• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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    • 专利摘要:
    The present invention relates to a wireless power supply device (100) which includes a marker (m) provided closest to a side on which the vehicle (200) enters when parked than a power transmission coil unit (102) housing a power transmission coil (12). the marker (m) includes at least two segments (m1, m2) not parallel to each other, and an end part of one segment (m1) is connected to the other segment (m2). the power transmission coil (12) is separated by a predetermined distance from a point of intersection (c2) of the two segments in a direction (cl1) in which a segment (m1) extends.
    公开号:BR112016007088B1
    申请号:R112016007088-7
    申请日:2013-09-30
    公开日:2021-08-17
    发明作者:Shigeyuki Yoshida；Masaki Konno；Yoshitake Fukushima
    申请人:Nissan Motor Co., Ltd.；
    IPC主号:
    专利说明:

    FIELD OF TECHNIQUE
    [001] The present invention relates to a wireless power supply device and a parking assistant device. FUNDAMENTALS OF THE INVENTION
    [002] There are wireless power supply devices to charge batteries installed, for example, in electric vehicles via a wireless connection between the power receiving coils provided in the vehicles and power transmission coils on the ground. A wireless power supply device can efficiently supply electrical power by adjusting the relative position between a power transmitting coil and a power receiving coil. In association, a parking assistance system equipped with a camera to capture the image of the rear side of a vehicle and assist in the positioning of an energy transmission coil and an energy receiving coil at the time of parking based on an image taken by the camera (Patent Literature 1). List of Citation Patent Literature Patent Literature 1: Japanese Unexamined Patent Application Publication No. 2011-015549 SUMMARY OF THE INVENTION Technical problem
    [003] The system described in Patent Literature 1, however, may not be able to obtain the camera image with the power transmission coil (in particular, a casing to house the power transmission coil) captured depending on the direction in the which vehicle is driven. Although conventional vehicles may include an all around vision monitoring (AVM) system to capture the image of the periphery of a vehicle and display an image thus obtained and converted to a bird's-eye view image on an in-vehicle monitor , a displayed range obtained by the AVM system is limited to a region immediately around the vehicle. If the power transmission coil is located slightly away from the vehicle on the rear side, the power transmission coil cannot be displayed in the bird's-eye view from above. As a result, the position of the power transmission coil cannot be designated as a parking target based on the camera image taken or the bird's-eye view from above.
    [004] The present invention was made in view of the conventional problem described above. An object of the present invention is to provide a wireless power supply device and a parking assistant device capable of designating a target parking position with high accuracy.
    [005] A wireless power supply device in accordance with an aspect of the present invention includes a marker provided closer to a side where a vehicle enters when parked than a power transmission coil unit housing a power transmission coil. energy. The marker includes at least two segments that are not parallel to each other, and an end portion of one segment is connected to another segment. The power transmission coil is separated by a predetermined distance from a point of intersection of the two segments in a direction in which the segment extends. DESCRIPTION OF DRAWINGS
    [006] Figure 1 is a block diagram showing a configuration of a wireless charging system including a wireless power supply device according to the present embodiment.
    [007] Figure 2 is a view showing an example of an installation state of the wireless power supply device 100 according to the present embodiment.
    [008] Figure 3 is a schematic view showing an example of a top-down image displayed on a display unit 32 installed in a vehicle 200 shown in Figure 2.
    [009] Figure 4 is a top view when viewed from above of the wireless power supply device 100 shown in Figure 2.
    [010] Figure 5 is a block diagram that shows a functional configuration of a controller 25 included in a parking assistant device according to the modality.
    [011] Figure 6(a) is a view showing a top-down image generated by a viewpoint conversion processing unit 41 and displayed in two colors, and Figure 6(b) is a view showing an edge image extracted when the image in Figure 6(a) is scanned in a vertical direction (in a direction perpendicular to the parking frame S).
    [012] Figure 7(a) is a view showing a top-down image generated by the viewpoint conversion processing unit 41 and displayed in two colors, and Figure 7(b) is a view showing a edge image extracted when the image in Figure 7(a) is scanned in a lateral direction (in a direction parallel to parking frame S).
    [013] Figure 8 is a schematic view showing a CL1 direction and a designated C2 intersection based on the edge images of Figure 6(b) and Figure 7(b).
    [014] Figure 9 is a schematic view showing an example display of a position of a power transmission coil unit 102 (a power transmission coil 12) designated by a power transmission coil designation unit 43.
    [015] Figure 10 is a top view showing the shape of the marker M according to a first modified example.
    [016] Figure 11 is a top view showing the shape of the marker M according to a second modified example.
    [017] Figure 12 is a view showing an installation status of the wireless power supply device 100 according to a third modified example. DETAILED DESCRIPTION
    [018] Next, an embodiment of the present invention will be explained with respect to the drawings. First, a configuration of a wireless charging system including a wireless power supply device according to the modality is explained below with respect to Figure 1. The wireless charging system 1 according to the modality includes a vehicle-side unit installed in a vehicle 200, and a wireless power supply device 100 as a ground-side unit provided on the ground. The wireless charging system 1 supplies electrical power via a wireless connection from the wireless power supply device 100 to the vehicle side unit to charge a battery 28 mounted on the vehicle 200.
    [019] The wireless power supply device 100 is placed, for example, in a power supply stand or parking area. Wireless power supply device 100 provides electrical power via a wireless connection from power transmit coil 12 to power receive coil 22 described below in a state where vehicle 200 is parked in a predetermined parking position. Wireless power supply device 100 includes a power controller 11, power transmission coil 12, a radio communication unit 14, and a controller 15.
    [020] The power controller 11 converts the DC power transmitted from an AC power source 300 into high frequency AC power and transmits the converted power to the power transmission coil 12. The power controller 11 includes a rectifier 111, a power factor correction (PFC) circuit 112, an inverter 113, and a sensor 114.
    [021] The rectifier 111 is electrically connected to the AC power supply 300 to rectify the AC power output from the AC power supply 300. The PFC 112 circuit improves the power factor by rectifying the waveforms emitted from the rectifier 111 and is connected between rectifier 111 and inverter 113. Inverter 113 is a power conversion circuit including a PWM control circuit having a smoothing capacitor and a switching device such as an IGBT. Inverter 113 converts DC power from PFC circuit 112 into high frequency AC power and supplies the converted power to power transmission coil 12 in accordance with a switching control signal from controller 15. Sensor 114 is connected between the PFC 112 circuit and the inverter 113 to detect the current and voltage flowing between the PFC 112 circuit and the inverter 113.
    [022] Power transmission coil 12 is used to supply electrical power via a wireless connection with power receiving coil 22 mounted on vehicle 200, and is wound on a coil shaft in a direction parallel to a surface of street into a parking space. Power transmission coil 12 is provided in the parking space. In particular, the power transmitting coil 12 is provided in such a way as to be positioned immediately below and kept at a distance from the power receiving coil 22 when the vehicle 200 is parked in an appropriate parking position in the parking space.
    [023] The radio communication unit 14 communicates with a radio communication unit 24 installed in the vehicle 200. A communication frequency between the radio communication unit 14 and the radio communication unit 24 is greater than the used for vehicle peripheral devices such as Intelligent Key (trademark). The radio communication unit 14 and the radio communication unit 24 communicate with each other by a means suitable for long-distance communication, including various types of wireless LANs.
    [024] Controller 15 controls power controller 11 and radio communication unit 14. Controller 15 transmits a control signal to initiate power supply from wireless power supply device 100 towards the vehicle 200 via communication between the radio communication unit 14 and the radio communication unit 24. The controller 15 receives, from the side of the vehicle 200, a request signal to request the electrical energy supplied from the power supply device wireless 100. The controller 15 controls the switching operation of the inverter 113 based on the demand signal and the current detected by the sensor 114, so as to regulate the electrical energy transmitted from the power transmission coil 12.
    [025] The vehicle 200 includes, as the vehicle side unit, the power receiving coil 22, the radio communication unit 24, a controller 25, a rectifier 26, a relay 27, a battery 28, an inverter 29, and a motor 30. The power receiving coil 22 is used to receive electrical power via a wireless connection from the power transmitting coil 12 of the wireless power supply device 100. The power receiving coil 22 is placed at the bottom of the vehicle and, for example, between the rear wheels. The power receiving coil 22 is wound on a coil shaft in the direction parallel to the street surface in the parking space, in the same way as the power transmitting coil 12. The power receiving coil 22 is provided in such a way. to be positioned immediately above and kept at a distance from the power transmission coil 12 when the vehicle 200 is parked in an appropriate parking position in the parking space.
    [026] The radio communication unit 24 communicates with the radio communication unit 14 of the wireless power supply device 100. The rectifier 26 is a rectifier circuit connected to the power receiving coil 22 to rectify AC power received by power take-up coil 22 into DC power. Relay 27 includes an on/off relay switch based on control by controller 25, and functions for disconnecting a high power system including battery 28 from power receiving part 22 and rectifier 26 serving as a circuit to charge once the relay switch is off.
    [027] The battery 28 is a vehicle power supply 200 and configured in such a way that a plurality of secondary batteries are connected together. Inverter 29 is a power conversion circuit that includes a PWM control circuit having a smoothing capacitor and a switching device such as an IGBT. The inverter 29 converts the DC energy emitted from the battery 28 into AC energy and supplies the converted energy to the motor 30 in accordance with a switching control signal from the controller 15. The motor 30 is, for example, a motor Three-phase AC serving as a steering power source to drive the 200 vehicle.
    [028] The controller 25 includes a central processing unit (CPU), a microprocessing unit (MPU) or a microcontroller and controls the charging of the battery 28 and the communication of the radio communication unit 24. The controller 25 transmits a signal to initiate charging to the controller 15 of the wireless power supply device 100, via the radio communication unit 24 and the radio communication unit 14. The controller 25 is connected to a controller for controlling the entire vehicle 200 via a CAN network (not shown in the drawing). This controller manages a switching control of the inverter 29 and a state of charge (SOC) of the battery 28. The controller 25 determines whether the battery 28 is fully charged based on the SOC, and transmits a signal to stop charging to the controller 25 of wireless power supply device 100 when the battery is fully charged.
    [029] The wireless charging system 1 performs the transmission and receipt of high frequency electrical energy between the energy transmitting coil 12 and the energy receiving coil 22 in a wireless way through electromagnetic induction. In other words, once a voltage is applied to the power transmission coil 12, a magnetic connection is caused between the power transmission coil 12 and the power receiving coil 22 so as to supply electrical energy from the coil. of power transmission 12 to power receiving coil 22.
    [030] The vehicle 200 is equipped with a camera 31 and a display unit 32. The camera 31 includes a plurality of cameras to capture the image of the rear, the front and both the right and left sides of the vehicle 200 for get images from the camera. Controller 25 converts each camera image photographed by camera 31 into a top view image (an example of a viewpoint converted image) as seen from above camera 31. Controller 25 forms a top view image (an the surrounding view image) showing the periphery of the vehicle 200, such as to join a plurality of top-viewed images and transmit the top-down image illustrating the periphery of the vehicle to the display unit 32. The display unit 32 is a screen located in a position where a driver can look and displays the image viewed from above that illustrates the periphery of the vehicle to the driver.
    [031] The vehicle 200 is equipped with an actuator 33 to control a driving operation of the vehicle 200. In particular, the actuator 33 includes a steering actuator to drive the front wheels of the vehicle 200 and a braking actuator to operate the brake and brake vehicle 200. Operation of actuator 33 is controlled by controller 25.
    [032] An example of an external configuration of the wireless power supply device 100 is explained below with respect to Figure 2. The wireless power supply device 100 includes a power supply device body 101, a unit of power transmission coil 102, and a marker M. The body of the power supply device 101 is an enclosure housing at least the power controller 11, the radio communication unit 14 and the controller 15 shown in Figure 1. power transmitting coil unit 102 is an enclosure housing at least the power transmitting coil 12 shown in Figure 1. The power transmitting coil unit 102 is located in the parking space defined by parking frames S. In the example shown in Figure 2, the power transmission coil unit 102 is located between the wheel chocks 51. The relative position between the power transmission coil unit gia 102 and the power receiving coil 22 can be adjusted in such a way as to park the vehicle 200 in a state where the rear wheels of the vehicle 200 are in contact with the wheel chocks 51. The vehicle 200 is moved and parked in the parking space so that the power receiving coil 22 is positioned above the power transmitting coil unit 102 with the assistance of a parking assistant device according to the modality. Marker M is provided on the street surface in the parking space.
    [033] The top view image showing the periphery of the vehicle 200 as shown in Figure 3 is displayed on the display unit 32 installed on the vehicle 200 shown in Figure 2. Since the displayed range of a surrounding view monitor ( AVM) is limited to a region adjacent to the periphery of vehicle 200, part of marker M (including at least one intersection point between a segment m1 and another segment m2) is displayed on the display unit 32. power 102 is not displayed on the display unit 32. It is therefore difficult to confirm the target parking position (the power transmission coil unit 102) directly via the display unit 32.
    [034] Figure 4 is a top view when viewed from above of wireless power supply device 100 shown in Figure 2. Marker M is located on the side where vehicle 200 enters when parked and on the opposite side of the power unit. energy transmission coil 102. Marker M is composed, for example, of a luminous body such as an LED, a mark drawn on a street surface, or a three-dimensional object. Here, the three-dimensional object should certainly have a height so as to be placed below the vehicle 200. Marker M is provided "on the opposite side of the power transmission coil unit 102" in order to indicate the presence of the power unit. power transmission coil 102. Thus, marker M is not provided in a parking space where wireless power supply device 100 is not provided.
    [035] Marker M includes at least two segments (m1, m2) not parallel to each other and has a configuration in which one end of a segment m1 is connected to the other segment m2. Here, "a segment m1 being connected to another segment m2" includes, as described below, a case where one end of segment m1 is separated from the other segment m2 by a distance capable of designating an intersection point C2 between a segment m1 and the other segment per m2 by image processing. For example, one end of a segment m1 can be slightly separated from the other segment m2 when viewed up close, even though they appear to be in contact with each other when viewed from a distance. The power transmission coil unit 102 is separated by a predetermined distance from the point of intersection C2 of the two segments (m1, m2) in a direction in which a segment m1 extends.
    [036] In the example shown in Figure 4, a segment m1 extends from the circumference of the power transmission coil unit 102 to the side where the vehicle 200 enters when parked, and one end of a segment m1 is connected to the other segment m2. In other words, one segment m1 connects to the power transmission coil unit 102 and the other segment m2. The other segment m2 is orthogonal to the longitudinal direction of the parking space. The longitudinal direction of the parking space is parallel to a direction that vehicle 200 enters when parked and also parallel to parking frames S shown in Figure 4. That is, one segment m1 is at a right angle to the other segment m2.
    [037] One segment m1 is larger than the other segment m2. One end of a segment m1 is connected to the midpoint of the other segment m2. Furthermore, the straight line CL1 continued and extending from a segment m1 passes through the middle C1 of the power transmission coil 12. Here, "the middle C1 of the power transmission coil 12" is a center between the ends outermost parts of a part in the power transmission coil 12 on which the Litz wire is wound. The end of one segment m1 connected to the other segment m2 is closer to the power transmission coil 12 than end parts of parking frames S.
    [038] Marker M is used to designate the intersection point C2 between one segment m1 and the other segment m2 and the direction (vector) CL1 in which a segment m1 extends. Thus, the position of the power transmission coil unit 102 separated from the intersection point C2 by a predetermined distance in vector CL1 can be designated with high accuracy.
    [039] Next, the parking assist device to assist in parking the vehicle 200 by designating the position of the power transmission coil unit 102 based on the marker M is explained below. The parking assistant device includes the camera 31, the controller 25 and the actuator 33 installed on the vehicle 200. The controller 25 performs information processing in accordance with a computer program in which a process to assist in parking the vehicle 200 is registered. . A specific information processing function performed by the controller 25 is explained below. As shown in Figure 5, the controller 25 functions as a viewpoint conversion processing unit 41, a marker recognition unit 42, the power transmission coil designation unit 43 and a parking assistant unit 44.
    [040] The viewpoint conversion processing unit 41 converts a camera image taken by the camera 31 into a top view image when viewed from above the camera 31. In the mode, the controller 25 forms and displays top view image in around the vehicle 200 as shown in Figure 3, in such a way as to join a plurality of images viewed from above. The viewpoint conversion processing unit 41 is only needed to convert at least one image of the camera in which the marker M is captured, among the plurality of images seen from above, into an image seen from above.
    [041] Marker recognition unit 42 designates the intersection point C2 of the two segments (m1, m2) and the direction CL1 in which a segment m1 extends from the intersection point C2 with respect to the image seen from above generated by the viewpoint conversion processing unit 41. A specific processing operation of the marker recognition unit 42 will be explained below with reference to Figure 6 to Figure 8.
    [042] The power transmission coil designation unit 43 uses the intersection point C2 and the direction CL1 designated by the marker recognition unit 42 to designate the position of the power transmission coil unit 102 (the transmission coil energy 12) separated from the intersection point C2 by a predetermined distance in the direction CL1. For example, as shown in Figure 9, the power transmit coil designation unit 43 computes the coordinates (x, y) of the middle of C3 of the power receiving coil 22 when the middle C1 of the power transmitting coil 12 is the origin. The coordinate system shown in Figure 9 includes a y axis in the vehicle width direction 200 and an x axis in the vehicle 200 direction of travel.
    [043] The parking assistant unit 44 calculates a swath along which the vehicle 200 moves from a current position to a target for parking (the power transmission coil unit 102) based on the position of the power coil unit. transmission power 102 designated by power transmission coil designation unit 43. The range includes a combination of an arc line, a straight line and a clothoid curve, and can be calculated by conventional means.
    [044] The parking assistant unit 44 also controls the actuator 33 and the motor 30 in order to autonomously drive the vehicle 200 along the calculated range. Actuator 33 operates the vehicle brake 200 and directs the front wheels of the vehicle 200 based on control by the parking assistant unit 44. The parking assistant unit 44 informs the driver of an offset for autonomous driving with the voice or indication on the unit display 32.
    [045] Note that the parking assistant unit 44 is not limited to the example of autonomous driving. The parking assistant unit 44 can, for example, inform the driver of a forward movement, a backward movement, a stop, and an operation of a steering wheel with voice or indication on the display unit 32, so that the driver can independently move the vehicle 200 along the calculated range. In such a case, the driver may operate an accelerator pedal, a brake pedal, a gear shift lever or the steering wheel in order to move the vehicle 200 along the lane towards the parking target (the spool unit of power transmission 102).
    [046] The parking assistant unit 44 can generate an image seen from above shown in Figure 9 and display the image on the display unit 32 during either autonomous driving or driving by the driver. The driver may recognize that vehicle 200 is moving along the lane towards the parking target (the power transmission coil unit 102) such that the current position of vehicle 200 is updated consecutively.
    [047] Next, the recognition processing of the marker M by the marker recognition unit 42 is explained below. Figure 6(a) and Figure 7(a) are top views generated by the viewpoint conversion processing unit 41 and indicated in two colors, and Figure 6(b) and Figure 7(b) are edge images extracted from the image in Figure 6(a). Figure 6(b) is an image obtained in such a way as to represent edges extracted when pixels are scanned in the vertical direction (in the direction perpendicular to the parking frames S). Figure 7(b) is an image obtained in order to represent the extracted edges when the pixels are digitized in the lateral direction (in the direction parallel to the parking frames S).
    [048] As shown in Figure 6(b), the edges of the m1 segments of the M markers and the S parking frames are extracted. The direction in which the m1 segments extend can be designated with high precision based on Figure 6(b); however, it is difficult to designate the position of one end of each segment m1 precisely based on Figure 6(b). As shown in Figure 7(b), an edge of the other segment m2 is extracted. Therefore, as shown in Figure 8, the marker recognition unit 42 can designate the direction CL1 in which a segment m1 extends with high accuracy based on the edge image of Figure 6(b). At the same time, the marker recognition unit 42 can designate the point of intersection C2 between segment m1 and the other segment m2 with high accuracy with respect to the edge image of Figure 7(b).
    [049] The end of a segment m1 connected to the other segment m2 is located closer to the power transmission coil 12 than the end parts of parking frames S. Therefore, it can be easily recognized from the edge image from Figure 6(b) that the longest edges are the parking frames S, and the shortest edges are the m1 segments. However, the method of recognizing m1 segments is not limited to these. For example, between the edges shown in Figure 6(b), the edge connected to the edge of another segment m2 as shown in Figure 7(b) can be used to determine a segment m1.
    [050] Here, as a comparative example, a case where the marker M includes only one segment m1 is compared with the modality. It is difficult to designate the position of an edge of an m1 segment accurately from an image obtained in such a way as to represent the extracted edges when the pixels are scanned in the lateral direction (in the direction parallel to the parking frames S) (corresponding to the image of Figure 7(b)). The reason for this is that the width of segment m1 is less than the length of segment m1 and hence an extracted edge is shortened. In view of this, the marker M according to the modality includes a segment m1 and the other segment m2 not parallel to each other, so as to designate the point of intersection between the segment m1 and the other segment m2 with high precision.
    [051] As described above, the embodiment of the present invention can achieve the following effects.
    [052] Marker M is located on the side where vehicle 200 enters when parked opposite power transmission coil unit 102. Marker M includes at least two segments (m1, m2) not parallel to each other and has a configuration in which one end of a segment m1 is connected to the other segment m2. The power transmission coil 12 is located and separated by a predetermined distance from the intersection point C2 of the two segments (m1, m2) in the direction CL1 where a segment m1 extends. Therefore, the marker recognition unit 42 can designate the intersection point C2 of the two segments (m1, m2) and the direction CL1 where a segment m1 extends from the intersection point C2 with high accuracy with respect to top view image generated by the viewpoint conversion processing unit 41. Therefore, the power transmission coil designating unit 43 can designate the position of the power transmission coil unit 102 (the power transmission coil unit 102). 12) energy with high accuracy based on intersection point C2 and direction CL1.
    [053] As a comparative example, a case where a part of a segment m1 other than one end of it intersects with the other segment m2 is compared with the present modality. In such a case, the direction CL1 in which a segment m1 extends branches in two opposite directions from the intersection point C2 between one segment m1 and the other segment m2. As a result, the CL1 direction towards the parking target from the C2 intersection point is hardly distinguished from the opposite. However, the present embodiment can easily designate the direction CL1 in which a segment m1 extends as long as one end of a segment m1 is connected to the other segment m2.
    [054] When marker M is a mark drawn on a street surface, part of the segments (m1, m2) disappears due to deterioration of marker M over time. Here, as a comparative example, a case where marker M includes only one segment m1 is compared with the present embodiment. In such a case, one end of segment m1 is replaced by intersection point C2 according to modality. If one end of segment m1 disappears due to deterioration over time, the position of one end of segment m1 changes. As another comparative example, a case where a circular marker instead of another segment m2 is connected to one end of a segment m1 is compared with the present modality. In such a case, the center of the circular marker is replaced by the C2 intersection point according to the modality. If part of the circular marker disappears due to deterioration over time, the center position of the circular marker changes. According to the present modality, in comparison with these comparative examples, one end of a segment m1 is connected to the other segment m2. Even when part of a segment m1 or another segment m2 disappears due to deterioration over time, the intersection point C2 between one segment m1 and the other segment m2 does not change easily. Consequently, the position of the power transmitting coil unit 102 (the power transmitting coil 12) can be designated with high accuracy since the intersection point C2 and the direction CL1 do not change easily even when part of the marker M disappears. due to deterioration over time.
    [055] Even under a condition where image recognition of marker M by camera 31 is difficult at night or due to rainy weather, marker M where one end of one segment m1 is connected to the other segment m2 is superior to markers of the comparative examples described above in designating a "point (the point of intersection C2)" and a "direction (the direction CL1 in which a segment m1 extends)".
    [056] One segment m1 is at a right angle to the other segment m2. Thus, the intersection point C2 between a segment m1 and another segment m2 can be designated easily and accurately. The angle formed by a segment m1 with another segment m2 is not easily compressed by edge extraction processing.
    [057] The straight line CL1 continued and extending from a segment m1 passes through the middle C1 of the power transmission coil 12. This facilitates the positioning of the power receiving coil 22 in the middle C1 of the power transmission coil 12. Thus, vehicle 200 can be parked so as to increase power transmission efficiency.
    [058] One segment m1 is larger than the other segment m2, and one end of a segment m1 is connected to the midpoint of the other segment m2. The connection relationship between the m1 segment and the other m2 segment facilitates the distinction between S parking frames and an m1 segment.
    [059] The end of a segment m1 connected to another segment m2 is located closer to the power transmission coil than the end parts of S parking frames. This makes it easier to distinguish between an m1 segment and S parking frames in the recognition processing of the M marker.
    [060] The shape of the marker M in the camera image may change depending on the position of the vehicle 200. As a result, the intersection point C2 and the direction CL1 in which a segment m1 extends from the intersection point C2 may not be accurately designated in recognition processing of marker M. In order to handle this, the intersection point C2 between the two segments (m1, m2) and the direction CL1 in which a segment m1 extends from the intersection point C2 are designated on the basis of the converted viewpoint image obtained in such a way as to convert the viewpoint of the camera image at a position above the camera 31. Due to the converted viewpoint image seen from above of the camera 31, the intersection point C2 and direction CL1 can be assigned stably and accurately regardless of the position where the camera image is taken.
    [061] Since the marker M is provided on the side where the vehicle 200 enters when parked, the vehicle 200 can be moved towards the power transmission coil unit 102, in such a way as to refer to the marker M as a guide for the power transmitting coil unit 102, even when, for example, the transmitting power coil unit 102 is not shown in the top view.
    [062] When the marker M is composed of a luminous body, such as an LED, the power transmission coil unit 102 itself is difficult to be visually recognized during night or rain, which makes it difficult to recognize the target for parking. The light emission of the marker M in accordance with the present embodiment facilitates the designation of the position of the power transmission coil unit 102.
    [063] As a parking area often accommodates a large number of vehicles being parked, recognition of the parking target tends to be difficult because the power transmission coil unit 102 can be hidden by other vehicles even when visibility is Good. In accordance with the present embodiment, however, the marker M is located on the side that the vehicle 200 enters when parked on the opposite side of the power transmission coil unit 102. Therefore, the marker M can be recognized without being hidden. by other vehicles. Therefore, the target parking position can be easily designated via the marker M. (First example modified)
    [064] Although an m1 segment shown in Figure 4 is connected to the power transmit coil unit 102, an m1 segment is not required to be connected to the power transmit coil unit 102, as shown in Figure 10. With the marker M having the shape shown in Figure 10, the intersection point C2 and the direction CL1 in which a segment m1 extends can also be designated with high precision in the same way as the marker M shown in Figure 4. (Second modified example)
    [065] Although one end of a segment m1 is connected to the midpoint of another segment m2, one end of a segment m1 can be connected to an end of another segment m2, as shown in Figure 11. With marker M having the shape shown in Figure 11, the intersection point C2 between one segment m1 and the other segment m2 can also be designated with high precision in the same way as the marker M shown in Figure 4. (Third modified example)
    [066] The wireless power supply device 100 shown in Figure 2 and Figure 4 is provided with the power transmission coil unit 102 between the wheel chocks 51. This configuration is suitable for the vehicle side unit wherein the power receiving coil 22 is placed between the rear wheels of the vehicle 200. The wireless power supply device 100 according to the embodiment can also be applied to a case of a unit on the side of the vehicle in which the power receiving coil 22 is placed on the front side of the rear wheels of vehicle 200. For example, as shown in Figure 12, even when power transmitting coil unit 102 is located near the side where vehicle 200 enters when parked in the parking space, marker M may still be positioned closer to the side vehicle 200 enters when parked than power transmission coil unit 102.
    [067] Although the present invention has been described above with respect to examples, the present invention is not limited to descriptions thereof, and it will be clear to those skilled in the art that various modifications and improvements can be made.
    [068] Although the modality described above designates the intersection point C2 between the two segments (m1, m2) and the direction CL1 in which a segment m1 extends from the intersection point C2 based on the converted viewpoint image, the intersection point C2 and direction CL1 can also be designated based on the camera image before the viewpoint conversion is done.
    [069] Although the modality has exemplified the case where a segment m1 is at right angle to another segment m2, the angle formed by a segment m1 with another segment m2 can be other than at right angle.
    [070] Although the modality has exemplified the case where the marker M is composed of a segment m1 and the other segment m2, the marker M can still include a third segment or a marker having a different shape.
    [071] The present embodiment employs the M marker composed of an object visually recognized by the naked eye, but not limited to it, and the M marker can be an object not visually recognized by the naked eye, but visually recognized through an image of camera or a bird's-eye view from above. Industrial Applicability
    [072] The wireless power supply device and the parking assistant device according to the embodiment of the present invention can accurately designate the position of the power transmission coil unit as a target for parking by recognizing the point of intersection C2 between the two segments (m1, m2) and the direction CL1 in which a segment m1 extends from the intersection point C2. The wireless power supply device and the parking assistant device according to the embodiment of the present invention are therefore industrially applicable. Reference Symbol List 100 - Wireless Power Supply Device 102 - Power Transmission Coil Unit 103 - Power Transmission Coil 200 - Vehicle 104 - Power Receive Coil 105 - Controller 106 - Camera 107 - Power Unit display 108 - Viewpoint conversion processing unit 109 - Marker recognition unit 110 - Power transmission coil designation unit 111 - Parking assistant unit 112 - Middle of power transmission coil 113 - Intersection point between one segment and the other segment CL1 - Direction in which a segment extends from the intersection point C2 M - Marker S - Parking frame
    权利要求:
    Claims (7)
    [0001]
    1. Wireless power supply device (100) provided on a ground in a predetermined parking position, the device comprising: a power transmission coil (12) for transmitting electrical energy to a power receiving coil (22) provided in a vehicle (200) via a wireless connection when the vehicle (200) is parked in the predetermined parking position; a power transmission coil unit (102) housing the power transmission coil (12); and a marker (M) provided closer to a side where the vehicle (200) enters when parked in the predetermined parking position than to the power transmission coil unit (102), CHARACTERIZED by the fact that the marker (M) comprises a first segment (m1) and a second segment (m2) not parallel to each other and has a configuration in which an end portion of the first segment (m1) is placed on the second segment (m2), and the power transmission coil (12) being separated by a predetermined distance from a point (C2) of intersection of the first segment (m1) and the second segment (m2) in a direction in which the first segment (m1) extends.
    [0002]
    2. Wireless power supply device (100), according to claim 1, CHARACTERIZED by the fact that the first segment (m1) is at a right angle to the second segment (m2).
    [0003]
    3. Wireless power supply device (100), according to claim 1 or 2, CHARACTERIZED by the fact that a continuous straight line extending from the first segment (m1) passes through a medium (C1) of the power transmission coil (12).
    [0004]
    4. Wireless power supply device (100), according to claim 2, CHARACTERIZED by the fact that the first segment (m1) is larger than the second segment (m2), and the end part of the first segment (m1) is connected to a midpoint (C2) of the second segment (m2).
    [0005]
    5. Wireless power supply device (100) according to any one of claims 1 to 4, CHARACTERIZED by the fact that the end part of the first segment (m1) connected to the second segment (m2) is located closer of the power transmission coil (12) than an end part of a parking frame (S).
    [0006]
    6. Parking assist device suitable to be used before transmitting electrical energy from an energy transmitting coil (12) supplied on a ground in a predetermined parking position to an energy receiving coil (22) supplied on a vehicle (200) via a wireless connection, wherein a marker (M) is provided closer to a side where the vehicle (200) enters when parked in the predetermined parking position than to the power transmission coil (12) , CHARACTERIZED by the fact that the marker (M) comprises a first segment (m1) and a second segment (m2) not parallel to each other and has a configuration in which an end part of the first segment (m1) is connected to the second segment (m2), the parking assist device comprising: a camera (31) for capturing images of the marker (M) to obtain a camera image; a marker recognition unit (42) configured to designate a point (C2) of intersection of the first segment (m1) and the second segment (m2) and a direction in which the first segment (m1) extends from the point ( C2) of intersection based on camera image; and a power transmission coil designation unit (43) configured to designate a position of the power transmission coil (12) separated by a predetermined distance from the intersection point (C2) in the direction in which the first segment ( m1) extends.
    [0007]
    7. Parking assistant device according to claim 6, CHARACTERIZED by the fact that it further comprises a viewpoint conversion processing unit (41) configured to convert a viewpoint of the camera image into a position above the camera (31) for generating a converted viewpoint image, wherein the marker recognition unit (42) designates the point (C2) of intersection of the first segment (m1) and the second segment (m2) and the direction in which the first segment (m1) extends from the intersection point (C2) based on the converted viewpoint image generated by the viewpoint conversion processing unit (41).
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    同族专利:
    公开号 | 公开日
    EP3054558A4|2016-11-02|
    CN105593054A|2016-05-18|
    JP6119868B2|2017-04-26|
    EP3054558A1|2016-08-10|
    US10000135B2|2018-06-19|
    JPWO2015045141A1|2017-03-02|
    US20160243955A1|2016-08-25|
    MX351784B|2017-10-30|
    MX2016003976A|2016-06-02|
    EP3054558B1|2019-11-06|
    WO2015045141A1|2015-04-02|
    BR112016007088A2|2017-08-01|
    KR20160046875A|2016-04-29|
    RU2618514C1|2017-05-04|
    CN105593054B|2018-08-28|
    KR101778480B1|2017-09-13|
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    法律状态:
    2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-01-07| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-06-15| B15K| Others concerning applications: alteration of classification|Free format text: AS CLASSIFICACOES ANTERIORES ERAM: H02J 17/00 , B60L 11/18 , B60M 7/00 Ipc: B60L 53/126 (2019.01), H02J 50/80 (2016.01), B60L |
    2021-06-22| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-17| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 30/09/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/JP2013/076499|WO2015045141A1|2013-09-30|2013-09-30|Wireless power supply device and parking support device|
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