JP7624425B2 - Apparatus, program, system, and method - Google Patents

Description

The present invention relates to an apparatus, a program, a system, and a method.

Patent Document 1 describes a power transmitting device that wirelessly transmits power to an electronic device.
[Prior Art Literature]
[Patent Documents]
[Patent Document 1] JP 2019-129678 A

According to one embodiment of the present invention, a device for wirelessly supplying power to a power supply target may be provided. The device may include a first output unit that outputs a first laser light for position identification in the vicinity of the device including the target position of the power supply target equipped with a retroreflector. The device may include a detection unit that detects reflected light of the first laser light. The device may include a target position identification unit that identifies the target position based on a detection result of the reflected light of the first laser light by the detection unit. The device may include a second output unit that outputs a second laser light for wireless power supply toward the target position identified by the target position identification unit.

The target position identification unit may identify the target position based on the distance from the device to the reflection position of the first laser light and the output direction of the first laser light when the detection unit detects the reflected light of the first laser light having a light intensity higher than a predetermined light intensity threshold.

Any of the devices may further include a candidate position identification unit that identifies a candidate position of the power supply target based on the detection result of the reflected light of the first laser light by the detection unit, and a power reception response acquisition unit that acquires a power reception response from the power supply target. The second output unit may output the second laser light toward the candidate position identified by the candidate position identification unit. The target position identification unit may identify the candidate position as the target position when the power reception response acquisition unit acquires the power reception response within a predetermined period from the output time when the second output unit outputs the second laser light toward the candidate position.

In any of the above devices, the second output unit may set the output power when outputting the second laser light toward the candidate position to be lower than the output power when outputting the second laser light toward the target position.

In any of the above devices, the first output unit may output the first laser light included in a predetermined wavelength range when the first laser light is incident on the retroreflector that reflects light in the predetermined wavelength range, so that the retroreflector reflects the first laser light.

Any of the devices may further include a candidate position identification unit that identifies a candidate position of the power supply target based on the detection result of the reflected light of the first laser light by the detection unit. The second output unit may output the second laser light having a wavelength not included in the wavelength range toward the candidate position identified by the candidate position identification unit. The detection unit may further detect the reflected light of the second laser light. The target position identification unit may identify the target position from the candidate positions based further on the detection result of the reflected light of the second laser light by the detection unit.

In any of the above devices, the first output unit may output the first laser light in all directions of the device, including the target position.

In any of the above devices, the second output unit may output the second laser light so that the output power of the second laser light is higher than the output power of the first laser light.

Any of the devices may further include an information storage unit that stores object position information indicating an object position of an object equipped with a retroreflector, and a device position identification unit that identifies the device position of the device. The first output unit may output the first laser light to the periphery of the device including the object position. The device position identification unit may identify the device position based on the object position information of the object stored in the information storage unit and the detection result of the reflected light of the first laser light by the detection unit.

In any of the devices, the information storage unit may further store target position information indicating target positions of other power supply targets. The second output unit may output the second laser light toward the target positions of the other power supply targets based on the target position information of the other power supply targets stored in the information storage unit and the device position identified by the device position identification unit.

According to one embodiment of the present invention, a device may be provided. The device may include an information storage unit that stores object position information indicating an object position of an object equipped with a retroreflector. The device may include an output unit that outputs laser light to the periphery of the device including the object position. The device may include a detection unit that detects reflected light of the laser light. The device may include a device position identification unit that identifies a device position of the device based on the object position information of the object stored in the information storage unit and the detection result of the reflected light of the laser light by the detection unit.

According to one embodiment of the present invention, a program may be provided for causing a computer to function as the device.

According to one embodiment of the present invention, a system may be provided. The system may include the device. The system may include the power supply target.

According to one embodiment of the present invention, a method for wirelessly supplying power to a power supply target may be provided, which is executed by a device equipped with a computer. The method may include a first output step of outputting a first laser light for position identification in the vicinity of the device equipped with a retroreflector, including the target position of the power supply target. The method may include a detection step of detecting reflected light of the first laser light. The method may include a target position identification step of identifying the target position based on a detection result of the reflected light of the first laser light in the detection step. The method may include a second output step of outputting a second laser light for wireless power supply toward the target position identified in the target position identification step.

According to one embodiment of the present invention, a method executed by a device equipped with a computer may be provided. The method may include an output step of outputting laser light to the periphery of the device including an object position of an object equipped with a retroreflector. The method may include a detection step of detecting reflected light of the laser light. The method may include a device position identification step of identifying a device position of the device based on object position information indicating the object position of the object stored in the device and a detection result of the reflected light of the laser light in the detection step.

The above summary of the invention does not list all of the necessary features of the present invention. Also, subcombinations of these features may also be inventions.

1 illustrates a schematic diagram of an example of a system 10. 1 is an explanatory diagram for explaining an example in which the device 100 wirelessly supplies power to the power supply target 200. FIG. An example of a power supply target 200 is shown in schematic form. 2 shows another example of the power supply target 200. 2 shows another example of the power supply target 200. 2 shows another example of the power supply target 200. Another example of the system 10 is shown diagrammatically. 11 is an explanatory diagram for explaining another example in which the device 100 wirelessly supplies power to the power supply target 200. FIG. 2 illustrates an example of a functional configuration of the device 100. 2 illustrates an example of a functional configuration of a power supply target 200. FIG. 2 is an explanatory diagram for explaining an example of a processing flow of the device 100. FIG. 11 is an explanatory diagram for explaining another example of the processing flow of the apparatus 100. An example of the hardware configuration of a computer 1200 that functions as the device 100 is shown in schematic form.

Optical wireless power supply, which wirelessly supplies power to a power supply target using laser light, is different from wireless power supply using radio waves. If there is an obstruction between the power supply device and the power supply target, power cannot be supplied wirelessly to the power supply target. Therefore, it is necessary to search and identify a power supply target where there is no obstruction between the power supply device and the power supply target, that is, where a physical line of sight (LOS) between the power supply device and the power supply target is secured. However, a method for efficiently searching and identifying a power supply target where a LOS between the power supply device and the power supply target is secured has not been established. The system 10 according to one embodiment employs a mechanism in which, for example, the power supply device emits a laser of a specific wavelength reflected by a corner cube reflector (CCR) mounted on the power supply target in multiple directions, and captures the reflected light of the laser by the CCR to search for a power supply target where a LOS between the power supply device and the power supply target is secured.

The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

FIG. 1 shows a schematic diagram of an example of a system 10. The system 10 may include a device 100 and a power supply target 200.

The device 100 may wirelessly supply power to the power supply target 200. The device 100 may have, for example, a first output unit 110 and a second output unit 120.

The first output unit 110 may output a first laser light for position identification. For example, the first output unit 110 may output the first laser light as a laser light used in LiDAR (Light Detection and Ranging) technology.

The first output section 110 may output the first laser light, for example, to the periphery of the device 100 including the target position of the power supply target 200 equipped with the retroreflector 210. The target position of the power supply target 200 may be the position where the power supply target 200 is present. The periphery of the device 100 may be an area that is closer to the device 100 than a predetermined distance.

The first output unit 110 may output the first laser light in all directions of the device 100 including the target position of the power supply target 200, for example. The first output unit 110 may output the first laser light in a partial direction of the device 100 including the target position of the power supply target 200.

The retroreflector 210 may be a reflector having a reflective property of reflecting light from a light source toward the light source. The retroreflector 210 may be, for example, a reflector having a reflective property of reflecting light from a light source in a direction parallel to the incident direction of the light and in a direction opposite to the incident direction of the light.

The first output unit 110 may, for example, periodically output the first laser light around the device 100. The first output unit 110 may, for example, output the first laser light around the device 100 at a frequency of 100 times per second.

The first output unit 110 may output, for example, a first laser light in the infrared region. The first output unit 110 may output a first laser light in the visible light region.

The first output section 110 may be, for example, a solid-state laser. The first output section 110 may be, for example, a semiconductor laser. The first output section 110 may be a liquid laser or a gas laser. The first output section 110 may be a tunable laser.

The device 100 may specify the target position of the power supply target 200 based on, for example, the detection result of the reflected light of the first laser light of the first output unit 110. In the system 10 shown in FIG. 1, since the power supply target 200 is equipped with the retroreflector 210, the light intensity of the reflected light of the first laser light reflected at the target position of the power supply target 200 is greater than the light intensity of the reflected light of the first laser light reflected at other positions. Therefore, the device 100 may specify the target position of the power supply target 200 by, for example, specifying the reflection position of the first laser light when the light intensity of the reflected light of the first laser light is higher than a predetermined light intensity threshold as the target position of the power supply target 200. In this case, the device 100 may specify the target position of the power supply target 200 based on, for example, the distance from the device 100 to the reflection position and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the reflection position.

The second output unit 120 may output a second laser light for wireless power supply. For example, the second output unit 120 may output the second laser light toward the target position of the power supply target 200 identified by the device 100.

The second output section 120 may output, for example, a second laser light in the infrared region. The second output section 120 may output a second laser light in the visible light region.

The wavelength of the second laser light output by the second output unit 120 may be different from the wavelength of the first laser light output by the first output unit 110, for example. The wavelength of the second laser light output by the second output unit 120 may be the same as the wavelength of the first laser light output by the first output unit 110.

The output power of the second laser light output by the second output unit 120 may be different from the output power of the first laser light output by the first output unit 110, for example. The second output unit 120 may output the second laser light such that the output power of the second laser light is higher than the output power of the first laser light, for example. The output power of the second laser light may be the same as the output power of the first laser light.

The second output section 120 may be, for example, a solid-state laser. The second output section 120 may be, for example, a semiconductor laser. The second output section 120 may be a liquid laser or a gas laser. The second output section 120 may be a tunable laser.

The device 100 may be installed, for example, on a floor or the ground. The device 100 may be installed, for example, on a wall or a ceiling. The device 100 may be installed on a traffic light, a sign, etc. The device 100 may be installed in any other location.

The power supply target 200 may receive power from the device 100. The power supply target 200 may have, for example, a retroreflector 210 and a photovoltaic panel 220.

The power supply target 200 may be any terminal capable of receiving power from the device 100. The power supply target 200 may be, for example, an IoT (Internet of Things) device. The power supply target 200 may be, for example, a mobile phone such as a smartphone, a tablet terminal, a wearable terminal, or the like. The power supply target 200 may be, for example, a PC (Personal Computer). The power supply target 200 may be, for example, a flying object such as a vehicle or a drone, or a moving object such as a robot. The power supply target 200 may include anything that corresponds to the IoE (Internet of Everything).

The retroreflector 210 may have, for example, wavelength selectivity. The retroreflector 210 may, for example, reflect light in a predetermined wavelength range and not reflect light outside that wavelength range. The retroreflector 210 may not have wavelength selectivity.

The retroreflector 210 may be, for example, a retroreflector. The retroreflector may include, for example, a CCR. A CCR is an optical element in which three flat plates having light-reflecting properties are combined at right angles to each other to form the apex shape of a rectangular parallelepiped or cube. The flat plates may be, for example, a mirror. The flat plates may be glass. The retroreflector may include, for example, a pentaprism. The retroreflector may include glass beads.

The photovoltaic panel 220 may convert light energy into electrical energy. The photovoltaic panel 220 may be composed of, for example, multiple cells.

The shape of the photovoltaic panel 220 may be, for example, rectangular. The shape of the photovoltaic panel 220 may be, for example, square. The shape of the photovoltaic panel 220 may be, for example, circular. The shape of the photovoltaic panel 220 may be, for example, elliptical. The shape of the photovoltaic panel 220 may be any other shape.

The photovoltaic panel 220 may be, for example, a solar panel. The photovoltaic panel 220 may be, for example, a silicon (Si)-based solar panel. The photovoltaic panel 220 may be, for example, a compound-based solar panel. The photovoltaic panel 220 may be, for example, a GaAs-based solar panel formed using gallium (Ga) and arsenic (As). The photovoltaic panel 220 may be, for example, a CIGS-based solar panel formed using copper (Cu), indium (In), gallium (Ga), and selenium (Se).

The power supply target 200 may have a function of acquiring target position information indicating the target position of the power supply target 200, for example. The power supply target 200 may acquire the target position information of the power supply target 200, for example, using a Global Navigation Satellite System (GNSS) function. The power supply target 200 may acquire the target position information of the power supply target 200, for example, using a Global Positioning System (GPS) function. The power supply target 200 may acquire the target position information of the power supply target 200, for example, using a Real Time Kinematic (RTK) function.

The power supply target 200 may have a function of wirelessly communicating with the device 100, for example. The wireless communication connection between the device 100 and the power supply target 200 may conform to a wireless communication system such as Wi-Fi (registered trademark), microwave, optical communication, Bluetooth (registered trademark), and ZigBee (registered trademark). The wireless communication connection between the device 100 and the power supply target 200 may be via a network that may include the Internet or a core network provided by a telecommunications carrier.

For example, the power supply target 200 may transmit the acquired target position information of the power supply target 200 to the device 100. The device 100 may further identify the target position of the power supply target 200 based on the target position information of the power supply target 200 received from the power supply target 200.

When wirelessly supplying power to a power supply target using laser light, conventional systems identify the position of the power supply target where LOS is ensured between the power supply device and the power supply target by performing image recognition processing on an image captured by a camera around the power supply device. However, conventional systems sometimes cannot identify the position of the power supply target with high accuracy when the power supply target is a small device or when the power supply target is located far away from the camera installation position. Furthermore, conventional systems sometimes cannot identify the position of the power supply target quickly because they need to perform image analysis on the captured image.

In contrast, according to the system 10 according to one embodiment, the device 100 determines the position of the power supply target 200 equipped with the retroreflector 210 based on the detection result of the reflected light of the first laser light outputted around the device 100. The device 100 determines the position of the power supply target by using the highly directional laser light and the reflective properties of the retroreflector, so that even if the power supply target is small and the position cannot be determined with high accuracy by image recognition processing, the position can be determined with high accuracy as long as the size allows the retroreflector to be mounted. In addition, since the device 100 determines the position of the power supply target based on the detection result of the reflected light of the laser light propagating at the speed of light, the position of the power supply target can be determined quickly. Furthermore, since the retroreflector 210 such as the CCR is relatively low cost, the system 10 can be constructed as a whole at low cost. As a result, the system 10 according to one embodiment can realize a system that can efficiently wirelessly supply power to the power supply target by determining the position of the power supply target with high accuracy and high speed at low cost.

Figure 2 is an explanatory diagram for explaining an example in which the device 100 wirelessly supplies power to the power supply target 200. In Figure 2, an example in which one power supply target 200 exists in the vicinity of the device 100 is mainly explained.

(A) in FIG. 2 is an explanatory diagram for explaining an example in which the device 100 identifies a candidate position of the power supply target 200. The candidate position of the power supply target 200 may be a position that is a candidate for the target position of the power supply target 200.

The device 100 may, for example, scan the first laser light so as to irradiate the first laser light in all directions of the device 100 in order to identify candidate positions of the power supply target 200, thereby detecting reflected light of the first laser light in all directions of the device 100. The device 100 may, for example, scan the first laser light by a mechanical rotation method in which the laser light is scanned by rotating a laser and a detector that detects reflected light of the laser light output by the laser. The device 100 may also scan the first laser light by a MEMS method in which the laser light output by the laser is scanned by controlling a MEMS (Micro Electro Mechanical Systems) mirror.

The device 100 may identify the candidate position of the power supply target 200 based on, for example, a detection result of detecting the reflected light of the first laser light in all directions of the device 100. The device 100 may identify the candidate position of the power supply target 200 by, for example, identifying the reflection position of the first laser light when the light intensity of the reflected light of the first laser light is higher than a light intensity threshold as the candidate position of the power supply target 200. In the example shown in (A) of FIG. 2, the description will be continued assuming that the device 100 identifies the reflection position when the power supply target 200 reflects the first laser light and the reflection position when an object 50 such as a mirror or glass that is not a power supply target reflects the first laser light as the candidate positions of the power supply target 200.

(B) of FIG. 2 is an explanatory diagram for explaining an example in which the device 100 identifies the target position of the power supply target 200 from the candidate positions of the power supply target 200. For example, in order to identify the target position of the power supply target 200 from the candidate positions of the power supply target 200, the device 100 may output a second laser light toward the candidate position of the power supply target 200 and test supply power to the candidate position of the power supply target 200.

2B, the device 100 may output the second laser light toward the reflection position when the power supply target 200 reflects the first laser light and the reflection position when the object 50 reflects the first laser light. The power supply target 200 may respond to the device 100 in response to receiving power from the device 100 by irradiating the photovoltaic panel 220 with the second laser light. On the other hand, since the object 50 is not a power supply target, it does not respond to the device 100 even when irradiated with the second laser light. Therefore, in response to obtaining the power reception response from the power supply target 200, the device 100 may identify the reflection position when the power supply target 200 reflects the first laser light from among the candidate positions of the power supply target 200 as the target position of the power supply target 200.

(C) of FIG. 2 is an explanatory diagram for explaining an example in which the device 100 supplies power to the power supply target 200. The device 100 may start supplying power to the power supply target 200, for example, by outputting a second laser light toward the target position of the power supply target 200.

In the example shown in FIG. 2, the device 100 performs test power supply to the candidate positions of the power supply target 200, thereby identifying the target position of the power supply target 200 from the candidate positions of the power supply target 200. This allows the device 100 to identify the position of the power supply target with high accuracy, even if the device 100 detects a strong reflection of the first laser light that is accidentally reflected by an object other than the power supply target.

Figure 3 shows a schematic diagram of an example of the power supply target 200. In Figures 3 to 6, the length direction of the power supply target 200 is the x-axis direction in the figure, the width direction of the power supply target 200 is the y-axis direction in the figure, and the thickness direction of the power supply target 200 is the z-axis direction in the figure.

The retroreflector 210 and the photovoltaic panel 220 may be arranged, for example, on a side of the power supply target 200. The retroreflector 210 and the photovoltaic panel 220 may be arranged, for example, on the top surface of the power supply target 200. The retroreflector 210 and the photovoltaic panel 220 may be arranged in any other position of the power supply target 200.

The retroreflector 210 and the photovoltaic panel 220 may be arranged, for example, along the thickness direction of the power supply target 200. In this case, as shown in FIG. 3, the retroreflector 210 may be arranged, for example, on both sides of the photovoltaic panel 220. The retroreflector 210 may be arranged only on one side of the photovoltaic panel 220.

The retroreflector 210 and the photovoltaic panel 220 may be arranged along the length of the power supply target 200 in the same manner as when they are arranged along the thickness of the power supply target 200. The retroreflector 210 and the photovoltaic panel 220 may be arranged along the width of the power supply target 200 in the same manner as when they are arranged along the thickness of the power supply target 200.

Figure 4 shows a schematic diagram of another example of the power supply target 200. The power supply target 200 shown in Figure 4 differs from the power supply target 200 shown in Figure 3 in that the retroreflector 210 is arranged to surround the photovoltaic panel 220.

Figure 5 shows a schematic diagram of another example of the power supply target 200. The power supply target 200 shown in Figure 5 differs from the power supply target 200 shown in Figures 3 and 4 in that the retroreflector 210 is disposed in the gap between each of the multiple cells 225 that make up the photovoltaic panel 220.

Figure 6 shows a schematic diagram of another example of the power supply target 200. The power supply target 200 shown in Figure 6 differs from the power supply target 200 shown in each of Figures 3 to 5 in that the retroreflector 210 is arranged on the upper surface of the power supply target 200, and the photovoltaic panel 220 is arranged on the side of the power supply target 200. The power supply target 200 may have the retroreflector 210 arranged on the side of the power supply target 200, and the photovoltaic panel 220 arranged on the upper surface of the power supply target 200.

Figure 7 shows a schematic diagram of another example of system 10. Here, differences from system 10 shown in Figure 1 will be mainly described.

The system 10 may include an object 300 having a retroreflector 310 mounted thereon. The retroreflector 310 may have similar characteristics to the retroreflector 210.

The object 300 may be placed on, for example, a floor or the ground. The object 300 may be placed on, for example, a wall or a ceiling. The object 300 may be placed in any other location.

The device 100 may store, for example, object position information indicating the object position of the object 300. The object position of the object 300 may be the position where the object 300 exists.

The device 100 may store target position information indicating the target position of the power supply target 200. Note that in the system 10 shown in FIG. 7, the power supply target 200 does not have a retroreflector 210.

The object position information of the object 300 may be registered in the device 100, for example, by a worker who installs the object 300. The target position information of the power supply target 200 may also be registered in the device 100 by a worker who installs the power supply target 200, in the same manner as the object position information of the object 300.

The first output unit 110 may output the first laser light, for example, in the vicinity of the device 100 including the object position of the object 300. The first output unit 110 may output the first laser light, for example, in all directions of the device 100 including the object position of the object 300. The first output unit 110 may output the first laser light in a partial direction of the device 100 including the object position of the object 300.

The device 100 may, for example, detect the reflected light of the first laser light from the first output section 110, and identify the device position of the device 100 based on the object position information of the object 300 and the detection result of the reflected light of the first laser light. The device position of the device 100 may be the location where the device 100 is present.

In the system 10 shown in FIG. 7, since the object 300 is equipped with a retroreflector 310, the light intensity of the reflected light of the first laser light reflected at the object position of the object 300 is greater than the light intensity of the reflected light of the first laser light reflected at other positions. Therefore, the device 100 may identify, for example, the reflection position of the first laser light when the light intensity of the reflected light of the first laser light is higher than a predetermined light intensity threshold as the object position of the object 300. The device 100 may identify the device position of the device 100 based on the object position information of the object 300 corresponding to the reflection position, the distance from the device 100 to the reflection position, and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the reflection position. The second output unit 120 may output the second laser light toward the target position of the power supply target 200 based on the target position information of the power supply target 200 and the device position of the device 100 identified by the device 100.

According to the system 10 shown in FIG. 7, the device 100 determines the position of an object 300 equipped with a retroreflector 310 based on the detection result of the reflected light of the first laser light outputted to the periphery of the device 100, and determines its own position from the determined position of the object 300. As a result, the system 10 shown in FIG. 7 determines its own position using highly directional laser light and the reflective properties of a relatively low-cost retroreflector, and therefore, a system in which the device 100 can determine its own position with high accuracy can be realized at low cost.

Figure 8 is an explanatory diagram for explaining another example of the device 100 wirelessly supplying power to the power supply target 200. Figure 8 mainly explains an example in which one power supply target 200 and three objects 302, 304, and 306 are present in the vicinity of the device 100. Note that each of the objects 302, 304, and 306 may have the same characteristics as the object 300.

(A) of FIG. 8 is an explanatory diagram for explaining an example in which the device 100 identifies the device position of the device 100. For example, in order to identify the device position of the device 100, the device 100 may detect reflected light of the first laser light in all directions of the device 100 by scanning the first laser light so as to irradiate the first laser light in all directions of the device 100.

The device 100 may specify the device position of the device 100, for example, based on the object position information of the object and the detection result of detecting the reflected light of the first laser light in all directions of the device 100. For example, the device 100 may specify the reflection position of the first laser light when the light intensity of the reflected light of the first laser light is higher than the light intensity threshold. Next, the device 100 may specify whether the reflection position is the object position of the object by comparing the positional relationship of the specified reflection position with the positional relationship of the object position of the object determined based on the object position information. When the device 100 specifies that the reflection position is the object position of the object, it may specify the object position information of the object corresponding to the reflection position, and specify the device position of the device 100 based on the object position information, the distance from the device 100 to the reflection position, and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the reflection position.

In an example shown in (A) of FIG. 8, the device 100 may identify four reflection positions: the reflection position when the first laser light is reflected by object 302, the reflection position when the first laser light is reflected by object 304, the reflection position when the first laser light is reflected by object 306, and the reflection position when the first laser light is reflected by object 50, because the light intensity of the reflected light of the first laser light when reflected by each of object 302, object 304, object 306, and non-object object 50 is higher than the light intensity threshold. Next, the device 100 may compare the positional relationship of the four identified reflection positions with the positional relationship of each of the object positions of the objects 302, 304, and 306 determined based on the object position information of each of the objects 302, 304, and 306, and may identify the reflection position of the object 302 when the first laser light is reflected, the reflection position of the object 304 when the first laser light is reflected, and the reflection position of the object 306 when the first laser light is reflected as the object positions of the objects among the four identified reflection positions. After that, the device 100 may identify the device position of the device 100 based on, for example, the object position information of the object 302 corresponding to the reflection position when the object 302 reflects the first laser light, the distance from the device 100 to the reflection position, and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the reflection position.

(B) of FIG. 8 is an explanatory diagram for explaining an example in which the device 100 supplies power to the power supply target 200. The second output unit 120 may output a second laser light toward the target position of the power supply target 200 based on the target position information of the power supply target 200 and the device position of the device 100 identified by the device 100.

In the example shown in FIG. 8, the device 100 determines its own location based on the result of comparing the positional relationship of the determined reflection position with the positional relationship of the object position of the object. This allows the device 100 to determine its own location with high accuracy even if it detects a strong reflection of the first laser light that is accidentally reflected by an object other than the object.

Figure 9 shows an example of a schematic functional configuration of the device 100. The device 100 may include an information storage unit 102, a detection unit 106, a target position identification unit 108, a target position information receiving unit 109, a first output unit 110, a candidate position identification unit 112, a power reception response acquisition unit 114, a device position identification unit 116, a charging completion notification acquisition unit 118, and a second output unit 120. Note that it is not essential that the device 100 has all of these components.

The information storage unit 102 may store various information. The information storage unit 102 may store, for example, a light intensity threshold. The light intensity threshold may be determined, for example, so that it is lower than the light intensity of the reflected light of the first laser light when a retroreflector present in the vicinity of the device 100 reflects the first laser light output by the first output unit 110, and higher than the light intensity of the reflected light of the first laser light when an object that is not a retroreflector and may be present in the vicinity of the device 100 reflects the first laser light.

The information storage unit 102 may store, for example, wavelength region information indicating the wavelength region of light reflected by a retroreflector present in the vicinity of the device 100. The retroreflector present in the vicinity of the device 100 may be, for example, a retroreflector 210 mounted on the power supply target 200. The retroreflector present in the vicinity of the device 100 may be, for example, a retroreflector 310 mounted on a retroreflector 310.

The wavelength range may be determined, for example, so that retroreflectors in the vicinity of the device 100 reflect more light and objects that may be present in the vicinity of the device 100 reflect less light. The wavelength range may be determined, for example, so that only retroreflectors present in the vicinity of the device 100 reflect light.

The information storage unit 102 may store, for example, object position information of the object 300. The information storage unit 102 may store, for example, target position information of the power supply target 200.

The location information may include, for example, latitude information. The location information may include, for example, longitude information. The location information may include, for example, altitude information.

The detection unit 106 may detect reflected light of the first laser light output by the first output unit 110. The detection unit 106 may detect reflected light of the first laser light having a light intensity higher than a light intensity threshold stored in the information storage unit 102, for example.

The detection unit 106 may detect reflected light of the second laser light output by the second output unit 120. The detection unit 106 may detect reflected light of the second laser light having a light intensity higher than a light intensity threshold stored in the information storage unit 102, for example.

The target position identification unit 108 may identify the target position of the power supply target 200 that exists in the vicinity of the device 100. The target position identification unit 108 may identify the target position of the power supply target 200, for example, by identifying the relative position of the power supply target 200 with respect to the device 100. When there are multiple power supply targets 200 in the vicinity of the device 100, the target position identification unit 108 may identify the target position of each of the multiple power supply targets 200.

The target position identification unit 108 may store target position information indicating the target position of the identified power supply target 200 in the information storage unit 102. In this way, the target position identification unit 108 may map the target position of the power supply target 200.

The target position identifying unit 108 may identify the target position of the power supply target 200 based on, for example, the detection result by the detection unit 106 of the reflected light of the first laser light output by the first output unit 110. The target position identifying unit 108 may identify, for example, the reflection position of the first laser light when the detection unit 106 detects the reflected light of the first laser light having a light intensity higher than the light intensity threshold stored in the information storage unit 102 as the target position of the power supply target 200. In this case, the target position identifying unit 108 may identify the target position of the power supply target 200 based on the distance from the device 100 to the reflection position and the output direction of the first laser light.

The target position identification unit 108 may identify the distance from the device 100 to the reflection position, for example, based on the time (Time Of Flight; TOF) that has elapsed from the output time when the first output unit 110 outputs the first laser light to the detection time when the detection unit 106 detects the reflected light of the first laser light. The target position identification unit 108 may identify the distance from the device 100 to the reflection position, based on the light intensity of the reflected light of the first laser light detected by the detection unit 106 when the first laser light is reflected at the reflection position.

The target location information receiving unit 109 may receive target location information of the power supply target 200 from the power supply target 200. The target location information receiving unit 109 may, for example, periodically receive the target location information of the power supply target 200. The target location information receiving unit 109 may store the received target location information of the power supply target 200 in the information storage unit 102.

The candidate position identification unit 112 may identify candidate positions of the power supply target 200 that exist in the vicinity of the device 100. The candidate position identification unit 112 may store candidate position information indicating the identified candidate positions of the power supply target 200 in the information storage unit 102.

The candidate position identification unit 112 may identify the candidate position of the power supply target 200 based on, for example, the detection result of the detection unit 106 of the reflected light of the first laser light output by the first output unit 110. The candidate position identification unit 112 may identify, for example, the reflection position of the first laser light when the detection unit 106 detects the reflected light of the first laser light having a light intensity higher than the light intensity threshold stored in the information storage unit 102 as the candidate position of the power supply target 200. In this case, the candidate position identification unit 112 may identify the candidate position of the power supply target 200 based on the distance from the device 100 to the reflection position and the output direction of the first laser light, in the same way as when the target position identification unit 108 identifies the target position of the power supply target 200.

The second output unit 120 may output the second laser light toward the candidate position of the power supply target 200 identified by the candidate position identification unit 112. For example, the second output unit 120 may set the output power when outputting the second laser light toward the candidate position of the power supply target 200 to be lower than the output power when outputting the second laser light toward the target position of the power supply target 200.

The power reception response acquisition unit 114 may acquire the power reception response from the power supply target 200. The power reception response acquisition unit 114 may acquire the power reception response from the power supply target 200, for example, by receiving a power reception response signal transmitted by the power supply target 200 in response to the power supply target 200 receiving power from the device 100. The power reception response acquisition unit 114 may acquire the power reception response from the power supply target 200, for example, by detecting, using a camera provided in the device 100, that the power supply target 200 is blinking a lamp provided in the power supply target 200 in response to the power supply target 200 receiving power from the device 100. The power reception response acquisition unit 114 may acquire the power reception response from the power supply target 200 by detecting, using a camera provided in the device 100, that the power supply target 200 is waving a stick provided in the power supply target 200 in response to the power supply target 200 receiving power from the device 100.

The target position identification unit 108 may, for example, identify whether the candidate position of the power supply target 200 is the target position of the power supply target 200 based on the power reception response from the power supply target 200 acquired by the power reception response acquisition unit 114. The target position identification unit 108 may, for example, identify the candidate position of the power supply target 200 as the target position of the power supply target 200 when the power reception response acquisition unit 114 acquires a power reception response within a predetermined period from the output time when the second output unit 120 outputs the second laser light toward the candidate position of the power supply target 200.

The target position identification unit 108 may identify whether or not a candidate position of the power supply target 200 is the target position of the power supply target 200 based on the target position information of the power supply target 200 received by the target position information receiving unit 109. The target position identification unit 108 may identify that the candidate position of the power supply target 200 is the target position of the power supply target 200 when, for example, the distance between the candidate position of the power supply target 200 and the target position of the power supply target 200 indicated by the target position information of the power supply target 200 received by the target position information receiving unit 109 is shorter than a predetermined distance threshold.

The first output unit 110 may output the first laser light based on, for example, the wavelength selectivity of the retroreflector. For example, when the first laser light is incident on the retroreflector, the first output unit 110 may output the first laser light included in the wavelength range indicated by the wavelength range information of the retroreflector stored in the information storage unit 102 so that the retroreflector reflects the first laser light.

The second output unit 120 may output the second laser light toward the candidate position of the power supply target 200 based on, for example, the wavelength selectivity of the retroreflector. The second output unit 120 may output, for example, the second laser light that is not included in the wavelength range indicated by the wavelength range information of the retroreflector stored in the information storage unit 102 toward the candidate position of the power supply target 200.

When each of the first output section 110 and the second output section 120 outputs laser light based on the wavelength selectivity of the retroreflector, the target position identification section 108 may identify the target position of the power supply target 200 from the candidate positions of the power supply target 200 based further on the detection result of the reflected light of the second laser light by the detection section 106. For example, the target position identification section 108 may identify the candidate position of the power supply target 200 when the detection section 106 does not detect reflected light of the second laser light having a light intensity higher than the light intensity threshold stored in the information storage section 102 as the target position of the power supply target 200.

The device position determination unit 116 may determine the device position of the device 100. The device position determination unit 116 may determine the device position of the device 100, for example, by determining the absolute position of the device 100.

The device position identification unit 116 may store device position information indicating the identified device position of the device 100 in the information storage unit 102. In this way, the device position identification unit 116 may map the device position of the device 100. The device position identification unit 116 may simultaneously perform the process of identifying the device position of the device 100 and the process of creating an environmental map of the periphery of the device 100 using, for example, Simultaneous Localization and Mapping (SLAM) technology.

The device position identification unit 116 may identify the device position of the device 100, for example, based on the object position information of the object 300 stored in the information storage unit 102 and the detection result of the detection unit 106 of the reflected light of the first laser light output by the first output unit 110. For example, the device position identification unit 116 may identify the reflection position of the first laser light when the light intensity of the reflected light of the first laser light is higher than the light intensity threshold stored in the information storage unit 102 as the object position of the object 300. The device position identification unit 116 may identify the device position of the device 100 based on the object position information of the object 300 corresponding to the reflection position, the distance from the device 100 to the reflection position, and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the reflection position.

For example, in the xyz coordinate system, if the object position of object 300 indicated by the object position information of object 300 corresponding to the reflection position is ( _xO , _yO , _zO ), the distance from device 100 to the reflection position is D, and the output direction of the first laser light when first output unit 110 outputs the first laser light to the reflection position is ( _eX , _eY , _eZ ), device position identification unit 116 may identify the device position of device 100 as ( _{xO - DxeX} , _yO -DxeY, _zO - _DxeZ ). Note that _eX , _eY , and _eZ are assumed to have a relationship of ( _eX ) ²⁺ ( _eY ) ²⁺ ( _eZ ) ² =1.

When a plurality of objects 300 are present around the device 100 and a plurality of reflection positions of the first laser light are present when the light intensity of the reflected light of the first laser light output by the first output unit 110 is higher than the light intensity threshold, the device position identification unit 116 may identify whether or not one of the plurality of reflection positions is an object position of any of the plurality of objects 300. For example, the device position identification unit 116 may identify whether or not the one reflection position is an object position of any of the plurality of objects 300 by comparing the positional relationship of the identified plurality of reflection positions with the positional relationship of the object positions of the plurality of objects 300 determined based on the object position information of each of the plurality of objects 300 stored in the information storage unit 102. When the device position identification unit 116 identifies the one reflection position as the object position of one of the objects 300, the device position identification unit 116 may identify the device position of the device 100 based on the one object position information, the distance from the device 100 to the one reflection position, and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the one reflection position. The second output unit 120 may output the second laser light toward the target position of the power supply target 200 based on the target position information of the power supply target 200 stored in the information storage unit 102 and the device position of the device 100 identified by the device position identification unit 116.

The charging completion notification acquisition unit 118 may acquire a charging completion notification from the power supply target 200. The charging completion notification acquisition unit 118 may acquire the charging completion notification from the power supply target 200, for example, by receiving a charging completion notification transmitted by the power supply target 200 in response to the completion of charging of the battery mounted on the power supply target 200 by power supply from the device 100. The charging completion notification acquisition unit 118 may acquire the charging completion notification from the power supply target 200, for example, by detecting, using a camera provided in the device 100, that the power supply target 200 has switched the lamp provided in the power supply target 200 from a blinking state to an off state in response to the completion of charging of the battery. The charging completion notification acquisition unit 118 may acquire the charging completion notification from the power supply target 200 by detecting, using a camera provided in the device 100, that the power supply target 200 has switched the stick provided in the power supply target 200 from a waving state to a stopped state in response to the completion of charging of the battery. The second output unit 120 may terminate the output of the second laser light toward the target position of the power supply target 200 in response to the charging completion notification acquisition unit 118 acquiring a charging completion notification from the power supply target 200.

Figure 10 shows an example of the functional configuration of the power supply target 200. The power supply target 200 may include an information storage unit 202, a target location information acquisition unit 204, a target location information transmission unit 206, an adjustment unit 208, a retroreflector 210, a power reception response unit 212, a charging completion notification unit 216, a photovoltaic panel 220, and a battery 250. Note that it is not essential that the power supply target 200 has all of these components.

The information storage unit 202 may store various types of information. For example, the information storage unit 202 may store a battery remaining charge threshold. The information storage unit 202 may store installation location information indicating the installation location where the device 100 is installed.

The target location information acquisition unit 204 may acquire target location information of the power supply target 200. The target location information acquisition unit 204 may, for example, periodically acquire the target location information of the power supply target 200. The target location information acquisition unit 204 may store the acquired target location information of the power supply target 200 in the information storage unit 202.

The target position information transmission unit 206 may transmit the target position information of the power supply target 200. The target position information transmission unit 206 may transmit, for example, the target position information of the power supply target 200 to the device 100.

The target location information transmission unit 206 may transmit, for example, the target location information of the power supply target 200 stored in the information storage unit 202. The target location information transmission unit 206 may transmit the target location information of the power supply target 200 in response to the target location information acquisition unit 204 acquiring the target location information of the power supply target 200.

The adjustment unit 208 may adjust the orientation of at least one of the retroreflector 210 and the photovoltaic panel 220. The adjustment unit 208 may adjust the orientation of at least one of the retroreflector 210 and the photovoltaic panel 220, for example, based on target position information of the power supply target 200 and installation position information of the device 100.

When adjusting the orientation of the retroreflector 210, the adjustment unit 208 may adjust the orientation of the retroreflector 210 so that the first laser light output by the device 100 is irradiated by the retroreflector 210. When adjusting the orientation of the photovoltaic panel 220, the adjustment unit 208 may adjust the orientation of the photovoltaic panel 220 so that the second laser light output by the device 100 is irradiated by the photovoltaic panel 220.

The power receiving response unit 212 may respond to the power supply from the device 100. For example, the power receiving response unit 212 may respond in response to the second laser light output by the device 100 being irradiated onto the photovoltaic panel 220 and the battery 250 being charged.

The power reception response unit 212 may respond to the power reception by, for example, transmitting a power reception response signal to the device 100. The power reception response unit 212 may respond to the power reception by, for example, blinking a lamp provided on the power supply target 200. The power reception response unit 212 may respond to the power reception by waving a stick provided on the power supply target 200.

The charging completion notification unit 216 may notify the device 100 that charging is complete. For example, the charging completion notification unit 216 may notify the device 100 that charging is complete when the remaining battery charge of the battery 250 becomes greater than the remaining battery charge threshold value stored in the information storage unit 202.

The charging completion notification unit 216 may notify the device 100 of the completion of charging, for example, by sending a charging completion notification to the device 100. The charging completion notification unit 216 may notify the device 100 of the completion of charging, for example, by switching a lamp provided on the power supply target 200 from a blinking state to an off state. The charging completion notification unit 216 may notify the device 100 of the completion of charging, for example, by switching a wand provided on the power supply target 200 from a waving state to a stopped state.

Figure 11 is an explanatory diagram for explaining an example of the processing flow of the device 100. In Figure 11, a state in which the device 100 is not supplying power to the power supply target 200 is explained as a starting state.

In step (sometimes abbreviated to S) 102, the first output unit 110 may output a first laser light to the periphery of the device 100. In S104, the detection unit 106 may detect reflected light of the first laser light output to the periphery of the device 100 in S102.

In S106, the candidate position identification unit 112 may identify a candidate position of the power supply target 200 based on the detection result of the detection unit 106 detecting the reflected light of the first laser light in S104. In S108, the second output unit 120 may output the second laser light toward the candidate position of the power supply target 200 identified by the candidate position identification unit 112 in S106.

In S110, the target position identification unit 108 may identify whether the power reception response acquisition unit 114 has acquired a power reception response within a predetermined period from the output time when the second output unit 120 output the second laser light toward the candidate position in S108. If the target position identification unit 108 identifies that the power reception response acquisition unit 114 has acquired a power reception response within that period, the process may proceed to S112. If the target position identification unit 108 identifies that the power reception response acquisition unit 114 has not acquired a power reception response within that period, the process may proceed to S118.

In S112, the target position identifying unit 108 may identify that the candidate position of the power supply target 200 identified by the candidate position identifying unit 112 in S106 is the target position of the power supply target 200. In S114, the second output unit 120 may output a second laser light toward the target position of the power supply target 200 identified by the target position identifying unit 108 in S112.

In S116, if the charging completion notification acquisition unit 118 has not acquired a charging completion notification from the power supply target 200, the process may return to S114. In S116, if the charging completion notification acquisition unit 118 has acquired a charging completion notification from the power supply target 200, the second output unit 120 may end the output of the second laser light toward the target position of the power supply target 200. Thereafter, the processing of the device 100 may end.

In S118, the target position identification unit 108 may identify that the candidate position of the power supply target 200 identified by the candidate position identification unit 112 in S106 is not the target position of the power supply target 200. Thereafter, the processing of the device 100 may end.

Figure 12 is an explanatory diagram for explaining another example of the processing flow of the device 100. In Figure 12, a state in which the device 100 is not supplying power to the power supply target 200 is explained as a starting state.

In S202, the first output unit 110 may output the first laser light to the periphery of the device 100. In S204, the detection unit 106 may detect reflected light of the first laser light output to the periphery of the device 100 in S202.

In S206, the device position identification unit 116 may identify the object position of the object 300 based on the detection result of the detection unit 106 detecting the reflected light of the first laser light in S204. In S208, the device position identification unit 116 may identify the device position of the device 100 based on the object position information of the object 300 stored in the information storage unit 102, as well as the distance from the device 100 to the reflection position of the first laser light corresponding to the object position identified in S206 and the output direction of the first laser light when the first output unit 110 outputs the first laser light to the reflection position.

In S210, the second output unit 120 may output the second laser light toward the target position of the power supply target 200 based on the target position information of the power supply target 200 stored in the information storage unit 102 and the device position of the device 100 identified by the device position identification unit 116 in S208. In S212, if the charging completion notification acquisition unit 118 has not acquired a charging completion notification from the power supply target 200, the process may return to S210. In S212, if the charging completion notification acquisition unit 118 has acquired a charging completion notification from the power supply target 200, the second output unit 120 may end the output of the second laser light toward the target position of the power supply target 200. Thereafter, the processing of the device 100 may end.

13 shows a schematic diagram of an example of a hardware configuration of a computer 1200 functioning as the device 100. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the above embodiment, or can cause the computer 1200 to execute operations or one or more "parts" associated with the device according to the above embodiment, and/or can cause the computer 1200 to execute a process or a stage of the process according to the above embodiment. A program installed in computer 1200 can, for example, cause computer 1200 to function as detection unit 106, target position identification unit 108, target position information receiving unit 109, candidate position identification unit 112, power reception response acquisition unit 114, device position identification unit 116, and charging completion notification acquisition unit 118, or cause computer 1200 to execute detection unit 106, target position identification unit 108, target position information receiving unit 109, candidate position identification unit 112, power reception response acquisition unit 114, device position identification unit 116, and charging completion notification acquisition unit 118, and/or cause computer 1200 to execute a process or a stage of the process corresponding to the functions of detection unit 106, target position identification unit 108, target position information receiving unit 109, candidate position identification unit 112, power reception response acquisition unit 114, device position identification unit 116, and charging completion notification acquisition unit 118. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

The computer 1200 according to one embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which may be interconnected by a host controller 1210. The computer 1200 also includes input/output units such as a communication interface 1222, a storage device 1224, a DVD drive 1226, and an IC card drive, which may be connected to the host controller 1210 via an input/output controller 1220. The DVD drive 1226 may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes legacy input/output units such as a ROM 1230 and a keyboard 1242, which may be connected to the input/output controller 1220 via an input/output chip 1240.

The CPU 1212 may operate according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 may acquire image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into itself, and cause the image data to be displayed on the display device 1218.

The communication interface 1222 may communicate with other electronic devices via a network. The storage device 1224 may store programs and data used by the CPU 1212 in the computer 1200. The DVD drive 1226 may read programs or data from a DVD-ROM 1227 or the like and provide them to the storage device 1224. The IC card drive may read programs and data from an IC card and/or write programs and data to an IC card.

ROM 1230 may store therein a boot program or the like executed by computer 1200 upon activation, and/or a program that depends on the hardware of computer 1200. I/O chip 1240 may also connect various I/O units to I/O controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

The programs may be provided by a computer-readable storage medium such as a DVD-ROM 1227 or an IC card. The programs may be read from the computer-readable storage medium, installed in the storage device 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs may be read by the computer 1200, and may bring about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by realizing an operation or processing of information according to the use of the computer 1200.

For example, when communication is performed between computer 1200 and an external device, CPU 1212 may execute a communication program loaded into RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 may read transmission data stored in a transmission buffer area provided in RAM 1214, storage device 1224, DVD-ROM 1227, or a recording medium such as an IC card, and transmit the read transmission data to a network, or write received data received from the network to a reception buffer area or the like provided on the recording medium.

The CPU 1212 may also cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, DVD drive 1226 (DVD-ROM 1227), IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search/replacement, etc., as described throughout this disclosure and specified by the instruction sequence of the program, and may write back the results to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. in the recording medium. For example, when multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a computer-readable storage medium, whereby the programs may be provided to the computer 1200 via the network.

In one embodiment, blocks in the flowcharts and block diagrams may represent stages of a process in which an operation is performed or "parts" of a device responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and/or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and/or analog hardware circuitry, and may include integrated circuits (ICs) and/or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc., and conventional procedural programming languages such as the "C" programming language or similar programming languages.

The computer-readable instructions may be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, or a programmable circuit, either locally or over a local area network (LAN), a wide area network (WAN), such as the Internet, etc., so that the processor of the general-purpose computer, special-purpose computer, or other programmable data processing apparatus, or the programmable circuit, executes the computer-readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors may include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

The present invention has been described above using an embodiment, but the technical scope of the present invention is not limited to the scope described in the above embodiment. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiment. It is clear from the claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

The order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before" or "prior to," and it should be noted that the processes may be performed in any order, unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is necessary to perform the processes in that order.

10 System, 50 Object, 100 Device, 102 Information storage unit, 106 Detection unit, 108 Target position identification unit, 109 Target position information reception unit, 110 First output unit, 112 Candidate position identification unit, 114 Power reception response acquisition unit, 116 Device position identification unit, 118 Charging completion notification acquisition unit, 120 Second output unit, 200 Power supply target, 202 Information storage unit, 204 Target position information acquisition unit, 206 Target position information transmission unit, 208 Adjustment unit, 210 Retroreflector, 212 Power reception response unit, 216 Charging completion notification unit, 220 Photovoltaic panel, 225 Cell, 250 Battery, 300 Object, 302 Object, 304 Object, 306 Object, 310 Retroreflector, 1200 Computer, 1210 Host controller, 1212 CPU, 1214 RAM, 1216 Graphics controller, 1218 Display device, 1220 Input/output controller, 1222 Communication interface, 1224 Storage device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 Input/output chip, 1242 Keyboard

Claims (15)

An apparatus for wirelessly supplying power to a power supply target,
A first output unit that outputs a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
A detection unit that detects reflected light of the first laser light;
a target position identifying unit that identifies the target position based on a detection result of the reflected light of the first laser light by the detection unit;
a second output unit that outputs a second laser light for wireless power supply toward the target position identified by the target position identification unit ,
The apparatus comprises:
a target position information receiving unit that receives target position information indicating the target position of the power supply target from the power supply target;
a candidate position identifying unit that identifies a candidate position of the power supply target based on a detection result of the reflected light of the first laser light by the detection unit;
Further equipped with
The target position identification unit identifies the candidate position of the power supply target as the target position of the power supply target when a distance between the candidate position of the power supply target and the target position of the power supply target indicated by the target position information is shorter than a predetermined distance threshold.
Device . the target position identifying unit identifies the target position based on a distance from the device to a reflection position of the first laser light and an output direction of the first laser light when the detection unit detects the reflected light of the first laser light having a light intensity higher than a predetermined light intensity threshold value.
2. The apparatus of claim 1. An apparatus for wirelessly supplying power to a power supply target,
A first output unit that outputs a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
A detection unit that detects reflected light of the first laser light;
a target position identifying unit that identifies the target position based on a detection result of the reflected light of the first laser light by the detection unit;
a second output unit that outputs a second laser light for wireless power supply toward the target position identified by the target position identification unit;
Equipped with
The apparatus comprises:
a candidate position identifying unit that identifies a candidate position of the power supply target based on a detection result of the reflected light of the first laser light by the detection unit;
and a power reception response acquisition unit that acquires a power reception response from the power supply target,
the second output unit outputs the second laser light toward the candidate position identified by the candidate position identifying unit;
the target position identification unit identifies the candidate position as the target position when the power reception response acquisition unit acquires the power reception response within a predetermined period from an output time when the second output unit outputs the second laser light toward the candidate position ;
Device . The device according to claim 3, wherein the second output unit outputs the second laser light toward the candidate position at a lower output power than the second laser light toward the target position. An apparatus for wirelessly supplying power to a power supply target,
A first output unit that outputs a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
A detection unit that detects reflected light of the first laser light;
a target position identifying unit that identifies the target position based on a detection result of the reflected light of the first laser light by the detection unit;
a second output unit that outputs a second laser light for wireless power supply toward the target position identified by the target position identification unit;
Equipped with
The apparatus comprises:
a candidate position identifying unit that identifies a candidate position of the power supply target based on the detection result of the reflected light of the first laser light by the detection unit ,
The first output unit outputs the first laser light included in a predetermined wavelength region so that the retroreflector reflects the first laser light when the first laser light is incident on the retroreflector that reflects light in the predetermined wavelength region,
the second output unit outputs the second laser light having a wavelength not included in the wavelength range toward the candidate position identified by the candidate position identifying unit,
The detection unit further detects reflected light of the second laser light,
the target position identifying unit identifies the target position from the candidate positions further based on the detection result of the reflected light of the second laser light by the detection unit .
Device . The device according to claim 1, wherein the first output unit outputs the first laser light in all directions of the device, including the target position. The device according to claim 1, wherein the second output unit outputs the second laser light so that the output power of the second laser light is higher than the output power of the first laser light. An apparatus for wirelessly supplying power to a power supply target,
A first output unit that outputs a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
A detection unit that detects reflected light of the first laser light;
a target position identifying unit that identifies the target position based on a detection result of the reflected light of the first laser light by the detection unit;
a second output unit that outputs a second laser light for wireless power supply toward the target position identified by the target position identification unit;
Equipped with
The apparatus comprises:
an information storage unit that stores object position information indicating an object position of an object equipped with a retroreflector ;
and a device location identification unit that identifies a device location of the device,
The first output unit outputs the first laser light to a periphery of the device including the object position,
the device position identification unit identifies the device position based on the object position information of the object stored in the information storage unit and the detection result of the reflected light of the first laser light by the detection unit .
Device . The information storage unit further stores target position information indicating target positions of other power supply targets,
The second output unit outputs the second laser light toward the target position of the other power supply target based on the target position information of the other power supply target stored in the information storage unit and the device position identified by the device position identification unit.
9. The apparatus of claim 8 . A program for causing a computer to function as the device according to any one of claims 1 to 9 . An apparatus according to any one of claims 1 to 9 ,
A system comprising: A method for wirelessly supplying power to a power supply target, the method being executed by a device equipped with a computer, comprising:
A first output stage of outputting a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
a detection step of detecting a reflected light of the first laser light;
a target position identifying step of identifying the target position based on a detection result of the reflected light of the first laser light in the detection step;
a second output step of outputting a second laser light for wireless power supply toward the target position identified in the target position identification step,
The method comprises:
receiving object position information indicating the object position of the power supply object from the power supply object;
a candidate position identifying step of identifying a candidate position of the power supply target based on the detection result of the reflected light of the first laser light;
Further equipped with
The target position identification step identifies the candidate position of the power supply target as the target position of the power supply target when a distance between the candidate position of the power supply target and the target position of the power supply target indicated by the target position information is shorter than a predetermined distance threshold.
method . A method for wirelessly supplying power to a power supply target, the method being executed by a device equipped with a computer, comprising:
A first output stage of outputting a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
a detection step of detecting a reflected light of the first laser light;
a target position identifying step of identifying the target position based on a detection result of the reflected light of the first laser light in the detection step;
a second output step of outputting a second laser light for wireless power supply toward the target position identified in the target position identification step;
Equipped with
The method comprises:
a candidate position identifying step of identifying a candidate position of the power supply target based on the detection result of the reflected light of the first laser light;
a power reception response acquisition step of acquiring a power reception response from the power supply target;
Further equipped with
the second output step includes outputting the second laser light toward the candidate position identified in the candidate position identification step;
the target position identification step identifies the candidate position as the target position when the power reception response is acquired in the power reception response acquisition step within a predetermined period from an output time when the second laser light is outputted toward the candidate position in the second output step,
method. A method for wirelessly supplying power to a power supply target, the method being executed by a device equipped with a computer, comprising:
A first output stage of outputting a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
a detection step of detecting a reflected light of the first laser light;
a target position identifying step of identifying the target position based on a detection result of the reflected light of the first laser light in the detection step;
a second output step of outputting a second laser light for wireless power supply toward the target position identified in the target position identification step;
Equipped with
The method comprises:
a candidate position specifying step of specifying a candidate position of the power supply target based on the detection result of the reflected light of the first laser light;
Further equipped with
The first output step includes outputting the first laser light included in a predetermined wavelength region so that the retroreflector reflects the first laser light when the first laser light is incident on the retroreflector that reflects light in the predetermined wavelength region,
the second output step includes outputting the second laser light having a wavelength not included in the wavelength range toward the candidate position identified in the candidate position identification step;
The detecting step further includes detecting a reflected light of the second laser light,
The target position identification step identifies the target position from the candidate positions based on the detection result of the reflected light of the second laser light.
method. A method for wirelessly supplying power to a power supply target, the method being executed by a device equipped with a computer, comprising:
A first output stage of outputting a first laser light for position identification to the periphery of the device including the target position of the power supply target equipped with a retroreflector;
a detection step of detecting a reflected light of the first laser light;
a target position identifying step of identifying the target position based on a detection result of the reflected light of the first laser light in the detection step;
a second output step of outputting a second laser light for wireless power supply toward the target position identified in the target position identification step;
Equipped with
The method comprises:
A device position determination step of determining a device position of the device storing object position information indicating an object position of an object equipped with a retroreflector.
Further equipped with
The first output step outputs the first laser light to a periphery of the device including the object position;
The device position identification step identifies the device position based on the object position information of the object stored in the device and the detection result of the reflected light of the first laser light.
method.

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