JP7622597B2 - Collision Avoidance Device - Google Patents

Description

The present invention relates to a collision avoidance device.

Patent Document 1 discloses a contactless power supply system equipped with a power supply device that supplies power contactlessly to a power receiving device mounted on an electric vehicle. This power supply device is configured to include a power supply mat with a power transmission coil. This power supply mat is formed in a portable rectangular sheet shape and can be placed on the road surface on which the electric vehicle runs. Then, when the electric vehicle passes over the power supply mat, power is supplied contactlessly from the power transmission coil on the road surface side to the power receiving coil on the vehicle side.

JP 2014-236540 A

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

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

The collision avoidance device of the present invention is targeted at a contactless power supply system including a power supply device that supplies power contactlessly to a mobile body capable of electrically driven running, and includes a control unit that executes collision avoidance control to prevent a mobile body passing over the power supply device to supply power from colliding with another mobile body, and the control unit determines whether or not there is a high possibility of the mobile bodies colliding with each other on the power supply device based on a detection result of object detection of the mobile body approaching the power supply device, and if there is a high possibility of the mobile bodies colliding with each other, outputs a signal to at least one of the relevant mobile bodies to instruct the mobile body to take a collision avoidance action to avoid a collision.

The present invention is directed to a contactless power supply system, and is capable of preventing multiple moving objects from colliding with each other above a power supply device when the moving objects move to supply power.

FIG. 1 is a diagram illustrating a collision avoidance device according to an embodiment. FIG. 2 is a schematic diagram for explaining a state in which a small moving object is detected. FIG. 3 is a functional block diagram for explaining the configuration of the collision avoidance device. FIG. 4 is a flow chart showing the control in the power supply device. FIG. 5 is a flow chart for explaining the control in the small moving body when a collision avoidance command is received.

The collision avoidance device according to an embodiment of the present invention will be described in detail below with reference to the drawings. Note that the present invention is not limited to the embodiment described below.

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

In a contactless power supply system, a power supply device 3 is placed on the road surface on which a small mobile object 2 travels, and when the small mobile object 2 passes over the power supply device 3, power is supplied from the power supply device 3 to the small mobile object 2 in a contactless manner. In other words, the collision avoidance device 1 is intended for a contactless power supply system, and is configured to prevent small mobile objects 2 from colliding with each other on the power supply device 3 when multiple small mobile objects 2 move for power supply. At that time, a camera 4 captures an image of the small mobile object 2 approaching the power supply device 3. Image data captured by the camera 4 is input to the power supply device 3. In addition, in this embodiment, a configuration in which the collision avoidance device 1 is provided on the power supply device 3 will be described.

For example, as shown in FIG. 2, the camera 4 captures images of multiple small moving bodies 2 approaching the power supply device 3. Based on the captured images, the collision avoidance device 1 can detect small moving bodies 2 approaching the power supply device 3 for power supply, and control the behavior of the small moving bodies 2 so that they do not collide with each other on the power supply device 3. In this case, the collision avoidance device 1 can instruct the small moving bodies 2 to take evasive action in order to prevent the small moving bodies 2 from colliding with each other on the power supply device 3.

Figure 3 is a functional block diagram for explaining the configuration of the collision avoidance device. Note that the collision avoidance device 1 is configured as being included in the power supply device 3.

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

The communication unit 11 performs wireless communication with the small mobile body 2. The communication unit 11 receives signals transmitted from the small mobile body 2 and transmits signals from the power supply device 3 to the small mobile body 2.

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

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

The control unit 12 also executes collision avoidance control to prevent small moving bodies 2 from colliding with each other on the power supply device 3. In other words, the control unit 12 has a collision avoidance control unit that executes collision avoidance control. As shown in FIG. 3, the control unit 12 includes an object detection unit 12a, a collision determination unit 12b, a target identification unit 12c, and a collision avoidance instruction creation unit 12d.

The object detection unit 12a detects small moving objects 2 approaching the power supply device 3. The object detection unit 12a analyzes the image based on image data input from the camera 4 and detects the small moving object 2. This object detection unit 12a uses AI (artificial intelligence) to analyze and recognize the image, and identifies where in the image the small moving object 2 is located. This AI is an image recognition AI that machine-learns the image of the small moving object 2. The image recognition AI is stored in the memory unit of the power supply device 3.

The object detection unit 12a also uses the image captured by the camera 4 to calculate the probability that the object contained in the image is a small moving object 2, as shown in FIG. 2. If the image analysis result indicates that the probability that the object is a small moving object 2 exceeds a threshold, the object detection unit 12a can determine that it has detected the small moving object 2 approaching the power supply device 3. In this way, the object detection unit 12a can detect the small moving object 2. The threshold is a predetermined value that can be set to, for example, about 65%.

Furthermore, the object detection unit 12a can detect the identification information of the small moving object 2 by image recognition. For example, the outer surface of the small moving object 2 is provided with information that can identify the small moving object 2 (as an example, an identification number). Therefore, the object detection unit 12a can detect the identification number of the small moving object 2 from the image by image analysis.

The collision determination unit 12b determines whether or not small moving objects 2 collide with each other on the power supply device 3. In other words, the control unit 12 can recognize that a small moving object 2 is approaching the power supply device 3 for power supply based on the detection result of object detection by the object detection unit 12a. Furthermore, the control unit 12 can calculate the direction in which the small moving object 2 is located and the distance between the small moving object 2 and the power supply device 3 based on information about the small moving object 2 that has been detected as an object. The information about the small moving object 2 that has been detected as an object includes identification information of the small moving object 2, the direction in which the small moving object 2 is located, the distance from the small moving object 2 to the power supply device 3, and the like. This information is acquired by the object detection unit 12a.

The collision determination unit 12b also has a calculation unit that calculates the possibility of the small moving bodies 2 colliding with each other on the power supply device 3. The calculation unit calculates the possibility of collision as a probability using information acquired by the object detection unit 12a. Then, when the calculated collision probability, i.e., a value indicating the possibility of collision, is higher than a threshold value, the collision determination unit 12b can determine that there is a high possibility that the small moving bodies 2 will collide with each other on the power supply device 3. This threshold value is a preset value. For example, the collision determination unit 12b compares information indicating the direction and distance in which one small moving body 2 is located with information indicating the direction and distance in which the other small moving body 2 is located for two small moving bodies 2, and when it determines that each of them will pass over the power supply device 3 at the same time, it determines that the two small moving bodies 2 are likely to collide with each other on the power supply device 3.

The target identification unit 12c identifies the small moving body 2 that is to take evasive action to avoid a collision. This target identification unit 12c identifies the target to which a collision avoidance instruction is to be sent.

The collision avoidance instruction creation unit 12d creates a collision avoidance instruction. The collision avoidance instruction is a signal that is transmitted to a small moving body 2 that is to take a collision avoidance action, and is a signal that instructs the small moving body 2 that receives this signal to take a collision avoidance action. This collision avoidance instruction creation unit 12d creates a collision avoidance instruction that is targeted for transmission to the small moving body 2 identified by the target identification unit 12c.

Then, the power supply device 3 transmits the collision avoidance instruction created by the collision avoidance instruction creation unit 12d to the small moving body 2 identified by the target identification unit 12c. The storage unit of the power supply device 3 stores identification information of the small moving body 2 and information that allows the small moving body 2 to be specified as a destination in association with each other. Therefore, the power supply device 3 can identify the destination information of the small moving body 2 specified as the instruction target by the target identification unit 12c by using the identification information included in the detection result of object detection by the object detection unit 12a and the information stored in the storage unit.

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

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

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

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

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

The drive control unit 22a controls the drive unit 24 to take avoidance action in response to a collision avoidance instruction received by the communication unit 21. Avoidance actions include stopping travel, changing the travel speed, and detouring the power supply device 3. In the small mobile body 2, the type of avoidance action to be taken is preset, and the small mobile body 2 can be configured to automatically take the set avoidance action in response to receiving a collision avoidance instruction. For example, if stopping travel is set as the avoidance action, when the control unit 22 detects a collision avoidance instruction, it controls the drive unit 24 to brake the small mobile body 2 and stop traveling.

The camera 4 is installed in a position where it can capture the environment around the power supply device 3, and captures the small moving object 2 approaching the power supply device 3 to supply power. For example, it is configured so that the imaging range includes 360 degrees around the location where the power supply device 3 is installed. Then, image data captured by the camera 4 is input to the power supply device 3. Furthermore, if the direction of the small moving object 2 entering the power supply device 3 is specified, the camera 4 may be installed so as to face the direction of the small moving object 2 entering the power supply device 3.

Figure 4 is a flow chart showing the control in the power supply device. Note that the control shown in Figure 4 is repeatedly performed by the control unit 12 of the power supply device 3.

The control unit 12 of the power supply device 3 determines whether or not the small moving object 2 has been detected as an object (step S1). In step S1, it is determined whether or not the small moving object 2 has been detected as an object based on an image captured of the small moving object 2 approaching the power supply device 3. The processing of step S1 is performed by the object detection unit 12a.

If the small moving object 2 is not detected (step S1: No), this control routine ends.

When a small moving object 2 is detected (step S1: Yes), the control unit 12 of the power supply device 3 calculates the possibility that the small moving object 2 will collide with another small moving object 2 on the power supply device 3 based on the detection result of the small moving object 2 (step S2). In step S2, the probability that small moving objects 2 that have moved to supply power will collide with each other on the power supply device 3 is calculated. The calculation process in step S2 is performed by the collision determination unit 12b.

The control unit 12 of the power supply device 3 also determines whether or not the small moving objects 2 will collide with each other on the power supply device 3 (step S3). In step S3, based on the calculated collision probability, it is determined whether or not the small moving object 2 will collide with another small moving object 2 if it continues to pass over the power supply device 3. The determination process in step S3 is performed by the collision determination unit 12b.

If it is determined that the small moving objects 2 will not collide with each other on the power supply device 3 (step S3: No), this control routine ends.

On the other hand, if it is determined that the small moving bodies 2 will collide with each other on the power supply device 3 (step S3: Yes), the control unit 12 of the power supply device 3 identifies the small moving body 2 that is the target of the collision avoidance instruction (step S4). In step S4, at least one of the two small moving bodies 2 that are determined to have a high probability of colliding is identified as the target of the collision avoidance instruction. In other words, it is also possible to identify both of the two small moving bodies 2 as the target of the instruction. Furthermore, the processing of step S4 is performed by the target identification unit 12c.

For example, if the small mobile body 2 is a mobile body that transports luggage, information indicating the amount of luggage loaded on the small mobile body 2 can be used to determine the instruction target in step S4. The information acquired by the object detection unit 12a includes information on the luggage carried by the small mobile body 2. That is, the information on the small mobile body 2 that has been object-detected includes information on the luggage carried by the small mobile body 2. Therefore, the object detection unit 12a can identify the amount and number of luggage by image analysis. In this case, the small mobile body 2 with a relatively small amount of luggage among the two vehicles consumes less power during driving than the small mobile body 2 with a relatively large amount of luggage, so this small mobile body 2 can be specified as the avoidance instruction target. That is, in order to prevent a power shortage, the small mobile body 2 that is relatively in need of power supply is given priority as the power supply target to continue moving, and the instruction target is determined so that the other small mobile body 2 takes a collision avoidance action. It is possible to supply power preferentially to the small mobile body 2 that is more likely to consume power based on the number of luggage and the total weight of the luggage, not limited to the amount of luggage.

Then, the power supply device 3 transmits a collision avoidance instruction to the small mobile body 2 identified as the instruction target (step S5). In step S5, the collision avoidance instruction signal created by the collision avoidance instruction creation unit 12d is transmitted to the small mobile body 2 identified by the target identification unit 12c. For example, if one of the two small mobile bodies 2 is identified as the instruction target, a collision avoidance instruction signal is transmitted from the power supply device 3 to one of the small mobile bodies 2. After the processing of step S5 is performed, this control routine ends.

Figure 5 is a flow chart for explaining the control of the small mobile body when a collision avoidance command is received. The control shown in Figure 5 is repeatedly performed by the control unit 22 of the small mobile body 2.

The control unit 22 of the small mobile object 2 determines whether or not a collision avoidance instruction has been received (step S11). In step S11, it is determined whether or not the communication unit 21 has received a collision avoidance instruction.

If a collision avoidance command has not been received (step S11: No), this control routine ends.

If a collision avoidance instruction is received (step S11: Yes), the control unit 22 of the small mobile object 2 executes an avoidance action (step S12). In step S12, the drive control unit 22a controls the drive unit 24, and an avoidance action is taken to avoid a collision. After the processing of step S12 is performed, this control routine ends.

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

In the above example, a configuration in which the avoidance action is preset has been described, but the present invention is not limited to this. For example, the collision avoidance instruction signal may contain information specifying the avoidance action. In other words, the power supply device 3 creates a collision avoidance instruction that contains information indicating stopping travel as the avoidance action, and transmits this collision avoidance instruction to the target small mobile body 2. Then, the small mobile body 2 that receives the collision avoidance instruction is configured to take the avoidance action according to the information on the avoidance action contained in the collision avoidance instruction.

Although a small mobile object 2 has been described above, the mobile object to be powered is not limited to this. In other words, the present invention can be applied to a contactless power supply system that supplies power to electric vehicles, non-small mobile objects, mobile objects capable of autonomous driving, and the like.

Although the configuration in which the collision avoidance device 1 is provided in the power supply device 3 has been described, the present invention is not limited to this. For example, the collision avoidance device 1 may be provided in a server. This server is connected to the small mobile body 2 and the power supply device 3 via a network so that information can be transmitted and received. In this case, the control shown in FIG. 4 is performed by the server.

Although the configuration in which the camera 4 is provided separately from the power supply device 3 has been described, this is not limiting. For example, the power supply device 3 may be configured to include the camera 4.

In addition, an example has been described in which the power supply device 3 includes the power supply unit 13 and the power supply unit 13 is configured as a power supply mat, but this is not limiting. For example, the power supply unit 13 may include a power transmission coil, and the power supply device 3 may be a power supply mat. In other words, the power supply device 3 configured as a sheet-like power supply mat is portable.

The method of detecting the identification information of the small mobile body 2 is not limited to detection by image analysis. For example, the power supply device 3 can detect the identification information of the small mobile body 2 through wireless communication between the small mobile body 2 and the power supply device 3. In this case, the small mobile body 2 transmits a signal such as an approach signal, and the power supply device 3 receives the approach signal. Since the approach signal contains the identification information of the small mobile body 2, the power supply device 3 can obtain the identification information of the approaching small mobile body 2.

Furthermore, the method of acquiring information about the luggage carried by the small mobile body 2 is not limited to detection by image analysis. For example, the power supply device 3 can detect the identification information of the small mobile body 2 through wireless communication between the small mobile body 2 and the power supply device 3. In this case, the small mobile body 2 creates a proximity signal that includes information about the luggage currently loaded on the small mobile body 2 (information indicating the number, weight, volume, etc.). As the proximity signal includes information about the luggage carried by the small mobile body 2, the power supply device 3 can acquire information about the luggage carried by the small mobile body 2.

In addition, in step S4 shown in FIG. 4, when determining the target of the instruction, it is possible to use information indicating the state of charge, i.e., SOC, of the battery of the small mobile body 2. Of the two, the small mobile body 2 with the relatively higher SOC is less likely to run out of power even if power is not supplied this time, so this small mobile body 2 is identified as the target of the avoidance instruction. In this case, the approach signal contains information indicating the SOC of the small mobile body 2. In other words, the small mobile body 2 creates an approach signal that contains information indicating the SOC of the battery. Since this approach signal contains information indicating the SOC of the small mobile body 2, the power supply device 3 can obtain information regarding the current SOC of the small mobile body 2.

REFERENCE SIGNS LIST 1 Collision avoidance device 2 Small mobile object 3 Power supply device 4 Camera 11 Communication unit 12 Control unit 12a Object detection unit 12b Collision determination unit 12c Target identification unit 12d Collision avoidance instruction creation unit 13 Power supply unit 21 Communication unit 22 Control unit 22a Drive control unit 23 Power receiving unit 24 Drive unit

Claims (1)

The present invention relates to a wireless power supply system including a power supply device that wirelessly supplies power to a moving body capable of electrically traveling, the system including: a control unit that executes collision avoidance control to prevent a moving body that passes over the power supply device to supply power from colliding with another moving body on the power supply device ;
the moving body is a small moving body that transports luggage,
the power supply device is installed on a road surface on which the moving object travels and is configured as a sheet-like power supply mat,
The control unit is
detecting the moving object approaching the power supply device based on an image captured by a camera that captures an image of the moving object approaching the power supply device, and identifying the amount of luggage carried by the moving object through image analysis;
determining whether or not there is a high possibility that the moving objects will collide with each other on the power supply device based on a detection result of the moving object detection of the moving object approaching the power supply device;
When there is a high possibility that the moving objects will collide with each other on the power supply device , a signal is output to at least one of the moving objects to instruct the moving objects to take a collision avoidance action to avoid the collision ;
When specifying an instruction target for the collision avoidance behavior, a moving body having a relatively small amount of cargo loaded on the moving body is specified as the instruction target among the moving bodies which are likely to collide with each other on the power supply device.
A collision avoidance device comprising:

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