JP2007252027A - Contactless charging system - Google Patents

Contactless charging system Download PDF

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JP2007252027A
JP2007252027A JP2006068838A JP2006068838A JP2007252027A JP 2007252027 A JP2007252027 A JP 2007252027A JP 2006068838 A JP2006068838 A JP 2006068838A JP 2006068838 A JP2006068838 A JP 2006068838A JP 2007252027 A JP2007252027 A JP 2007252027A
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power
conductive case
power receiver
power transmission
chassis
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JP4563950B2 (en
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Yuichi Murase
有一 村瀬
Yusuke Yasukawa
裕介 安川
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Fujitsu Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract

<P>PROBLEM TO BE SOLVED: To connect noise on the power receiver side from the conductive case of a power receiver to ground through the conductive case of a contactless power transmission device. <P>SOLUTION: The contactless charging system includes: a movable device 3 with a battery built therein; the power receiver 2 that is fixed on the movable device 3 and supplies charging power to the internal battery; the contactless power transmission device 1 that transmits power to the power receiver 2 through coupling of coils; and conductive cases 34, 22, 13 for respectively housing the movable device 3, power receiver 2, and contactless power transmission device 1. The conductive case 34 of the movable device and the conductive case 22 of the power receiver are insulated from each other. During charging, a certain electrostatic machine coupled impedance with the power transmission frequency between the conductive case 34 of the movable device and the conductive case 22 of the power receiver is ensured. This electrostatic coupling impedance is twice or more the electrostatic coupling impedance between the conductive case 13 of the contractless power transmission device and the conductive case 22 of the power receiver. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、案内を行う移動ロボットのように充電可能な電池（バッテリ）を内蔵し、電池の容量が不足してくると充電するために充電ステーションに移動し、無接点送電器（装置）により電池を充電することができる無接点充電システムに関し、特に、受電コイルのシャーシ（受電器シャーシ）をロボットのシャーシに電気的に接続せず、送電器のシャーシに静電容量で接地することで充電時のＥＭＣノイズの放射を抑制する無接点充電システムに関する。ここでＥＭＣノイズとは、電子機器が雑音を発生して他の機器の妨害を与えたり、逆に他の機器による雑音のために誤動作するノイズのことである。   The present invention incorporates a rechargeable battery (battery) like a mobile robot that performs guidance, and moves to a charging station for charging when the battery capacity becomes insufficient. The present invention relates to a non-contact charging system that can charge a battery, and in particular, charging is performed by grounding the power receiving coil chassis (power receiving chassis) to the power transmitting chassis without electrostatic connection to the robot chassis. The present invention relates to a contactless charging system that suppresses emission of EMC noise at the time. Here, the EMC noise is noise that causes an electronic device to generate noise and interfere with other devices, or to malfunction due to noise caused by other devices.

従来、電子機器の電磁放射を低減することが課題となっている。一方、移動ロボットは内蔵電池（バッテリ）を充電するために充電ステーションに移動する必要がある。充電ステーションでは、安全性やメンテナンス容易性のために無接点送電装置を使うことが多い。   Conventionally, it has been a problem to reduce electromagnetic radiation of electronic equipment. On the other hand, the mobile robot needs to move to a charging station in order to charge a built-in battery. In a charging station, a non-contact power transmission device is often used for safety and ease of maintenance.

コイル間のカップリングで電力を受け取る無接点送電システムにおいては、電力搬送波が電磁波ノイズとして周囲に漏れやすい。これを防ぐためにはコイルの周囲を、導電性の金属のケースで覆い、そのケースを接地することが通常の手法である。このとき、無接点送電装置の送電器と受電器は、電磁的に結合するだけで電極やシャーシの機械的な接触はない。送電側は施設に据え置くため接地が容易であるが、ロボット側に搭載する受電器側は移動するため、ワイヤ等を用いた接地ができない。このため、受電器は、大地接地ができずにＥＭＣノイズを発生しがちであった。   In a contactless power transmission system that receives power through coupling between coils, a power carrier wave is likely to leak to the surroundings as electromagnetic noise. In order to prevent this, the usual method is to cover the coil with a conductive metal case and ground the case. At this time, the power transmitter and the power receiver of the non-contact power transmission apparatus are merely electromagnetically coupled, and there is no mechanical contact between the electrodes and the chassis. Since the power transmission side is installed at the facility, grounding is easy, but since the power receiver side mounted on the robot side moves, grounding using wires or the like cannot be performed. For this reason, the power receiver tends to generate EMC noise without grounding.

また、従来、電気自動車等のバッテリを無接点で充電するのに、送電器と受電器のハウジング（シャーシ）を機械的に接触して接地を行い、ノイズを抑制するものがあった（特許文献１、２参照）。
特開平８−６５９２７号公報 特開２００１−１６０５１９号公報 Conventionally, in order to charge a battery of an electric vehicle or the like without contact, there is one that suppresses noise by mechanically contacting a power transmitter and a housing (chassis) of a power receiver to perform grounding (Patent Document) 1 and 2).
JP-A-8-65927 JP 2001-160519 A

前記従来のものは次のような課題があった。
（１）：電磁的に結合するだけで電極やシャーシの機械的な接触がないものは、ロボット側等に搭載する受電器側は移動するため、ワイヤ等を用いた接地ができない。このため受電器は大地接地ができずにＥＭＣノイズを発生しがちであった。 The conventional device has the following problems.
(1): A device that is electromagnetically coupled but has no mechanical contact with the electrode or chassis moves on the power receiver side mounted on the robot side or the like, and cannot be grounded using a wire or the like. For this reason, the power receiver cannot easily be grounded and tends to generate EMC noise.

（２）：送電器と受電器のハウジングを機械的に接触して接地を行いノイズを抑制するものは、機械的な接触なく充電を行うことができないものであった。   (2): Those that suppress the noise by mechanically contacting the power transmitter and the housing of the power receiver to be grounded cannot be charged without mechanical contact.

本発明は、このような従来の課題を解決し、送電器側と受電器側の機械的な接触がなくても、充電中の受電器側からノイズが発生しないようにすることを目的とする。   An object of the present invention is to solve such a conventional problem and to prevent noise from being generated from the power receiving side during charging even if there is no mechanical contact between the power transmitting side and the power receiving side. .

図１は本発明の原理説明図である。図１中、１は無接点送電装置、２は受電器、３は移動可能装置（移動ロボット）、４は絶縁層、１１は送電コイル、１３は無接点送電装置の導電性ケース（シャーシ）、２１は受電コイル、２２は受電器の導電性ケース（シャーシ）、３３はバッテリ電源システム、３４は移動可能装置（移動ロボット）の導電性ケース（シャーシ）である。   FIG. 1 is a diagram illustrating the principle of the present invention. In FIG. 1, 1 is a non-contact power transmission device, 2 is a power receiver, 3 is a movable device (mobile robot), 4 is an insulating layer, 11 is a power transmission coil, 13 is a conductive case (chassis) of the non-contact power transmission device, Reference numeral 21 is a power receiving coil, 22 is a conductive case (chassis) of the power receiver, 33 is a battery power supply system, and 34 is a conductive case (chassis) of a movable device (mobile robot).

本発明は、上記従来の課題を解決するため、次のように構成した。
（１）：電池が内蔵された移動可能装置３と、前記移動可能装置３に固定され前記内蔵電池を充電する電力を供給する受電器２と、コイルのカップリングで前記受電器２に電力を搬送する無接点送電装置１と、前記移動可能装置３、前記受電器２、前記無接点送電装置１を収納するそれぞれの導電性ケース３４、２２、１３とを備え、
前記移動可能装置の導電性ケース３４と前記受電器の導電性ケース２２間は絶縁され、充電時に前記移動可能装置の導電性ケース３４と前記受電器の導電性ケース２２の間の前記電力搬送周波数における静電器結合インピーダンスを前記無接点送電装置の導電性ケース１３と前記受電器の導電性ケース２２の間の静電器結合インピーダンスに対して２倍以上確保する。このため、受電器側のノイズは受電器の導電性ケース２２から無接点送電装置の導電性ケース１３を通して接地することができる。 In order to solve the above-described conventional problems, the present invention is configured as follows.
(1): A movable device 3 with a built-in battery, a power receiver 2 that is fixed to the movable device 3 and supplies power for charging the built-in battery, and power is supplied to the power receiver 2 by coupling of a coil. A non-contact power transmission device 1 to be transported, and the movable device 3, the power receiver 2, and the respective conductive cases 34, 22, and 13 for housing the non-contact power transmission device 1,
The conductive case 34 of the movable device and the conductive case 22 of the power receiver are insulated, and the power carrier frequency between the conductive case 34 of the movable device and the conductive case 22 of the power receiver during charging. Is ensured at least twice the electrostatic coupling impedance between the conductive case 13 of the non-contact power transmission device and the conductive case 22 of the power receiver. For this reason, the noise on the power receiver side can be grounded from the conductive case 22 of the power receiver through the conductive case 13 of the non-contact power transmission device.

（２）：前記（１）の無接点充電システムにおいて、前記移動可能装置３は、移動ロボットであることを特徴とする。このため、ロボットの導電性ケースに電力搬送ノイズが回りこまないので、ロボットの導電性ケース内の機器とのノイズ干渉を防止することができる。   (2): In the contactless charging system of (1), the movable device 3 is a mobile robot. For this reason, since electric power conveyance noise does not circulate in the conductive case of the robot, noise interference with devices in the conductive case of the robot can be prevented.

本発明によれば次のような効果がある。
（１）：移動可能装置の導電性ケースと受電器の導電性ケース間は絶縁され、充電時に前記移動可能装置の導電性ケースと前記受電器の導電性ケースの間の電力搬送周波数における静電器結合インピーダンスを無接点送電装置の導電性ケースと前記受電器の導電性ケースの間の静電器結合インピーダンスに対して２倍以上確保するため、受電器側のノイズは受電器の導電性ケースから無接点送電装置の導電性ケースを通して接地することができる。 The present invention has the following effects.
(1): The electrostatic case at the power carrier frequency between the conductive case of the movable device and the conductive case of the power receiver is insulated between the conductive case of the movable device and the conductive case of the power receiver during charging In order to ensure the coupling impedance more than twice the electrostatic coupling impedance between the conductive case of the non-contact power transmission device and the conductive case of the power receiver, noise on the power receiver side is eliminated from the conductive case of the power receiver. It can be grounded through the conductive case of the contact power transmission device.

（２）：移動可能装置を移動ロボットとするため、ロボットの導電性ケースに電力搬送ノイズが回りこまないので、ロボットの導電性ケース内の機器とのノイズ干渉を防止することができる。   (2): Since the movable device is a mobile robot, power transfer noise does not circulate in the conductive case of the robot, so that noise interference with devices in the conductive case of the robot can be prevented.

無接点送電装置からコイルのカップリングで電力を受け取る受電器は、受電用コイルとそれを囲む金属ケース（シャーシ）から構成される。さらに、無接点送電装置も送電用コイルとそれを囲む金属ケースから構成され、送電器の金属ケースは接地される。受電器の金属ケース（シャーシ）を延長したカプリング金属板を、受電器が無接点送電装置に近づいたときに受電器の金属ケース（シャーシ）と無接点送電装置の金属ケースが静電結合するように設ける。   A power receiver that receives electric power from a contactless power transmitting device through coil coupling includes a power receiving coil and a metal case (chassis) surrounding the power receiving coil. Furthermore, the non-contact power transmission device is also composed of a power transmission coil and a metal case surrounding the power transmission coil, and the metal case of the power transmitter is grounded. Coupling metal plates that extend the metal case (chassis) of the power receiver are electrostatically coupled to the metal case (chassis) of the power receiver and the metal case of the non-contact power transmission device when the power receiver approaches the contactless power transmission device. Provided.

この受電器を搭載した移動可能装置（ロボット）において、移動可能装置のシャーシと受電器の金属ケースの間の静電結合を、概（充電するため前記受電器が無接点送電装置に近づいたとき）受電器の金属ケースと無接点送電装置の金属ケース間の静電結合に対し、電力搬送ノイズ周波数においてインピーダンスを２倍以上確保して絶縁した構成を有するものである。   In a movable device (robot) equipped with this power receiver, the electrostatic coupling between the chassis of the movable device and the metal case of the power receiver is roughly (when the power receiver approaches the non-contact power transmission device for charging). ) With respect to the electrostatic coupling between the metal case of the power receiver and the metal case of the non-contact power transmission device, it has a configuration in which an impedance is secured and insulated at a power carrier noise frequency at least twice.

（１）：無接点充電器の説明
図２は本発明の無接点充電システムの説明図である。図２において、無接点充電システム（無接点充電器）には、電力の送電側である無接点送電器１、電力の受電側である受電器２、移動することが可能な電子機器であるロボット３、ロボット３と受電器２の金属ケース間を絶縁する絶縁層４が設けてある。 (1): Description of contactless charger FIG. 2 is an explanatory view of a contactless charging system of the present invention. In FIG. 2, the contactless charging system (contactless charger) includes a contactless transmitter 1 that is a power transmission side, a power receiver 2 that is a power reception side, and a robot that is a movable electronic device. 3. An insulating layer 4 is provided for insulating the robot 3 from the metal case of the power receiver 2.

無接点送電器１には、送電コイル１１、送電回路１２、金属ケース（シャーシ）１３、外部電源１４が設けてある。受電器２には、受電コイル２１、金属ケース（シャーシ）２２が設けてある。ロボット３には、周辺デバイス３１、制御回路３２、バッテリ電源システム３３、ロボットシャーシ（金属ケース）３４が設けてある。   The contactless power transmitter 1 includes a power transmission coil 11, a power transmission circuit 12, a metal case (chassis) 13, and an external power source 14. The power receiver 2 is provided with a power receiving coil 21 and a metal case (chassis) 22. The robot 3 includes a peripheral device 31, a control circuit 32, a battery power supply system 33, and a robot chassis (metal case) 34.

受電器２の送電コイル１１は、送電用の電磁波（電力搬送波）を出力するものである。送電回路１２は、外部電源１４からの交流（例えば、ＡＣ１００Ｖ）を直流（ＤＣ）に変換し、該変換した直流（ＤＣ）を無接点電力搬送用（通常外部電源１４の周波数より高い）の交流（ＡＣ）に変換して送電コイル１１に供給する電力変換器（ＡＣ−ＤＣ−ＡＣ変換器）である。金属ケース（シャーシ）１３は、送電用コイル１１及び送電回路１２等を収納する導電性のケースであり、接地（アース）され外部に電磁波ノイズが出ないようにしたものである。外部電源１４は、送電回路１２とケーブルで接続されるＡＣコンセントである。   The power transmission coil 11 of the power receiver 2 outputs an electromagnetic wave (power carrier wave) for power transmission. The power transmission circuit 12 converts alternating current (for example, AC 100V) from the external power source 14 into direct current (DC), and the converted direct current (DC) is AC for contactless power transfer (usually higher than the frequency of the external power source 14). This is a power converter (AC-DC-AC converter) that converts (AC) and supplies it to the power transmission coil 11. The metal case (chassis) 13 is a conductive case that houses the power transmission coil 11, the power transmission circuit 12, and the like, and is grounded (earthed) so as not to generate electromagnetic noise. The external power supply 14 is an AC outlet connected to the power transmission circuit 12 with a cable.

受電器２の受電コイル２１は、送電用コイル１１からの電力搬送波を受け、電磁誘導で交流電力を発生するものである。なお、図示はしていないが受電コイル２１で発生した交流電力は、バッテリ充電電圧である直流電力に変換（整流：ＡＣ−ＤＣ変換）してバッテリ電源システム３３に供給するものである。金属ケース（シャーシ）２２は、受電コイル２１、ＡＣ−ＤＣ変換器等を収納する導電性のケースであり、外部に電磁波ノイズが出ないようにするものである。   The power receiving coil 21 of the power receiver 2 receives a power carrier wave from the power transmission coil 11 and generates AC power by electromagnetic induction. Although not shown, the AC power generated in the power receiving coil 21 is converted into DC power that is a battery charging voltage (rectification: AC-DC conversion) and supplied to the battery power supply system 33. The metal case (chassis) 22 is a conductive case that houses the power receiving coil 21, the AC-DC converter, and the like, and prevents electromagnetic wave noise from being generated outside.

ロボット３の周辺デバイス３１は、各種のセンサ、各種のモータ等のロボットの装置である。制御回路３２は、ロボットのセンサやモータ等の制御を行う制御手段である。バッテリ電源システム３３は、バッテリを内蔵し、ロボットの制御回路に電力を供給すると共にバッテリの電力が少なくなると要充電等の出力を行い、無接点充電を行うコントロール回路を有するものである。ロボットシャーシ（金属ケース）３４は、周辺デバイス３１、制御回路３２、バッテリ電源システム３３等を収納する導電性のケースであり、バッテリの一方の端子が接続されバッテリのリターンとなるものである。   The peripheral device 31 of the robot 3 is a robot device such as various sensors and various motors. The control circuit 32 is a control means for controlling the sensors and motors of the robot. The battery power supply system 33 has a built-in battery, supplies electric power to the control circuit of the robot, and has a control circuit for performing contactless charging by performing output such as charging required when the battery power decreases. The robot chassis (metal case) 34 is a conductive case that houses the peripheral device 31, the control circuit 32, the battery power supply system 33, and the like, and is connected to one terminal of the battery to return the battery.

なお、無接点送電器１の金属ケース１３、受電器２の金属ケース２２、ロボット３の金属ケース３４は、安全のため表面を絶縁膜で被覆することもできる。   Note that the metal case 13 of the contactless power transmitter 1, the metal case 22 of the power receiver 2, and the metal case 34 of the robot 3 can be covered with an insulating film for safety.

（２）：無接点充電器の動作説明
無接点送電装置の送電コイル１１に電力搬送電流が例えばＡＣ駆動で流れ、これに受電器のコイル２１を対面させることで受電器のコイル２１に電流が誘起され、無接点で電力を搬送することができる。送電側の金属シャーシ１３は，ケーブルで接地（アース）され搬送波が周囲に漏れぬように電磁シールドされる。 (2): Explanation of operation of the non-contact charger The power carrier current flows to the power transmission coil 11 of the non-contact power transmission device by, for example, AC driving, and the current is supplied to the coil 21 of the power receiver by facing the coil 21 of the power receiver. Induced and can carry power without contact. The metal chassis 13 on the power transmission side is grounded (grounded) with a cable and is electromagnetically shielded so that the carrier wave does not leak around.

受電器側も金属シャーシ２２を有する。受電器２と送電器１の間は電力搬送波の周波数で静電カップリングするように互いのシャーシ（１３、２２）間を対面させるようにせしめる（機械的に接触する必要はない）。一方、受電器２側のシャーシ２２とロボット３のシャーシ３４間は、所定の厚さと距離を設け、受電器２２と送電器１のカップリング（シャーシ１３、２２間）に対し２倍以上のインピーダンスを有する電気的な絶縁層４を設ける。これにより、電力供給時に、送受電コイル１１、２１からの電磁波ノイズを他の制御機器等とは分離することができ、送受電コイル１１、２１の周囲の金属ケース１３、２２でシールドすることができる。   The power receiver side also has a metal chassis 22. Between the power receiver 2 and the power transmitter 1, the chassis (13, 22) face each other so as to be electrostatically coupled at the frequency of the power carrier (no mechanical contact is required). On the other hand, a predetermined thickness and distance are provided between the chassis 22 on the power receiver 2 side and the chassis 34 of the robot 3, and the impedance is twice or more than the coupling between the power receiver 22 and the power transmitter 1 (between the chassis 13 and 22). An electrically insulating layer 4 having the following is provided. Thereby, at the time of electric power supply, the electromagnetic wave noise from the power transmission / reception coils 11 and 21 can be separated from other control devices, and can be shielded by the metal cases 13 and 22 around the power transmission / reception coils 11 and 21. it can.

このような送電コイルと受電コイルを電磁結合することは従来もあり、送電器の金属ケースと受電器の金属ケースをコネクタあるいはフィンガーにより導通を取る考えはあったが、受電コイルケースは従来ロボットシャーシに設置（接続固定）するものであった。これに対し、本発明は、ロボットシャーシと受電コイルケースは、絶縁して配置し、受電コイルケースに発生する電磁波ノイズは、外部の送電器のシャーシに対向する対向板を受電器シャーシに設け、対向板を経由で静電結合（高周波接地）することができる。すなわち、受電器シャーシに発生する電力搬送波の電磁波ノイズは、接地されている送電器のシャーシにＡＣカップリングすることでシールドすることができる。   Conventionally, such a power transmission coil and a power reception coil are electromagnetically coupled, and there has been an idea of connecting a metal case of a power transmitter and a metal case of a power receiver by a connector or a finger. Installed (fixed connection). In contrast, according to the present invention, the robot chassis and the power receiving coil case are arranged to be insulated, and electromagnetic wave noise generated in the power receiving coil case is provided with a counter plate facing the chassis of the external power transmitter on the power receiver chassis. Electrostatic coupling (high frequency grounding) can be performed via the counter plate. That is, the electromagnetic wave noise of the power carrier wave generated in the power receiving chassis can be shielded by AC coupling to the grounded power transmitting chassis.

これにより、装置本体（ロボット）のシャーシに電力搬送ノイズが回りこまないため、シールド効果が大きい。さらには装置本体内部の機器（図２ではロボットシャーシ内に搭載した機器）のノイズ対策との干渉がない。   Thereby, since electric power conveyance noise does not circulate in the chassis of the apparatus main body (robot), the shielding effect is great. Furthermore, there is no interference with noise countermeasures of the equipment inside the apparatus main body (the equipment mounted in the robot chassis in FIG. 2).

なお、受電器シャーシの対向板は、送電器のシャーシとの静電結合が十分でない場合は受電器シャーシの一部を送電器のシャーシ方向に延長（又は送電器のシャーシの一部を延長）して対向面積を拡大することができる。   If the electrostatic coupling between the power receiver chassis and the power transmitter chassis is not sufficient, a part of the power receiver chassis extends in the direction of the power transmitter chassis (or a part of the power transmitter chassis extends). Thus, the facing area can be enlarged.

本発明の原理説明図である。It is a principle explanatory view of the present invention. 本発明の無接点充電システムの説明図である。It is explanatory drawing of the non-contact charge system of this invention.

符号の説明Explanation of symbols

１ 無接点送電装置
２ 受電器
３ 移動可能装置（移動ロボット）
４ 絶縁層
１１ 送電コイル
１３ 無接点送電装置の導電性ケース（シャーシ）
２１ 受電コイル
２２ 受電器の導電性ケース（シャーシ）
３３ バッテリ電源システム
３４ 移動可能装置（移動ロボット）の導電性ケース（シャーシ） DESCRIPTION OF SYMBOLS 1 Contactless power transmission device 2 Power receiver 3 Movable device (mobile robot)
4 Insulating layer 11 Power transmission coil 13 Conductive case (chassis) of contactless power transmission device
21 Power receiving coil 22 Conductive case of power receiver (chassis)
33 Battery power system 34 Conductive case (chassis) of movable device (mobile robot)

Claims (2)

電池が内蔵された移動可能装置と、
前記移動可能装置に固定され前記内蔵電池を充電する電力を供給する受電器と、
コイルのカップリングで前記受電器に電力を搬送する無接点送電装置と、
前記移動可能装置、前記受電器、前記無接点送電装置を収納するそれぞれの導電性ケースとを備え、
前記移動可能装置の導電性ケースと前記受電器の導電性ケース間は絶縁され、充電時に前記移動可能装置の導電性ケースと前記受電器の導電性ケースの間の前記電力搬送周波数における静電器結合インピーダンスを前記無接点送電装置の導電性ケースと前記受電器の導電性ケースの間の静電器結合インピーダンスに対して２倍以上確保することを特徴とした無接点充電システム。 A mobile device with a built-in battery;
A power receiver that is fixed to the movable device and supplies power for charging the built-in battery;
A non-contact power transmission device that conveys power to the power receiver by coupling of a coil;
Each of the movable device, the power receiver, and each conductive case that houses the contactless power transmission device,
The conductive case of the movable device and the conductive case of the power receiver are insulated, and the electrostatic coupling at the power carrier frequency between the conductive case of the movable device and the conductive case of the power receiver during charging A contactless charging system, wherein an impedance is secured at least twice as large as an electrostatic coupling impedance between a conductive case of the non-contact power transmission device and a conductive case of the power receiver. 前記移動可能装置は、移動ロボットであることを特徴とした請求項１記載の無接点充電システム。 The contactless charging system according to claim 1, wherein the movable device is a mobile robot.
JP2006068838A 2006-03-14 2006-03-14 Contactless charging system Expired - Fee Related JP4563950B2 (en)

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