JP2018082556A - vehicle - Google Patents
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- JP2018082556A JP2018082556A JP2016223097A JP2016223097A JP2018082556A JP 2018082556 A JP2018082556 A JP 2018082556A JP 2016223097 A JP2016223097 A JP 2016223097A JP 2016223097 A JP2016223097 A JP 2016223097A JP 2018082556 A JP2018082556 A JP 2018082556A
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
Description
本開示は、車両に関する。 The present disclosure relates to a vehicle.
特開２０１２−１８８１１６号公報に記載された非接触充電システムは、車両の下面に設けられた受電装置と、地面に配置された送電装置とを備える。送電装置は、上面に設けられた発光部を含む。車両は、車両の背面に設けられたカメラと、車を制御する制御部とを含む。 The non-contact charging system described in Japanese Patent Application Laid-Open No. 2012-188116 includes a power receiving device provided on the lower surface of a vehicle and a power transmitting device arranged on the ground. The power transmission device includes a light emitting unit provided on an upper surface. The vehicle includes a camera provided on the back surface of the vehicle and a control unit that controls the vehicle.
そして、受電装置を送電装置に位置合わせする際には、カメラは送電装置の発光部を撮像する。車両の制御部は、カメラが撮像した発光部の位置に基づいて、受電装置が送電装置上に位置するように車両を誘導する。 And when aligning a power receiving apparatus with a power transmission apparatus, a camera images the light emission part of a power transmission apparatus. The control unit of the vehicle guides the vehicle so that the power receiving device is positioned on the power transmission device based on the position of the light emitting unit captured by the camera.
しかし、受電装置が車両底面の中央部付近に配置された車両においては、位置合わせの過程に送電装置が車両の下面に入り込むことで車両に搭載されたカメラで送電装置の発光部を検知することができなくなる。 However, in a vehicle in which the power receiving device is arranged near the center of the bottom surface of the vehicle, the power transmitting device enters the lower surface of the vehicle during the alignment process, and the light emitting unit of the power transmitting device is detected by the camera mounted on the vehicle. Can not be.
そこで、受電装置の平坦面状の下面に位置合わせ用のマークを設け、送電装置にカメラを配置することが考えられる。この場合には、位置合わせ時には、送電装置のカメラが受電装置のマークを撮像し、車両に搭載された制御部がカメラが撮像した画像情報に基づいて、受電装置が送電装置の上方に位置するように車両を誘導する。 In view of this, it is conceivable that a mark for alignment is provided on the lower surface of the flat surface of the power receiving device, and the camera is disposed on the power transmitting device. In this case, at the time of alignment, the camera of the power transmission device images the mark of the power reception device, and the control unit mounted on the vehicle is positioned above the power transmission device based on the image information captured by the camera. To guide the vehicle.
しかし、受電装置の平坦面状の下面に位置合わせ用マークを配置すると、送電装置と受電装置とが離れた状態ではカメラはマークを斜めに撮像することになり、カメラはマークを良好に撮像することができない。その結果、制御部は、撮像した画像からマーカを検出することが困難となり、受電装置の位置を正確に把握することが困難になる。 However, if the alignment mark is arranged on the flat bottom surface of the power receiving device, the camera images the mark obliquely when the power transmitting device and the power receiving device are separated from each other, and the camera images the mark well. I can't. As a result, it is difficult for the control unit to detect the marker from the captured image, and it is difficult to accurately grasp the position of the power receiving apparatus.
本開示は、上記のような課題を鑑みてなされたものであって、その目的は、位置合わせ用のマークが車両の下面側に配置された車両において、送電装置と受電装置とが離れた状態であっても、送電装置に設けられたカメラが位置合わせ用のマークを良好に撮像することができる車両を提供することである。 The present disclosure has been made in view of the above-described problems, and the purpose thereof is a state in which a power transmission device and a power reception device are separated from each other in a vehicle in which an alignment mark is arranged on the lower surface side of the vehicle. Even so, it is an object of the present invention to provide a vehicle in which a camera provided in a power transmission device can satisfactorily image a mark for alignment.
本開示の車両は、車両の底面側に設けられ、外部に設けられた送電装置から非接触で電力を受電する受電装置と、車両の底面側に設けられた傾斜部と、傾斜部に設けられると共に、送電装置に設けられた撮像装置によって撮像されるマークと備える。上記傾斜部は、下方から上方に向かうにつれて車両の底面の外周縁部側に近づくように形成されたマーク配置面を含む。上記マークはマーク配置面に設けられる。 The vehicle according to the present disclosure is provided on the bottom surface side of the vehicle, and receives power from a power transmission device provided outside in a non-contact manner, an inclined portion provided on the bottom surface side of the vehicle, and an inclined portion. Along with a mark imaged by an imaging device provided in the power transmission device. The inclined portion includes a mark arrangement surface formed so as to approach the outer peripheral edge side of the bottom surface of the vehicle as it goes from below to above. The mark is provided on the mark arrangement surface.
上記の車両によれば、車両が送電装置から離れた位置から送電装置に近づく過程において、送電装置と受電装置とが離れた状態においてマーク載置面に設けられたマークの画角が小さくなることを抑制することができる。そのため、カメラがマークを撮像したマーク画像が大きくくずれた状態になることを抑制することができる。 According to the above-described vehicle, the angle of view of the mark provided on the mark placement surface is reduced when the vehicle is approaching the power transmission device from a position away from the power transmission device in a state where the power transmission device and the power reception device are separated from each other. Can be suppressed. Therefore, it is possible to prevent the mark image obtained by capturing the mark with the camera from being greatly displaced.
本開示に係る車両によれば、位置合わせ用のマークが車両の下面側に配置された車両において、送電装置と受電装置とが離れた状態であっても、送電装置に設けられたカメラが位置合わせ用のマークを良好に撮像することができる。 According to the vehicle according to the present disclosure, in the vehicle in which the alignment mark is arranged on the lower surface side of the vehicle, the camera provided in the power transmission device is positioned even if the power transmission device and the power reception device are separated from each other. The alignment mark can be imaged satisfactorily.
図１から図１０を用いて、本実施の形態に係る受電装置について説明する。なお、同一または実質的に同一の構成については同一の符号を付して重複した説明を省略する場合がある。 A power receiving device according to the present embodiment will be described with reference to FIGS. In addition, about the same or substantially the same structure, the same code | symbol may be attached | subjected and the overlapping description may be abbreviate | omitted.
図１は、本実施の形態１に係る受電装置１０を備えた車両１と、送電装置１１とを模式的に示す側面図である。この図１に示すように、車両１は、車両１の底面１３を形成するフロアパネル１４と、底面１３に設けられたバッテリ１２と、受電装置１０と、傾斜部１５，１６と、アンテナ１８と、ＥＣＵ１９とを含む。受電装置１０は受電コイル２０を含む。 FIG. 1 is a side view schematically showing a vehicle 1 including a power receiving device 10 according to the first embodiment and a power transmission device 11. As shown in FIG. 1, the vehicle 1 includes a floor panel 14 that forms a bottom surface 13 of the vehicle 1, a battery 12 provided on the bottom surface 13, a power receiving device 10, inclined portions 15 and 16, an antenna 18, and the like. , ECU19. The power receiving device 10 includes a power receiving coil 20.
送電装置１１は、送電コイル３０と、送電コイル３０を収容するケース３１と、ケース３１の上面に設けられたカメラ３２と、アンテナ３３とを含む。 The power transmission device 11 includes a power transmission coil 30, a case 31 that houses the power transmission coil 30, a camera 32 provided on the upper surface of the case 31, and an antenna 33.
受電装置１０が送電装置１１から非接触で電力を受電する際には、受電装置１０を送電装置１１の上方に位置するように車両１を移動させる。 When the power receiving device 10 receives power from the power transmitting device 11 in a non-contact manner, the vehicle 1 is moved so that the power receiving device 10 is positioned above the power transmitting device 11.
車両１が送電装置１１に向けて移動する際には、まず、カメラ３２はカメラ３２の周囲を撮像する。カメラ３２のレンズには、たとえば、魚眼レンズが採用されている。アンテナ３３は、カメラ３２が撮像した撮像データをアンテナ１８に送信し、ＥＣＵ１９はアンテナ１８から撮像データを取得する。ＥＣＵ１９は、この撮像データに魚眼補正を施し、補正後の撮像データに基づいて受電装置１０と送電装置１１との相対的な位置関係について算出する。 When the vehicle 1 moves toward the power transmission device 11, first, the camera 32 captures an image around the camera 32. As the lens of the camera 32, for example, a fisheye lens is employed. The antenna 33 transmits the image data captured by the camera 32 to the antenna 18, and the ECU 19 acquires the image data from the antenna 18. The ECU 19 performs fish-eye correction on the imaging data, and calculates the relative positional relationship between the power receiving device 10 and the power transmission device 11 based on the corrected imaging data.
車両１の底面１３側には受電装置１０の位置を示すマークが設けられており、ＥＣＵ１９はカメラ３２が撮像した撮像データからマークを検出して、受電装置１０および送電装置１１の相対的な位置関係を算出している。 A mark indicating the position of the power receiving device 10 is provided on the bottom surface 13 side of the vehicle 1, and the ECU 19 detects the mark from the image data captured by the camera 32, and the relative positions of the power receiving device 10 and the power transmitting device 11. The relationship is calculated.
しかし、たとえば、受電装置１０の下面のみにマークが設けられている場合には、受電装置１０が送電装置１１から離れているときには、カメラ３２がマークを撮像する画角が小さくなる。そのため、カメラ３２が当該マークを良好に撮像することができず、ＥＣＵ１９が補正後の撮像データからマークを検出することが困難となる。その結果、受電装置１０と送電装置１１との相対的な位置関係を把握することができないおそれがある。 However, for example, when the mark is provided only on the lower surface of the power receiving device 10, when the power receiving device 10 is separated from the power transmitting device 11, the angle of view at which the camera 32 captures the mark is reduced. Therefore, the camera 32 cannot capture the mark well, and it is difficult for the ECU 19 to detect the mark from the corrected imaging data. As a result, there is a possibility that the relative positional relationship between the power receiving device 10 and the power transmitting device 11 cannot be grasped.
そこで、本実施の形態に係る車両１においては、受電装置１０が送電装置１１から離れた状態であっても、受電装置１０の位置を示すマークをカメラ３２が良好に撮像することができるよう構成されている。 Therefore, the vehicle 1 according to the present embodiment is configured such that the camera 32 can satisfactorily capture the mark indicating the position of the power receiving device 10 even when the power receiving device 10 is away from the power transmitting device 11. Has been.
次に、図２などを用いて、受電装置１０などの構成について詳細に説明すると共に、上記マークについて説明する。 Next, the configuration of the power receiving device 10 and the like will be described in detail with reference to FIG.
図２は、車両１の底面を示す底面図である。この図２に示すように、受電装置１０は、バッテリ１２の下面に設けられており、車両１の底面１３側に配置されている。傾斜部１５，１６もバッテリ１２の下面側に配置されており、車両１の底面１３側に配置されている。 FIG. 2 is a bottom view showing the bottom surface of the vehicle 1. As shown in FIG. 2, the power receiving device 10 is provided on the lower surface of the battery 12 and is disposed on the bottom surface 13 side of the vehicle 1. The inclined portions 15 and 16 are also disposed on the lower surface side of the battery 12 and are disposed on the bottom surface 13 side of the vehicle 1.
受電装置１０は、受電コイル２０と、収容ケース２３と、図示しない整流器などの機器とを含む。収容ケース２３は、受電コイル２０を収容する樹脂ケース２１と、整流器などの機器を収容する金属ケース２２とを含む。 The power receiving device 10 includes a power receiving coil 20, a housing case 23, and devices such as a rectifier (not shown). The housing case 23 includes a resin case 21 that houses the power receiving coil 20 and a metal case 22 that houses equipment such as a rectifier.
受電装置１０は、受電コイル２０が車両１の幅方向の中央に位置するように配置されている。樹脂ケース２１は、金属ケース２２に対して車両１の幅方向に隣り合うように配置されている。 The power receiving device 10 is disposed such that the power receiving coil 20 is positioned at the center in the width direction of the vehicle 1. The resin case 21 is disposed adjacent to the metal case 22 in the width direction of the vehicle 1.
傾斜部１５は受電装置１０よりも車両１の前方側に配置されており、傾斜部１６は受電装置１０よりも車両１の後方側に配置されている。傾斜部１５，１６は車両１の幅方向に延びており、車両１の幅方向における傾斜部１５，１６の長さは収容ケース２３の長さと同じである。 The inclined portion 15 is disposed on the front side of the vehicle 1 with respect to the power receiving device 10, and the inclined portion 16 is disposed on the rear side of the vehicle 1 with respect to the power receiving device 10. The inclined portions 15 and 16 extend in the width direction of the vehicle 1, and the lengths of the inclined portions 15 and 16 in the width direction of the vehicle 1 are the same as the length of the housing case 23.
受電装置１０の前後に傾斜部１５，１６が設けられているため、凹凸のある路面を車両１が走行している際に、受電装置１０が路面の凸部と干渉する前に傾斜部１５，１６が凸部と干渉し、受電装置１０の保護が図られている。 Since the inclined portions 15 and 16 are provided before and after the power receiving device 10, when the vehicle 1 is traveling on an uneven road surface, the inclined portion 15 and before the power receiving device 10 interferes with the convex portion of the road surface. 16 interferes with the convex part, and the power receiving device 10 is protected.
図３は、受電装置１０と、傾斜部１５，１６とを示す側面図であり、図２のＩＩＩ方向から視たときの側面図である。 3 is a side view showing the power receiving device 10 and the inclined portions 15 and 16, and is a side view when viewed from the III direction of FIG.
図３に示すように、傾斜部１５は、上面４０と、側面４１と、マーク配置面４２とを含む。上面４０は、バッテリ１２の下面に接触するように配置されている。側面４１は、受電装置１０の側面と対向するように配置されている。マーク配置面４２は、側面４１よりも車両１の前面４側に位置している。マーク配置面４２は、マーク配置面４２の下端から上端に向かうにつれて、フロアパネル１４の外周縁部のうち前面４側の縁部に近づくように形成されている。 As shown in FIG. 3, the inclined portion 15 includes an upper surface 40, a side surface 41, and a mark arrangement surface 42. The upper surface 40 is disposed so as to contact the lower surface of the battery 12. The side surface 41 is disposed so as to face the side surface of the power receiving device 10. The mark arrangement surface 42 is located on the front surface 4 side of the vehicle 1 with respect to the side surface 41. The mark arrangement surface 42 is formed so as to approach the edge on the front surface 4 side in the outer peripheral edge of the floor panel 14 as it goes from the lower end to the upper end of the mark arrangement surface 42.
傾斜部１６は、上面４５と、側面４６と、マーク配置面４７とを含む。上面４５はバッテリ１２の下面と接触するように配置されている。側面４６は、受電装置１０の側面と対向するように配置されている。マーク配置面４７は側面４６よりも車両１の背面５側に位置している。マーク配置面４７は、下端から上端に向かうにつれて、フロアパネル１４の外周縁部のうち背面５側の縁部に位置かづくように形成されている。 The inclined portion 16 includes an upper surface 45, a side surface 46, and a mark arrangement surface 47. The upper surface 45 is disposed so as to contact the lower surface of the battery 12. The side surface 46 is disposed so as to face the side surface of the power receiving device 10. The mark arrangement surface 47 is located on the back surface 5 side of the vehicle 1 with respect to the side surface 46. The mark arrangement surface 47 is formed so as to be positioned at the edge on the back surface 5 side of the outer peripheral edge of the floor panel 14 as it goes from the lower end to the upper end.
ここで、マーク配置面４２および上面４０のなす角度ａと、マーク配置面４７および上面４５のます角度ｂとは、たとえば、３０度〜５０度程度となるように形成されている。なお、図３に示す例においては、マーク配置面４２，４７は傾斜面であるが、湾曲面としてもよい。 Here, the angle a formed between the mark arrangement surface 42 and the upper surface 40 and the angle b formed between the mark arrangement surface 47 and the upper surface 45 are, for example, about 30 degrees to 50 degrees. In the example shown in FIG. 3, the mark arrangement surfaces 42 and 47 are inclined surfaces, but may be curved surfaces.
図４は、受電装置１０および傾斜部１５，１６を示す底面図であり、図５は、受電装置１０および傾斜部１５，１６を示す斜視図である。 FIG. 4 is a bottom view showing the power receiving device 10 and the inclined portions 15 and 16, and FIG. 5 is a perspective view showing the power receiving device 10 and the inclined portions 15 and 16.
この図４および図５に示すように、車両１は、車両１の底面１３側に配置された位置合わせマーク２４を含む。本実施の形態においては、位置合わせマーク２４は、第１マーク２５と、第２マーク２６と、第３マーク２７とを含む。 As shown in FIGS. 4 and 5, vehicle 1 includes an alignment mark 24 arranged on the bottom surface 13 side of vehicle 1. In the present embodiment, the alignment mark 24 includes a first mark 25, a second mark 26, and a third mark 27.
第１マーク２５は、樹脂ケース２１の下面に設けられている。第２マーク２６は傾斜部１５に設けられており、第３マーク２７は傾斜部１６に設けられている。 The first mark 25 is provided on the lower surface of the resin case 21. The second mark 26 is provided on the inclined portion 15, and the third mark 27 is provided on the inclined portion 16.
第１マーク２５は、複数の角マーク２８と、中央マーク２９とを含む。角マーク２８は仮想の正方形の角に配置されており、中央マーク２９は仮想の正方形の中心に配置されている。 The first mark 25 includes a plurality of corner marks 28 and a center mark 29. The corner mark 28 is arranged at the corner of the virtual square, and the center mark 29 is arranged at the center of the virtual square.
第２マーク２６は傾斜部１５のマーク配置面４２に設けられており、第３マーク２７は傾斜部１６のマーク配置面４７に設けられている。 The second mark 26 is provided on the mark arrangement surface 42 of the inclined portion 15, and the third mark 27 is provided on the mark arrangement surface 47 of the inclined portion 16.
第２マーク２６は、複数の方形マーク３５と、直線マーク３６とを含む。直線マーク３６は、マーク配置面４２の下端辺５０に沿って延びるように設けられている。複数の方形マーク３５は、傾斜部１５の延びる方向（車両１の幅方向）に間隔をあけて配置されている。そして、各方形マーク３５は、直線マーク３６から上端辺５１に向けて延びるように形成されている。各方形マーク３５の幅Ｗ１は同じであり、各方形マーク３５間の間隔Ｗ２も一定である。ここで、幅Ｗ１／間隔Ｗ２で算出される値を第２マーク２６のパターン比Ｓ１とする。 The second mark 26 includes a plurality of square marks 35 and a straight line mark 36. The straight mark 36 is provided so as to extend along the lower end side 50 of the mark arrangement surface 42. The plurality of square marks 35 are arranged at intervals in the direction in which the inclined portion 15 extends (the width direction of the vehicle 1). Each square mark 35 is formed to extend from the straight mark 36 toward the upper end side 51. The width W1 of each square mark 35 is the same, and the interval W2 between the square marks 35 is also constant. Here, the value calculated by the width W1 / the interval W2 is defined as the pattern ratio S1 of the second mark 26.
第３マーク２７は、第２マーク２６と同様に形成されている。第３マーク２７は、複数の方形マーク３７と、直線マーク３８とを含む。 The third mark 27 is formed in the same manner as the second mark 26. The third mark 27 includes a plurality of square marks 37 and a straight mark 38.
直線マーク３８は、マーク配置面４７の下端辺５２に沿って延びるように設けられている。複数の方形マーク３７は直線マーク３８に間隔をあけて配置されている。各方形マーク３７の幅Ｗ３は同じであり、各方形マーク３７間の間隔Ｗ４も一定である。そして、幅Ｗ３／間隔Ｗ４で算出される値を第３マーク２７のパターン比Ｓ２とする。 The straight mark 38 is provided so as to extend along the lower end side 52 of the mark arrangement surface 47. The plurality of square marks 37 are arranged at intervals with respect to the straight marks 38. The width W3 of each square mark 37 is the same, and the interval W4 between the square marks 37 is also constant. A value calculated by the width W3 / the interval W4 is set as the pattern ratio S2 of the third mark 27.
次に、受電装置１０が送電装置１１から離れた状態から受電装置１０が送電装置１１の上方に位置するように車両１が移動する過程において、カメラ３２から視たときの第１マーク２５、第２マーク２６および第３マーク２７の見え方について説明する。なお、本実施の形態においては、車両１は後進して受電装置１０を送電装置１１に位置合わせしている。 Next, in a process in which the vehicle 1 moves so that the power receiving device 10 is positioned above the power transmitting device 11 from a state where the power receiving device 10 is separated from the power transmitting device 11, the first mark 25 when viewed from the camera 32, The appearance of the second mark 26 and the third mark 27 will be described. In the present embodiment, the vehicle 1 moves backward and aligns the power receiving device 10 with the power transmitting device 11.
図６は、位置合わせ開始時の受電装置１０および送電装置１１の相対的な位置関係を示す側面図である。この図６に示すように、受電装置１０、傾斜部１５および傾斜部１６は送電装置１１よりも車両１の前方側に位置している。マーク配置面４７の撮像角度を撮像角度Ｂ１とすると、この図６に示す状態においては、撮像角度Ｂ１は角度ｂと等しく、カメラ３２はマーク配置面４７に対して垂直に撮像している。この際、カメラ３２が第１マーク２５を撮像するときの撮像画角を撮像画角α１とし、第３マーク２７を撮像するときの撮像画角を撮像画角β１とする。 FIG. 6 is a side view showing a relative positional relationship between the power receiving device 10 and the power transmitting device 11 at the start of alignment. As shown in FIG. 6, the power receiving device 10, the inclined portion 15, and the inclined portion 16 are located on the front side of the vehicle 1 with respect to the power transmitting device 11. Assuming that the imaging angle of the mark arrangement surface 47 is the imaging angle B1, in the state shown in FIG. 6, the imaging angle B1 is equal to the angle b, and the camera 32 is imaging perpendicular to the mark arrangement surface 47. At this time, an imaging field angle when the camera 32 captures the first mark 25 is an imaging field angle α1, and an imaging field angle when the third mark 27 is captured is an imaging field angle β1.
「撮像角度」とは、撮像対象物（第３マーク２７）の中心およびカメラ３２のレンズ中心を通る仮想線と、カメラ３２のレンズの光軸Ｌ１とのなす角度である。「撮像画角」とは、撮像対象物（第３マーク２７）の上端およびカメラ３２のレンズ中心を通る仮想線と、撮像対象物（第３マーク２７）の下端およびカメラ３２のレンズ中心を通る仮想線とがなす角度である。 The “imaging angle” is an angle formed by the imaginary line passing through the center of the imaging object (third mark 27) and the lens center of the camera 32 and the optical axis L1 of the lens of the camera 32. The “imaging angle of view” refers to an imaginary line passing through the upper end of the imaging target (third mark 27) and the lens center of the camera 32, and a lower end of the imaging target (third mark 27) and the lens center of the camera 32. This is the angle formed by the imaginary line.
図７は、図６に示す状態から車両１が後進した状態を示し、傾斜部１６がカメラ３２の真上に位置している。この図７において、カメラ３２が第１マーク２５を撮像するときの撮像画角を撮像画角α２とし、第３マーク２７を撮像するときの撮像画角を撮像画角β２とする。 FIG. 7 illustrates a state in which the vehicle 1 has moved backward from the state illustrated in FIG. 6, and the inclined portion 16 is positioned directly above the camera 32. In FIG. 7, an imaging field angle when the camera 32 captures the first mark 25 is an imaging field angle α2, and an imaging field angle when the third mark 27 is captured is an imaging field angle β2.
図８は、図７に示す状態から車両１が後進して、受電装置１０が送電装置１１の上方に位置した状態を示す。この図８において、カメラ３２が第１マーク２５を撮像するときの撮像画角を撮像画角α３とし、第３マーク２７を撮像するときの撮像画角を撮像画角β３とする。 FIG. 8 shows a state where the vehicle 1 moves backward from the state shown in FIG. 7 and the power receiving device 10 is positioned above the power transmitting device 11. In FIG. 8, an imaging field angle when the camera 32 captures the first mark 25 is an imaging field angle α3, and an imaging field angle when the third mark 27 is captured is an imaging field angle β3.
図９は、図８に示す状態から車両１が後進して、受電装置１０が送電装置１１よりも後方側に位置した状態を示す。この際、カメラ３２が第１マーク２５を撮像するときの撮像画角を撮像画角α４とし、第２マーク２６を撮像するときの撮像画角を撮像画角γ４とする。 FIG. 9 shows a state in which the vehicle 1 moves backward from the state shown in FIG. 8 and the power receiving device 10 is located on the rear side of the power transmitting device 11. At this time, an imaging field angle when the camera 32 captures the first mark 25 is an imaging field angle α4, and an imaging field angle when the second mark 26 is captured is an imaging field angle γ4.
ここで、図６、図７および図８に示すように、撮像画角β１は、撮像画角β２，β３よりも大きく、撮像画角β２は、撮像画角β３よりも大きい。そのため、図７に示すように、受電装置１０が送電装置１１から離れた状態や図８に示すように、受電装置１０が送電装置１１に対して位置ずれした状態であっても、カメラ３２は第３マーク２７を良好に撮像することができる。 Here, as shown in FIGS. 6, 7, and 8, the imaging field angle β1 is larger than the imaging field angles β2 and β3, and the imaging field angle β2 is larger than the imaging field angle β3. Therefore, even if the power receiving device 10 is separated from the power transmitting device 11 as shown in FIG. 7 or the power receiving device 10 is displaced with respect to the power transmitting device 11 as shown in FIG. The third mark 27 can be imaged satisfactorily.
図１０は、図７に示す状態におけるカメラ３２が撮像した画像に魚眼補正を施した補正画像７０を示す図である。 FIG. 10 is a diagram illustrating a corrected image 70 obtained by performing fisheye correction on an image captured by the camera 32 in the state illustrated in FIG. 7.
ここで、方形マーク３７は、傾斜したマーク配置面４７に設けられているため、カメラ３２が撮像した画像を魚眼補正したとしても、変形した画像となる。具体的には、カメラ３２に近い位置から離れるにつれて長さが一様に短くなるようになり、上端辺５３は下端辺５２よりも短くなる。これに伴い、補正画像７０においては、方形マーク３７の幅Ｗ５および方形マーク３７間の間隔Ｗ６も、下端辺５２から上端辺５３に向かうと共に小さくなる。その一方で、幅Ｗ５および間隔Ｗ６は、下端辺５２から上端辺５３に向かうにつれて同一比率で小さくなるため、幅Ｗ５／間隔Ｗ６で示されるパターン比Ｓ３は、パターン比Ｓ２と等しくなる。 Here, since the square mark 37 is provided on the inclined mark arrangement surface 47, even if the image picked up by the camera 32 is corrected by the fish-eye, a deformed image is obtained. Specifically, as the distance from the position close to the camera 32 increases, the length is uniformly shortened, and the upper end side 53 is shorter than the lower end side 52. Accordingly, in the corrected image 70, the width W5 of the square mark 37 and the interval W6 between the square marks 37 also decrease from the lower end side 52 toward the upper end side 53. On the other hand, since the width W5 and the interval W6 decrease at the same ratio from the lower end side 52 toward the upper end side 53, the pattern ratio S3 indicated by the width W5 / interval W6 is equal to the pattern ratio S2.
そこで、ＥＣＵ１９は、色相などが、パターン比Ｓ２と同じとなる部分を検知することで、補正画像７０から第３マーク２７を検出することができる。これにより、ＥＣＵ１９は、仮に、第１マーク２５を良好に検出することができなかったとしても、第３マーク２７に基づいて受電装置１０の位置を把握することができる。 Therefore, the ECU 19 can detect the third mark 27 from the corrected image 70 by detecting a portion where the hue and the like are the same as the pattern ratio S2. Thereby, even if the ECU 19 cannot detect the first mark 25 satisfactorily, the ECU 19 can grasp the position of the power receiving device 10 based on the third mark 27.
そして、図９に示すように、受電装置１０がカメラ３２の上方に位置するときには、撮像画角α３も大きくなり、カメラ３２は第１マーク２５を良好に撮像することが可能となる。これにより、ＥＣＵ１９は、第１マーク２５に基づいて、受電装置１０の位置を正確に把握することができる。 As shown in FIG. 9, when the power receiving device 10 is positioned above the camera 32, the imaging angle of view α <b> 3 is also increased, and the camera 32 can capture the first mark 25 satisfactorily. Thereby, the ECU 19 can accurately grasp the position of the power receiving device 10 based on the first mark 25.
なお、図９に示すように、受電装置１０が送電装置１１よりも車両１の後方側に位置ずれすると、マーク配置面４２は、マーク配置面４２に設けられた第２マーク２６を良好に撮像することができる。これにより、ＥＣＵ１９は受電装置１０の位置を正確に把握することができる。 As shown in FIG. 9, when the power receiving device 10 is displaced to the rear side of the vehicle 1 with respect to the power transmitting device 11, the mark arrangement surface 42 favorably captures the second mark 26 provided on the mark arrangement surface 42. can do. Thereby, ECU19 can grasp | ascertain the position of the power receiving apparatus 10 correctly.
本実施の形態においては、受電装置１０、傾斜部１５および傾斜部１６はバッテリ１２の下面に設けられているが、フロアパネル１４の下面に設けるようにしてもよい。すなわち、受電装置１０、傾斜部１５および傾斜部１６は車両１の下面側に設けられておればよい。なお、今回開示された実施の形態は全ての点で例示であって制限的なものではないと考えられるべきである。本開示の範囲は上記した説明ではなく特許請求の範囲によって示され、特許請求の範囲と均等の意味および範囲内での全ての変更が含まれることが意図される。 In the present embodiment, power reception device 10, inclined portion 15, and inclined portion 16 are provided on the lower surface of battery 12, but may be provided on the lower surface of floor panel 14. That is, the power receiving device 10, the inclined portion 15, and the inclined portion 16 may be provided on the lower surface side of the vehicle 1. It should be understood that the embodiment disclosed this time is illustrative in all respects and not restrictive. The scope of the present disclosure is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
１ 車両、４ 前面、５ 背面、１０ 受電装置、１１ 送電装置、１２ バッテリ、１３ 底面、１４ フロアパネル、１５，１６ 傾斜部、１８，３３ アンテナ、２０ 受電コイル、２１ 樹脂ケース、２２ 金属ケース、２３ 収容ケース、２４ 位置合わせマーク、２５ 第１マーク、２６ 第２マーク、２７ 第３マーク、２８ 角マーク、２９ 中央マーク、３０ 送電コイル、３１ ケース、３２ カメラ、３５，３７ 方形マーク、３６，３８ 直線マーク、４０，４５ 上面、４１，４６ 側面、４２，４７ マーク配置面、５０，５２ 下端辺、５１，５３ 上端辺、７０ 補正画像、Ｂ１ 撮像角度、Ｌ１ 光軸、Ｓ１，Ｓ２，Ｓ３ パターン比、Ｗ１，Ｗ３，Ｗ５ 幅、Ｗ２，Ｗ４，Ｗ６ 間隔、ａ，ｂ 角度。 DESCRIPTION OF SYMBOLS 1 Vehicle, 4 Front surface, 5 Back surface, 10 Power receiving apparatus, 11 Power transmission apparatus, 12 Battery, 13 Bottom face, 14 Floor panel, 15, 16 Inclined part, 18, 33 Antenna, 20 Power receiving coil, 21 Resin case, 22 Metal case, 23 Housing case, 24 Alignment mark, 25 First mark, 26 Second mark, 27 Third mark, 28 Square mark, 29 Center mark, 30 Power transmission coil, 31 Case, 32 Camera, 35, 37 Square mark, 36, 38 Straight mark, 40, 45 Upper surface, 41, 46 Side surface, 42, 47 Mark arrangement surface, 50, 52 Lower edge, 51, 53 Upper edge, 70 Correction image, B1 Imaging angle, L1 Optical axis, S1, S2, S3 Pattern ratio, W1, W3, W5 width, W2, W4, W6 spacing, a, b angle.
Claims (1)
前記車両の底面側に設けられた傾斜部と、
前記傾斜部に設けられると共に、前記送電装置に設けられた撮像装置によって撮像されるマークと、
を備え、
前記傾斜部は、下方から上方に向かうにつれて前記車両の底面の外周縁部側に近づくように形成されたマーク配置面を含み、
前記マークは前記マーク配置面に設けられた、車両。 A power receiving device that is provided on the bottom surface side of the vehicle and that receives power in a non-contact manner from a power transmitting device provided outside;
An inclined portion provided on the bottom side of the vehicle;
A mark that is provided on the inclined portion and imaged by an imaging device provided on the power transmission device;
With
The inclined portion includes a mark arrangement surface formed so as to approach the outer peripheral edge side of the bottom surface of the vehicle as it goes upward from below.
The mark is a vehicle provided on the mark arrangement surface.
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