmission-side DC / AC converter circuit 22 with a period sufficiently shorter than the power fluctuation and multiplying the voltage value and current value measured at each time. This can be done by averaging the instantaneous power value over time. Ps_1, Pr_1, Ps_2, Pr_2, and Pbatt are all values that change with time.

  The control device 26 obtains the power supply efficiencies of the first coil pair 5A and the second coil pair 5B from the respective losses of the first coil pair 5A and the second coil pair 5B. The loss of the first coil pair 5A can be obtained from the subtraction of Ps_1−Pr_1. Further, the loss of the second coil pair 5B can be obtained by subtraction of Ps_2−Pr_2. If Ps_1−Pr_1 <Ps_2−Pr_2, the control device 26 determines that the first coil pair 5A has higher power supply efficiency because the first coil pair 5A has a smaller loss. Further, if Ps_1−Pr_1> Ps_2−Pr_2, the controller 26 determines that the second coil pair 5B has higher power supply efficiency because the second coil pair 5B has a smaller loss. In the determination of the power supply efficiency, the transmission power is also taken into consideration, and (Ps_1−Pr_1) / Ps_1 may be used instead of Ps_1−Pr_1, and (Ps_2−Pr_2) / Ps_2 instead of Ps_2−Pr_2.

  Next, the control device 26 determines whether or not the power for the load 13 is excessive or insufficient. The control device 26 determines that “power is appropriate” if Pr_1 + Pr_2 = Pbatt. Further, the control device 26 determines that “the power is excessive” if Pr_1 + Pr_2 <Pbatt. In addition, the control device 26 determines that “power is too low” otherwise. Since there is an error in the measured value, it is desirable to provide a width (dead zone) for the determination of the above equal sign. Therefore, the control device 26 determines whether the power supplied to the load 13 is within a set range having a certain width, larger than the set range, or other (less than the set range).

  Then, as shown in (1) to (6) below, the control device 26 supplies power to the power transmission side power conversion circuit 23 of the first coil pair 5A and power transmission side power conversion circuit 23 of the second coil pair 5B. Change the power command value. Note that Δ shown below is a positive minute amount.

(1) When “Power is Appropriate” and the Loss of the First Coil Pair 5A is Small The control device 26 increases the power command value to the power transmission side power conversion circuit 23 of the first coil pair 5A by Δ, The power command value to the power transmission side power conversion circuit 23 of the coil pair 5B is decreased by Δ.
(2) When “Power is Appropriate” and the Loss of the Second Coil Pair 5B is Small The control device 26 reduces the power command value to the power transmission side power conversion circuit 23 of the first coil pair 5A by Δ, The power command value to the power transmission side power conversion circuit 23 of the coil pair 5B is increased by Δ.
That is, when the power supplied to the load 13 is within the set range, the control device 26 increases the power supplied to the coil pair 5 with higher power supply efficiency and the coil pair 5 with lower power supply efficiency. Reduce the power supplied to.

(3) When “Power Excess” and Loss of the First Coil Pair 5A are Small The control device 26 does not change the power command value to the power transmission side power conversion circuit 23 of the first coil pair 5A, and the second coil The power command value to the power transmission side power conversion circuit 23 for the pair 5B is decreased by Δ.
(4) When “Power Excess” and Loss of Second Coil Pair 5B are Small The control device 26 decreases the power command value to the power transmission side power conversion circuit 23 of the first coil pair 5A by Δ, The power command value to the power transmission side power conversion circuit 23 of the coil pair 5B is not changed.
That is, when the power supplied to the load 13 is larger than the set range, the control device 26 reduces the power supplied to the coil pair 5 having the lower power supply efficiency.

(5) When the power is “low” and the loss of the first coil pair 5A is small, the control device 26 increases the power command value to the power transmission side power conversion circuit 23 of the first coil pair 5A by Δ, The power command value to the power transmission side power conversion circuit 23 of the coil pair 5B is not changed.
(6) When “power is too low” and the loss of the second coil pair 5B is small, the control device 26 does not change the power command value to the power transmission side power conversion circuit 23 of the first coil pair 5A, and the second coil The power command value to the power transmission side power conversion circuit 23 for the pair 5B is increased by Δ.
That is, when the power supplied to the load 13 is smaller than the set range, the control device 26 increases the power supplied to the coil pair 5 having higher power supply efficiency.

  Next, the power feeding operation of the non-contact power feeding system 1 configured as described above will be described.

  As shown in FIG. 1, the non-contact power supply system 1 performs non-contact power supply to the underwater moving body 10 that has returned to the platform 20. The underwater vehicle 10 determines whether or not to return to the platform 20 based on the remaining amount of electricity stored in the load 13. If it is determined that the vehicle should return, the underwater mobile body 10 grasps the current position through communication between the communication devices 14 and 25. While returning to the platform 20. Then, the underwater vehicle 10 that has returned to the platform 20 enters the recess 30 provided in the platform 20 and receives power. Note that it is normal to determine that the return should be made when the remaining amount of electricity stored is reduced to the amount necessary for returning to the platform 20.

  As shown in FIG. 1, the non-contact power feeding system 1 of the present embodiment includes a recess 30 that is provided on the platform 20 and that can accommodate at least a part of the underwater moving body 10 with a gap. According to this configuration, since the underwater vehicle 10 can be accommodated in the recess 30 of the platform 20 with a gap, the underwater vehicle 10 can move freely to some extent even during power feeding. Therefore, according to the present embodiment, a high-precision positioning mechanism as in the prior art is not required, and no mechanical restraining means is used. Therefore, even if an external force is unexpectedly applied due to a collision of dust or driftwood, etc. It can be easily moved from a predetermined positioning state without being mechanically damaged by the means or the like and without countering external force. For this reason, damage to the underwater vehicle 10 and the platform 20 can be prevented.

  On the other hand, if the underwater vehicle 10 can move freely to some extent during power feeding, power feeding efficiency is reduced when the distance between the power receiving coil 11 and the power transmitting coil 21 is increased. For this reason, the non-contact power feeding system 1 of the present embodiment is configured such that the first coil pair 5 </ b> A provided so as to be able to face on one side (wall portion 31 </ b> A side) of the wall portion 31 facing the recess 30 and the wall facing the recess 30. And a second coil pair 5B provided to be opposed to the other side of the portion 31 (on the wall portion 31B side). According to this configuration, even if the underwater moving body 10 moves in the recess 30 of the platform 20, for example, even if the underwater moving body 10 moves away from the wall portion 31A, the power supply efficiency of the first coil pair 5A decreases. On the contrary, since the underwater vehicle 10 approaches the wall portion 31B, the power supply efficiency of the second coil pair 5B is improved. On the contrary, even if the underwater moving body 10 moves away from the wall portion 31B and the power supply efficiency of the second coil pair 5B decreases, the underwater moving body 10 approaches the wall portion 31A, and thus the first coil pair 5A. The power supply efficiency is improved. The power supply to the underwater vehicle 10 is performed through both the first coil pair 5A and the second coil pair 5B, and even if one of the power supply efficiencies is reduced, the other power supply efficiency is improved and compensated. Reduction in efficiency can be suppressed.

  Furthermore, the non-contact power feeding system 1 of the present embodiment is configured so that each of the first coil pair 5A and the second coil pair 5B is based on the power feeding efficiency of the first coil pair 5A and the second coil pair 5B. It has the control apparatus 26 which controls the electric power supplied to. According to this configuration, a large amount of power is supplied via the coil pair 5 having a higher power supply efficiency, and a small amount of power is supplied via the coil pair 5 having a lower power supply efficiency. Thus, the necessary power can be supplied to the load 13.

  Specifically, when the power supplied to the load 13 is within the set range, the control device 26 of the present embodiment increases the power supplied to the coil pair 5 with higher power supply efficiency, so that the power supply efficiency is increased. The power supplied to the lower coil pair 5 is reduced. That is, the control device 26 does not change the combined power of the first coil pair 5A and the second coil pair 5B by the control shown in the above (1) and (2), and the coil pair 5 with the smaller loss is controlled. Increase power. In this way, when the relative position of the underwater mobile body 10 with respect to the platform 20 varies with time due to the influence of water current or ocean current, the power supplied to each of the first coil pair 5A and the second coil pair 5B is supplied. Highly efficient power feeding is possible by appropriately sharing the efficiency.

  In addition, when the power supplied to the load 13 is larger than the set range, the control device 26 of the present embodiment reduces the power supplied to the coil pair 5 having the lower power supply efficiency. That is, the control device 26 reduces the combined power of the first coil pair 5A and the second coil pair 5B by the control shown in the above (3) and (4), and the coil pair 5 with the larger loss is used. Reduce power. As described above, when the relative position of the underwater mobile body 10 with respect to the platform 20 fluctuates with time due to the influence of water current or ocean current, and the power becomes excessive, the power supplied to the coil pair 5 having low power supply efficiency is appropriately reduced. Thus, highly efficient power feeding is possible.

  In addition, when the power supplied to the load 13 is smaller than the set range, the control device 26 of the present embodiment increases the power supplied to the coil pair 5 with higher power supply efficiency. That is, the control device 26 increases the combined power of the first coil pair 5A and the second coil pair 5B by the control shown in the above (5) and (6), and the coil pair 5 having the smaller loss is controlled. Increase power. As described above, when the relative position of the underwater vehicle 10 with respect to the platform 20 fluctuates with time due to the influence of water current or ocean current, and the power becomes insufficient, the power supplied to the coil pair 5 having high power supply efficiency is appropriately increased. Thus, highly efficient power feeding is possible.

Thus, according to the above-described embodiment, the non-contact power feeding system 1 that performs the non-contact power feeding using the coil pair 5 provided to be able to face between the underwater moving body 10 and the platform 20, The platform 20 has a recess 30 that can accommodate at least a part of the underwater moving body 10 with a gap, and is provided as a coil pair 5 so as to be opposed to one side of the wall portion 31 facing the recess 30. By adopting a configuration that includes the first coil pair 5A and the second coil pair 5B that can be opposed to each other on the other side of the wall portion 31 facing the recess 30, the underwater vehicle 10 and the platform Thus, the non-contact power feeding system 1 that can suppress the power feeding efficiency while preventing the damage of the power 20 is obtained.
Further, the electromagnetic field of non-contact power supply generated between the power transmission coil 21 and the power reception coil 11 passes through the wall portion 31, the shock absorbing member 35, and the cover member 4, but these are nonmagnetic and nonconductive materials. Since they are formed, they do not affect the electromagnetic field, and they do not reduce the power supply efficiency.

  In addition, 1st Embodiment is not limited to the said structure, For example, the modification shown to (1)-(4) below can be employ | adopted.

(1) FIG. 3 is a view of the non-contact power feeding system 1 according to a modification of the first embodiment of the present invention as viewed from the side surface direction of the underwater vehicle 10. FIG. 4 is a diagram of the non-contact power feeding system 1 according to a modification of the first embodiment of the present invention as viewed from the front of the underwater moving body 10.
In this modified example, as shown in FIG. 3, the platform 20 is provided with a recess 30 </ b> A capable of accommodating at least a part of the underwater moving body 10 with a gap. The recess 30 </ b> A is formed by the flange member 29. The platform 20 includes a power transmission coil support portion 27 that supports the power transmission coil 21, and a flange member support portion 28 that stands on the power transmission coil support portion 27 and supports the flange member 29. The power transmission coil 21 is sealed with a non-magnetic and non-conductive resin member 21a (for example, an epoxy resin) that passes an electromagnetic field used for non-contact power feeding, and has water resistance and pressure resistance.
Of the eaves member 29, the portions facing the upper and lower sides of the underwater moving body 10 face the wall portion 31, the portions facing the left and right sides of the underwater moving body 10 face the wall portion 32, and the head of the underwater moving body 10. The portion corresponds to the wall portion 33.

  The eaves member support portion 28 is configured to support the wall portions 31 facing each other above and below the recessed portion 30A. The eaves member support portion 28 is provided apart from the power transmission coil 21 so as not to affect the electromagnetic field generated by the non-contact power feeding. The eaves member support 28 is made of, for example, concrete or steel. In addition, if the eaves member support portion 28 is formed of a nonmagnetic and nonconductive material that allows an electromagnetic field used for non-contact power supply to pass, as in the case of the eaves member 29 described later, it is disposed near the power transmission coil 21. You can also

As shown in FIG. 3, the flange member 29 has a substantially U-shaped cross-sectional shape. Further, as shown in FIG. 4, the eaves member 29 opens in a substantially rectangular shape. The eaves member 29 is formed by combining or braiding a string or a flat string formed of a non-magnetic and non-conductive material (for example, fiber reinforced plastic) that allows passage of an electromagnetic field used for non-contact power feeding in a net shape, It has elasticity.
According to this modification, the concave portion 30A is formed from the flange member 29 and has elasticity, so that the underwater moving body 10 moves by a water flow or the like and contacts the flange member 29, that is, the wall portions 31, 32, 33. You can also prevent damage. Also in this modified example, the distance between the power receiving coil 11 and the power transmitting coil 21 of the first coil pair 5A and the distance between the power receiving coil 11 and the power transmitting coil 21 of the second coil pair 5B are one of them. Since there is a relationship in which the other decreases if it increases, the same effect as described above can be obtained.

(2) FIG. 5 is a view of the non-contact power feeding system 1 according to a modification of the first embodiment of the present invention as viewed from the front side of the underwater vehicle 10. FIG. 6 is a view B in FIG.
In this modified example, as shown in FIG. 5, a power receiving coil 11 is provided on a side portion of the underwater moving body 10 and is configured to receive non-contact power feeding from the side. The recess 30B provided in the platform 20 has a groove shape that opens upward and extends linearly. The power transmission coils 21 are respectively provided behind the wall portions 31 facing the left and right of the recess 30B. Note that the first coil pair 5A provided so as to be able to face on one side (wall portion 31A side) of the wall portion 31 facing the recess 30B and the other side (wall portion 31B side) of the wall portion 31 facing the recess 30B. The second coil pair 5B provided so as to face each other does not have to be coaxial. In FIG. 6, the first coil pair 5A and the second coil pair 5B are displaced by a distance L in the extending direction of the recess 30B. An example is shown.
Also in this modification, one of the distance between the power reception coil 11 and the power transmission coil 21 of the first coil pair 5A and the distance between the power reception coil 11 and the power transmission coil 21 of the second coil pair 5B are increased. For example, since the other is reduced, the same effect as described above can be obtained.
Moreover, since electric power is supplied from the side and a relative position change in the horizontal direction can be allowed, this modified example is also suitable for application to a surface moving body.

(3) FIG. 7 is a diagram of the non-contact power feeding system 1 according to a modification of the first embodiment of the present invention as viewed from the front direction of the underwater vehicle 10.
In this modification, as shown in FIG. 7, the platform 20 is provided with a recess 30 </ b> C that opens in an oval shape (substantially oval). The power transmission coils 21 are respectively provided behind the wall portions 31 that face each other above and below the concave portion 30C. The power transmission coil 21 is curved in a concave shape along the curved shape of the wall portion 31. On the other hand, the power receiving coil 11 is curved in a convex shape along the curved shape of the wall portion 31.
Also in this modification, one of the distance between the power reception coil 11 and the power transmission coil 21 of the first coil pair 5A and the distance between the power reception coil 11 and the power transmission coil 21 of the second coil pair 5B are increased. For example, since the other is reduced, the same effect as described above can be obtained.
Although the distance between the power transmission coil 21 and the power reception coil 11 increases, the power transmission coil 21 and the power reception coil 11 may not be curved and may have a planar shape, or bend by combining a plurality of small planar coils. It is good also as a cross-sectional shape.

(4) Further, similarly to the second embodiment described later and one modified example thereof, the power transmission coils 21 may be provided on the front and back of the plate-shaped coil support portions that stand vertically, or the hollow coil support portions. The power transmission coils 21 may be provided on the inner sides of the opposing surfaces.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.

  FIG. 8 is a diagram of the non-contact power feeding system 1 according to the second embodiment of the present invention viewed from the side surface direction of the underwater moving body 10. FIG. 9 is an arrow C diagram in FIG. 8 and is an overall configuration diagram of the non-contact power feeding system in the second embodiment of the present invention. In this embodiment, as shown in FIG. 9, the underwater vehicle 10 is a power transmission device, and the platform 20 provided in water is a power reception device. The underwater vehicle 10 can move relative to the platform 20.

  The underwater vehicle 10 is an autonomous unmanned underwater vehicle capable of navigating underwater in a trackless manner, and may be equipped with an underwater exploration mission device (not shown) as in the first embodiment. . In addition, the underwater vehicle 10 has, for example, a main thruster 2 at the rear, a ladder 3 (vertical fins) at the top and bottom of the rear, and a vertical thruster (not shown) at the front to control the navigation speed and direction. , Horizontal thrusters (not shown), and the like. The method for controlling the underwater vehicle 10 is the same as in the first embodiment, and a description thereof will be omitted.

  As shown in FIGS. 8 and 9, the underwater vehicle 10 includes a power transmission coil 21. The power transmission coil 21 is provided on each of the front and back surfaces of a plate-shaped power transmission coil support portion 27 </ b> A that stands vertically on the bottom of the underwater vehicle 10. The power transmission coil 21 is sealed with a non-magnetic and non-conductive resin member 21a (for example, epoxy resin) that passes an electromagnetic field used for non-contact power feeding, and has water resistance and pressure resistance. The resin member 21a has a smooth surface and can reduce fluid resistance that hinders navigation.

The underwater vehicle 10 is further provided with a power transmission side DC / AC conversion circuit 22, a power transmission side power conversion circuit 23, a power source 24, a communication device 25, and a control device 26.
The configurations of the power transmission side DC / AC conversion circuit 22 and the power transmission side power conversion circuit 23 are the same as those in the first embodiment, and thus the description thereof is omitted.
The power source 24 is a secondary battery capable of storing electric power necessary to fully charge a load 13 (electric storage device) (described later) of the platform 20, for example, a lithium ion secondary battery or a nickel hydrogen secondary battery. A battery, a large-capacity electric double layer capacitor, or the like. The power source 24 may or may not serve as a driving power source for the underwater vehicle 10.

  The communication device 25 is for communicating with the platform 20. The communication device 25 and the communication device 14 (described later) may perform acoustic positioning using ultrasonic waves for positioning the underwater moving body 10 in water. In addition, an inertial navigation method may be employed for underwater positioning, or may be used in combination with the acoustic positioning in order to increase navigation accuracy. Since the positioning method is the same as in the first embodiment, the description thereof is omitted.

  The control device 26 is connected to the communication device 25, and after confirming that at least a part (power transmission coil support portion 27A) of the underwater mobile body 10 (main body portion) is accommodated in the recess 30D (described later), the power transmission The side power conversion circuit 23 is operated, and the first coil pair 5 </ b> A (described later) and the second coil pair 5 </ b> B (described later) are provided so as to be able to face each other between the underwater moving body 10 and the platform 20. Make contact power supply. The control device 26 controls the power supplied to each of the first coil pair 5A and the second coil pair 5B based on the power feeding efficiency of each of the first coil pair 5A and the second coil pair 5B. It is like that.

  Specifically, the control device 26 is connected to the power receiving coil 11 (described later) forming the first coil pair 5A using the communication device 25 and the communication device 14 (described later) from the underwater moving body 10 to the platform 20. Power (Pr_1: measured value) received by the received power conversion circuit 12 (described later) and the received power conversion connected to the power receiving coil 11 (described later) forming the second coil pair 5B. The power (Pr_2: measured value) received by the circuit 12 (described later) and the power required for charging the load 13 (described later) (Pbatt: output value from a battery controller (not shown)) are acquired. The method for measuring the power is the same as that in the first embodiment, and a description thereof will be omitted.

Further, the control device 26 supplies power (Ps_1 :) supplied by the power transmission side power conversion circuit 23 connected via the power transmission side DC / AC conversion circuit 22 and the power transmission coil 21 forming the first coil pair 5A. Measured value) and the power (Ps_2: measured value) supplied by the power transmission side power conversion circuit 23 connected to the power transmission coil 21 forming the second coil pair 5B and the power transmission side DC / AC conversion circuit 22 ) And get. The method for measuring the power is the same as in the first embodiment, and a description thereof will be omitted. Note that Ps_1, Pr_1, Ps_2, Pr_2, and Pbatt are all values that change with time.
The operation of the control device 26, determination of power supply efficiency, and how to change the power command value are the same as in the first embodiment.

  The platform 20 is provided on the seabed, for example, and has a device (not shown) for measuring and recording the temperature and vibration of the seabed. The platform 20 is provided with a power storage device capable of storing sufficient power as a power source for driving these devices as the load 13. By supplying electric power to the device, the remaining amount of electricity stored in the electricity storage device decreases. However, when the remaining amount of electricity stored in the electricity storage device decreases, the underwater mobile body 10 approaches the platform 20 and is stored from the underwater mobile body 10. The device mounted on the platform 20 can be operated continuously by supplying electric power to the device by non-contact power supply and charging it to fully charge the power storage device (described later). The specific configuration of the electricity storage device is the same as that of the first embodiment.

As shown in FIGS. 8 and 9, the platform 20 includes a power receiving coil 11. The platform 20 has a recess 30D that can accommodate at least a part of the underwater vehicle 10 (power transmission coil support portion 27A) with a gap, and the power receiving coil 11 is located inside the wall portion 31 facing the left and right of the recess 30D. Is provided. The power receiving coil 11 has a sufficient water resistance and pressure resistance and is a cover member made of a nonmagnetic and nonconductive material (plastic, fiber reinforced plastic, etc.) that allows passage of an electromagnetic field used for non-contact power feeding. 4 is provided behind.
The power receiving coil 11 (first coil of the power receiving device) and the power transmitting coil 21 (first coil of the power transmitting device) provided so as to be able to face each other on the one side (wall portion 31A side) of the wall portion 31 facing the recess 30D. The first coil pair 5A is formed. Further, the power receiving coil 11 (second coil of the power receiving device) and the power transmitting coil 21 (second coil of the power transmitting device) provided so as to face each other on the other side (wall portion 31B side) of the wall portion 31 facing the recess 30D. And form the second coil pair 5B.
Since the shape and size of the power receiving coil 11 and the power transmitting coil 21, the configuration of non-contact power feeding based on the magnetic field resonance method are the same as in the first embodiment, the description thereof is omitted.

  Further, the platform 20 is provided with a power receiving side power conversion circuit 12 and a communication device 14. Since the power receiving side power conversion circuit 12 is the same as that of the first embodiment, the description thereof is omitted. The communication device 14 communicates with a communication device 25 provided in the underwater vehicle 10. Since the configuration of the communication device 14 is the same as that of the first embodiment, the description thereof is omitted.

  Next, the power feeding operation of the non-contact power feeding system 1 in the second embodiment configured as described above will be described.

  As shown in FIGS. 8 and 9, the non-contact power feeding system 1 performs non-contact power feeding from an underwater moving body 10 that is close to the platform 20. The underwater vehicle 10 determines whether or not the platform 20 should be approached based on the remaining amount of power stored in the load 13. If it is determined that the platform 20 should be approached, the underwater vehicle 10 grasps the current position through communication between the communication devices 14 and 25. While approaching the platform 20. Then, the underwater vehicle 10 that has approached the platform 20 approaches the underwater vehicle 10 so that at least a part (the power transmission coil support portion 27A) of the underwater vehicle 10 is accommodated in the recess 30D and performs power supply.

Also in the second embodiment, one of the distance between the power receiving coil 11 and the power transmitting coil 21 of the first coil pair 5A and the distance between the power receiving coil 11 and the power transmitting coil 21 of the second coil pair 5B are increased by one. Then, since the other is reduced, the same effect as that of the first embodiment can be obtained by the same operation as that of the first embodiment.
In addition, the non-contact power supply electromagnetic field generated between the power transmission coil 21 and the power reception coil 11 passes through the resin member 21a and the cover member 4, but these are formed of a nonmagnetic and nonconductive material. They do not affect the electromagnetic field, and they do not reduce the power supply efficiency.

Also in the second embodiment, various recess shapes / forms and coil arrangements / forms are possible as in the first embodiment and its modifications.
Moreover, 2nd Embodiment is not limited to the said structure, For example, the modification shown below can be employ | adopted.

FIG. 10 is a view of the power transmission coil support 27 </ b> B and the power transmission coil 21 of the non-contact power feeding system 1 according to a modification of the second embodiment of the present invention as viewed from the side surface direction of the underwater vehicle 10. FIG. 11 is a view of the power transmission coil support 27 </ b> B and the power transmission coil 21 of the non-contact power feeding system 1 according to a modification of the second embodiment of the present invention as viewed from the bottom surface of the underwater vehicle 10.
In this modification, the power transmission coil support portion 27B is hollow, and the power transmission coils 21 are provided inside the left and right opposing surfaces, respectively. The outer surface of the power transmission coil support 27B has a streamlined shape, and can reduce the fluid resistance that hinders navigation when the underwater moving body 10 moves underwater. Further, the power transmission coil support portion 27B has water resistance and pressure resistance, and the region through which the magnetic field of the non-contact power supply generated in the power transmission coil 21 passes is a non-magnetic and non-conductive that allows the electromagnetic field used for the non-contact power transmission to pass. It is made of a material such as a resin. That is, the power transmission coil support portion 27B also serves as the resin member 21a. The other parts of the underwater vehicle 10 and the platform 20 are the same as those shown in FIGS.
Also in this modification, one of the distance between the power reception coil 11 and the power transmission coil 21 of the first coil pair 5A and the distance between the power reception coil 11 and the power transmission coil 21 of the second coil pair 5B are increased. In other words, the other is reduced, and the same effect as described above can be obtained.

(Third embodiment)
Next, a third embodiment of the present invention will be described. In the following description, the same or equivalent components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.

FIG. 12 is a main part configuration diagram of the non-contact power feeding system 1 according to the third embodiment of the present invention. FIG. 13 is a diagram of the non-contact power feeding system 1 according to the third embodiment of the present invention viewed from the front direction of the underwater moving body 10.
As shown in FIG. 12, the third embodiment differs from the above embodiment in that the configuration of the platform 20 and the scraper member 40 are provided.

  In the platform 20 of the third embodiment, the power transmission coil 21 has sufficient water resistance and pressure resistance, and is a non-magnetic and non-conductive material (plastic, fiber reinforced) that allows passage of an electromagnetic field used for non-contact power feeding. It is provided behind the cover member 6 made of plastic or the like. The cover member 6 is provided so as to protrude from the wall portion 31 of the recess 30 provided in the platform 20. In the cover member 6, a facing surface 6 a that covers the front direction of the power transmission coil 21 (downward in FIG. 12) is formed as a flat surface. Further, the cover member 4 provided in the underwater moving body 10 has a flat facing surface 4a that covers the front direction of the power receiving coil 11 (upward in the drawing in FIG. 12). The power receiving coil 11 and the power transmitting coil 21 are not surrounded by the cover member 4 and the cover member 6, but are enclosed in a non-magnetic and non-conductive resin material that does not interfere with the electromagnetic field of the non-contact power feeding, thereby improving the pressure resistance and water resistance. The structure which forms the external shape of the resin mold to have may be sufficient.

  The scraper member 40 is a foreign object existing between the power receiving coil 11 and the power transmitting coil 21 (between the coil pair 5), particularly a foreign object attached to the cover members 4 and 6, as the underwater moving body 10 and the platform 20 move relative to each other. Can be removed. Underwater, organisms, sludge, etc. may adhere to the cover members 4, 6 as foreign matter, and metal may be included as foreign matter in the dust, etc., which has been discarded into the water. It may be attached. The scraper member 40 is provided to remove such foreign matter. The non-contact power feeding system 1 according to the third embodiment includes a scraper member 40 </ b> A provided on the underwater moving body 10 and a scraper member 40 </ b> B provided on the platform 20.

  The scraper member 40 </ b> A is provided so as to protrude from the facing surface 4 a of the cover member 4. The scraper member 40 </ b> A is provided in front of the power receiving coil 11 in the approach direction of the underwater moving body 10 with respect to the recess 30. On the other hand, the scraper member 40B is provided so as to protrude from the facing surface 6a of the cover member 6 at a height equivalent to that of the scraper member 40A. The scraper member 40 </ b> B is provided behind the power transmission coil 21 in the approaching direction of the underwater moving body 10 with respect to the recess 30.

  Such a scraper member 40 is formed in a rod shape having a triangular shape in a sectional view. The scraper member 40 is made of a material (plastic, fiber reinforced plastic, rubber, etc.) that is non-magnetic and non-conductive, and that does not damage even if its tip is rubbed against the other party (cover members 4 and 6). It is preferable to configure. The scraper member 40 may be made of a metal material as long as the scraper member 40 is disposed at a position that does not interfere with the electromagnetic field of non-contact power feeding.

  Next, the operation before power feeding of the non-contact power feeding system 1 configured as described above will be described.

  Underwater, organisms (shellfish, etc.) or sludge adhere to the opposing surface 4a of the cover member 4 or the opposing surface 6a of the cover member 6, and metal (empty can) Etc.) or metal may adhere to the facing surface 4a of the cover member 4 or the facing surface 6a of the cover member 6 due to sludge. When foreign matter is attached to the facing surface 4a of the cover member 4 or the facing surface 6a of the cover member 6, the power receiving coil 11 and the power transmitting coil 21 are moved away from each other by the amount of foreign matter, so that power feeding efficiency is reduced or power feeding is impossible. There is a possibility. Moreover, when the metal foreign material floats or adheres to the opposing surface 4a of the cover member 4 or the opposing surface 6a of the cover member 6, the electromagnetic field of non-contact electric power feeding will be prevented.

  For this reason, the non-contact electric power feeding system 1 of 3rd Embodiment has the scraper member 40 which can remove the foreign material which exists between the receiving coil 11 and the power transmission coil 21 with the relative movement of the underwater mobile body 10 and the platform 20. . According to this configuration, the underwater moving body 10 is moved up and down or left and right to press the scraper member 40A against the facing surface 6a of the cover member 6, and the scraper member 40B is pressed against the facing surface 4a of the cover member 4. By moving the underwater moving body 10 forward while maintaining the pressed state, foreign matter existing between the power receiving coil 11 and the power transmitting coil 21 can be removed. In this case, the trajectory of movement (navigation) of the underwater vehicle 10 is as shown by the arrow in FIG.

  Specifically, the underwater vehicle 10 moves to the initial position for power feeding in the recess 30 (around the scraper member 40A passes through the scraper member 40B) by external guidance or autonomous movement by the communication devices 14 and 25. To do. Next, the underwater moving body 10 sets the buoyancy so as to float (for example, discard the ballast of the underwater moving body 10 or remove the ballast water in the underwater moving body 10 with compressed air. The buoyancy is set so as to float up), or the vertical thruster is driven. When the underwater vehicle 10 is raised, the scraper member 40A is pressed against the facing surface 6a of the cover member 6, and the scraper member 40B is pressed against the facing surface 4a of the cover member 4.

  Next, the underwater vehicle 10 moves forward to a position where the power receiving coil 11 and the power transmitting coil 21 face each other (a position where non-contact power feeding is possible). At this time, the scraper member 40 </ b> A removes foreign matter on the facing surface 6 a of the cover member 6, and the scraper member 40 </ b> B removes foreign matter on the facing surface 4 a of the cover member 4. Thereafter, non-contact power feeding is performed, and when the non-contact power feeding is completed, the underwater moving body 10 sets buoyancy so as to descend (takes ballast water or the like) or descends by driving a vertical thruster. When the underwater moving body 10 is lowered to a position where the scraper member 40A and the scraper member 40B do not contact each other, the underwater moving body 10 leaves the platform 20.

  As described above, according to the third embodiment, since the foreign matter existing between the power receiving coil 11 and the power transmitting coil 21 can be removed, the power feeding efficiency of the non-contact power feeding is reduced or the power feeding becomes impossible. Can be prevented. In addition, according to the third embodiment, foreign substances can be excluded using the movement function inherent to the underwater mobile body 10, so that there is no need to provide a movable foreign object exclusion mechanism that is difficult to maintain in water. Foreign matter removal that is easy to maintain can be realized.

  In addition, 3rd Embodiment is not limited to the said structure, For example, the modification shown to (1)-(3) below is employable.

(1) FIG. 14 is a view of the non-contact power feeding system 1 according to a modification of the third embodiment of the present invention as viewed from the front direction of the underwater vehicle 10. FIG. 15 is a plan view of the underwater vehicle 10 according to a modification of the third embodiment of the present invention.
In this modification, as shown in FIG. 14, the scraper member 40 </ b> C provided in the underwater moving body 10 is curved in a convex shape when viewed from the front. Further, the facing surface 4a of the cover member 4 provided with the scraper member 40C and the power receiving coil 11 are also curved in a convex shape in front view. On the other hand, the scraper member 40D provided on the platform 20 is curved in a concave shape in front view corresponding to the scraper member 40C. Further, the facing surface 6a of the cover member 6 provided with the scraper member 40D and the power transmission coil 21 are also curved in a concave shape in a front view. In the case of this modification, the opening of the recess 30 may be circular or oval rather than rectangular (see FIG. 7 described above).
Moreover, in this modification, as shown in FIG. 15, the scraper member 40C provided in the underwater moving body 10 is curved in a convex shape forward in plan view. On the other hand, the scraper member 40D provided on the platform 20 is also curved in a convex shape in a front view corresponding to the scraper member 40C.
According to this modified example, when the underwater mobile body 10 moves, the curved shape of the scraper member 40C can reduce the resistance received in water as compared with the underwater mobile body 10 including the above-described scraper member 40A.

(2) FIG. 16 is a view of the non-contact power feeding system 1 according to a modification of the third embodiment of the present invention as viewed from the front direction of the underwater vehicle 10.
In this modification, as shown in FIG. 16, the scraper member 40E provided in the underwater moving body 10 is formed in a fin shape or a brush shape provided with an interval in the width direction when viewed from the front. On the other hand, the scraper member 40F provided on the platform 20 is formed in a fin shape or a brush shape provided with a gap in the width direction in a plan view in an alternate positional relationship with the scraper member 40E.
According to this modified example, when the underwater moving body 10 moves, water passes through the gap of the scraper member 40E, so that the resistance received in water is less than that of the underwater moving body 10 including the above-described scraper member 40A. be able to.

(3) FIG. 17 is a view of the non-contact power feeding system 1 according to a modification of the third embodiment of the present invention as viewed from the front direction of the underwater vehicle 10.
In this modified example, as shown in FIG. 17, a plurality of hole portions 41 are formed in the scraper member 40 </ b> G provided in the underwater moving body 10 at intervals in the width direction. The platform 20 is provided with the above-described scraper member 40B.
According to this modification, when the underwater moving body 10 moves, the water passes through the hole 41 formed in the scraper member 40G, so that the underwater moving body 10 including the above-described scraper member 40A is underwater. The resistance received can be reduced.

  As mentioned above, although preferred embodiment of this invention was described referring drawings, this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

  For example, in the first embodiment, a configuration in which the recess 30 is provided in the platform 20 and power is supplied from the platform 20 to the underwater moving body 10 will be described. In the second embodiment, the recess 30 is provided in the platform 20. In the above description, at least a part of the underwater moving body 10 is accommodated in the recess 30 with a gap and the power is supplied from the underwater moving body 10 to the platform 20. However, the underwater moving body 10 is provided with the recess 30. 10 is configured to supply power from the platform 20 to the platform 20, and the recessed portion 30 is provided in the underwater moving body 10, and at least a part of the platform 20 is accommodated in the recessed portion 30 with a gap therebetween. There may be.

  Further, for example, in the above-described embodiment, power is supplied from each of the wall portions facing each other on the top and bottom of the recess 30 (for example, see FIG. 1) or the wall portions facing each other on the left and right (for example, see FIG. 5). It doesn't matter. For example, power may be supplied from each of the wall portions facing the oblique direction of the concave portion 30, or power may be supplied from each of the wall portions 31 and 32 in four directions.

  For example, in the above-described embodiment, the configuration in which the scraper member 40 is provided on the underwater moving body 10 and the platform 20 has been described. However, for example, the scraper member 40 may be provided only in the underwater moving body 10. Further, the scraper member 40 may be provided only on the platform 20.

  In addition, the present invention is applicable even if the underwater vehicle 10 is a manned underwater vehicle, and even if at least one of the power receiving device and the power transmission device is a vehicle, a ship, a submarine, an aircraft, etc. The present invention can also be applied to any mobile body.

  For example, the present invention is particularly effective when combined with a magnetic resonance type non-contact power supply that can tolerate a large misalignment, but may be combined with other types of non-contact power supply such as an electromagnetic induction type.

  Further, for example, substitution and combination of the configurations of the above-described embodiments are possible as appropriate.

  DESCRIPTION OF SYMBOLS 1 ... Non-contact electric power feeding system, 5 ... Coil pair, 5A ... 1st coil pair, 5B ... 2nd coil pair, 10 ... Underwater moving body (power receiving apparatus, power transmission apparatus, main-body part), 11 ... Power receiving coil (1st 1 ... Coil, 2nd coil), 13 ... Load, 20 ... Platform (power transmission device, power reception device), 21 ... Power transmission coil (first coil, second coil), 26 ... Control device, 30 (30A, 30B, 30C, 30D) ... recess, 31 (31A, 31B) ... wall, 40 (40A, 40B, 40C, 40D, 40E, 40F, 40G) ... scraper member

Claims (12)

In between the power receiving device having relatively movable relationship, have rows contactless power supply using a counter capable provided coil pairs, a power transmitting device supplying power to a load the power receiving device has ,
A recess capable of accommodating at least a part of the power receiving device with a gap;
A first coil forming the coil pair that can be opposed on one side of the facing wall of the recess;
A second coil forming the coil pair that can be opposed on the other side of the opposing wall of the recess;
A control device for controlling the power supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the concave portion; Have
When the power supplied to the load is within a setting range, the control device increases the power supplied to the coil forming the coil pair having higher power supply efficiency, and the power supply efficiency is lower. A power transmission device characterized in that power supplied to coils forming a coil pair is reduced . In between the power receiving device having relatively movable relationship, have rows contactless power supply using a counter capable provided coil pairs, a power transmitting device supplying power to a load the power receiving device has ,
The power receiving device is provided with a recess,
A main body that can be accommodated with a gap at least partially in the recess;
A first coil that is provided in the main body and forms the coil pair that can face each other on one side of the facing wall of the recess;
A second coil that is provided in the main body and forms the coil pair that can be opposed to the other side of the facing wall of the recess;
A control device for controlling the power supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the concave portion; Have
When the power supplied to the load is within a setting range, the control device increases the power supplied to the coil forming the coil pair having higher power supply efficiency, and the power supply efficiency is lower. A power transmission device comprising: reducing power supplied to coils forming a coil pair . Claim wherein the controller, wherein when the power supplied to the load is greater than the set range, the power supply efficiency is to reduce the power supplied to the coil to form a lower said coil pair, characterized in that The power transmission apparatus according to 1 or 2 . A power transmission device that performs non-contact power feeding using a pair of coils provided to be able to face each other and a power receiving device having a relatively movable relationship, and supplies power to a load of the power receiving device,
A recess capable of accommodating at least a part of the power receiving device with a gap;
A first coil forming the coil pair that can be opposed on one side of the facing wall of the recess;
A second coil forming the coil pair that can be opposed on the other side of the opposing wall of the recess;
A control device for controlling the power supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the concave portion; Have
When the electric power supplied to the load is larger than a set range, the control device reduces the electric power supplied to the coils forming the coil pair with lower power supply efficiency. A power transmission device that performs non-contact power feeding using a pair of coils provided to be able to face each other and a power receiving device having a relatively movable relationship, and supplies power to a load of the power receiving device,
The power receiving device is provided with a recess,
A main body that can be accommodated with a gap at least partially in the recess;
A first coil that is provided in the main body and forms the coil pair that can face each other on one side of the facing wall of the recess;
A second coil that is provided in the main body and forms the coil pair that can be opposed to the other side of the facing wall of the recess;
A control device for controlling the power supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the concave portion; Have
When the electric power supplied to the load is larger than a set range, the control device reduces the electric power supplied to the coils forming the coil pair with lower power supply efficiency. Claim wherein the controller, when the power supplied to the load is less than the set range, the power is increased to be supplied to the coils forming the coil pairs towards the feeding efficiency is high, and wherein the The power transmission device according to any one of 1 to 5 . A power transmission device that performs non-contact power feeding using a pair of coils provided to be able to face each other and a power receiving device having a relatively movable relationship, and supplies power to a load of the power receiving device,
A recess capable of accommodating at least a part of the power receiving device with a gap;
A first coil forming the coil pair that can be opposed on one side of the facing wall of the recess;
A second coil forming the coil pair that can be opposed on the other side of the opposing wall of the recess;
A control device for controlling the power supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the concave portion; Have
When the electric power supplied to the load is smaller than a set range, the control device increases the electric power supplied to the coil forming the coil pair having higher power supply efficiency. A power transmission device that performs non-contact power feeding using a pair of coils provided to be able to face each other and a power receiving device having a relatively movable relationship, and supplies power to a load of the power receiving device,
The power receiving device is provided with a recess,
A main body that can be accommodated with a gap at least partially in the recess;
A first coil that is provided in the main body and forms the coil pair that can face each other on one side of the facing wall of the recess;
A second coil that is provided in the main body and forms the coil pair that can be opposed to the other side of the facing wall of the recess;
A control device for controlling the power supplied to each of the first coil and the second coil based on the feeding efficiency of the coil pair on one side and the other side of the wall portion facing the concave portion; Have
When the electric power supplied to the load is smaller than a set range, the control device increases the electric power supplied to the coil forming the coil pair having higher power supply efficiency. The power transmission device according to any one of claims 1 to 8 , further comprising a scraper member that can remove foreign matter existing between the pair of coils along with a relative movement with the power reception device. The power transmission apparatus according to claim 1 , wherein the non-contact power feeding is performed in water. A non-contact power feeding system that performs non-contact power feeding using a coil pair provided so as to face each other between a power receiving device and a power transmitting device in which at least one of them can move,
While having the power transmission device according to claim 1, 4 , 7 as the power transmission device,
The power receiving device is:
A main body that can be accommodated with a gap at least partially in the recess provided in the power transmission device;
A first coil that is provided in the main body and forms the coil pair that can face each other on one side of the facing wall of the recess;
A non-contact power feeding system comprising: a second coil that is provided in the main body and forms the coil pair that can face each other on the other side of the facing wall of the recess . A non-contact power feeding system that performs non-contact power feeding using a coil pair provided so as to face each other between a power receiving device and a power transmitting device in which at least one of them can move,
While having the power transmission device according to claim 2 , 5 , 8 as the power transmission device,
The power receiving device is:
A recess capable of accommodating at least a part of the main body of the power transmission device with a gap;
A first coil forming the coil pair that can be opposed on one side of the facing wall of the recess;
And a second coil that forms the pair of coils that can face each other on the other side of the opposing wall of the recess .

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