JP7495965B2 - POWER SUPPLY DEVICE, PROGRAM, SYSTEM, AND CONTROL METHOD - Google Patents

Description

The present invention relates to a power supply device, a program, a system, and a control method.

Patent Literature 1 describes an image processing device having an execution means for executing an image processing program that identifies a light source area including a light source in an image. Patent Literature 2 describes an automatic tracking camera system that recognizes a tracking target from a captured image by image recognition and automatically tracks the target. Patent Literature 3 describes a tracking device that can continue tracking a tracking subject even if a subject having a similar color to the tracking subject is present around the tracking subject.
[Prior Art Literature]
[Patent Documents]
[Patent Document 1] JP 2008-305081 A [Patent Document 2] JP 2013-106266 A [Patent Document 2] JP 2013-157725 A

According to one embodiment of the present invention, a power supply device may be provided. The power supply device may include an output unit that outputs laser light. The power supply device may include an imaging unit that captures an image including a power supply target of the power supply device and an irradiation area irradiated with the laser light. The power supply device may include an identification unit that identifies the power supply target and the irradiation area included in each of the multiple captured images captured by the imaging unit. The power supply device may include a control unit that controls the output direction of the laser light so that the laser light tracks the power supply target in a state where the power supply target identified by the identification unit and the irradiation area overlap more closely.

The identification unit may identify the center of a target portion of the power supply target and the center of the irradiation area included in each of the multiple captured images, and the control unit may control the output direction of the laser light so that the laser light tracks the power supply target while the center of the target portion and the center of the irradiation area are more closely aligned.

In any of the information processing devices, the identification unit may identify, as the center of the illumination area, the center of a brightness value saturated area in which the brightness value in the illumination area has reached an upper limit.

Any of the information processing devices may further include a mounting unit that mounts the output unit. The identification unit may identify a difference between the center of the target portion included in the captured image and the center of the irradiation area, and the control unit may control the output direction of the laser light by controlling an angle of the mounting unit in accordance with the difference.

In any of the information processing devices, the control unit may control the angle of the mounting unit by rotating the mounting unit by a first rotation amount calculated based on the captured image and a captured image of a frame preceding the captured image when the difference is shorter than a predetermined difference threshold, and control the angle of the mounting unit by rotating the mounting unit by a second rotation amount corresponding to the first rotation amount and the difference when the difference is longer than the difference threshold.

Any of the information processing devices may further include a learning data storage unit that stores learning data including an image including the target portion and target area information indicating the area of the target portion included in the image, and a model generation unit that uses the multiple pieces of learning data stored in the learning data storage unit as teacher data to generate a model that identifies the target portion from the image by machine learning. The identification unit may use the model generated by the model generation unit to identify the target portion from the image captured by the imaging unit.

Any of the information processing devices may further include a parameter setting unit that sets parameters of the imaging unit based on at least one of the wavelength and output power of the laser light and the luminance value within the irradiation area included in the captured image.

In any of the information processing devices, the parameter setting unit may set the white balance of the imaging unit.

In any of the information processing devices, the parameter setting unit may set the ISO sensitivity of the imaging unit.

In any of the information processing devices, the output unit may output the laser light having a wavelength in the red region, and the imaging unit may be a visible light camera.

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

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

According to one embodiment of the present invention, a control method for controlling a power supply device, executed by a computer, may be provided. The control method may include an imaging step of capturing an image including a power supply target of the power supply device and an irradiation area irradiated with laser light output by an output unit mounted on the power supply device. The control method may include a specification step of identifying the power supply target and the irradiation area included in each of the multiple captured images captured in the imaging step. The control method may include a control step of controlling an output direction of the laser light so that the laser light tracks the power supply target in a state where the power supply target and the irradiation area identified in the specification step overlap more closely.

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

1 illustrates a schematic diagram of an example of a system 10. 2 shows an example of a captured image captured by the imaging section 160. 10 is an explanatory diagram for explaining an example in which the power supply device 100 specifies the output direction of a laser beam output by an output section 120. FIG. 13 shows another example of an image captured by the imaging section 160. 1 is an explanatory diagram for explaining an example in which the power supply device 100 controls the output direction of a laser beam output by an output section 120. FIG. 2 illustrates an example of a functional configuration of a power supply device 100. 4 is an explanatory diagram for explaining an example of a processing flow of the power supply device 100. FIG. 10 is an explanatory diagram for explaining another example of the processing flow of the power supply device 100. FIG. 1 illustrates an example of a hardware configuration of a computer 1200 that functions as the power supply device 100.

When wireless power is supplied using laser light, if the light source device that outputs laser light is installed at an angle before wireless power supply begins, or if the installation position of the light source device is not properly adjusted, a deviation in the irradiation position where the laser light is irradiated may occur. For example, system 10 according to one embodiment uses image recognition technology to acquire the coordinates of the irradiation position where the laser light with a visible wavelength is irradiated from a captured image, and if the deviation between the target center and the coordinates of the irradiation position is greater than a predetermined threshold, the system adds the amount of deviation and corrects the irradiation position by rotating a motor that controls the angle of the light source device.

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

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

The power supply device 100 may wirelessly supply power to the power supply target 200. For example, the power supply device 100 may wirelessly supply power to the power supply target 200 by irradiating a photovoltaic panel 220 of the power supply target 200 with laser light 122.

The power supply device 100 may have, for example, an output section 120 and a mounting section 140. The power supply device 100 may further have an imaging section 160.

The output unit 120 may output laser light 122. The output unit 120 may output laser light 122 with a wavelength in the visible light region, for example. The output unit 120 may output laser light 122 with a wavelength in the red region, for example. The output unit 120 may output laser light 122 with a wavelength in the infrared region.

The output unit 120 may be, for example, a laser. The output unit 120 may be, for example, a solid-state laser. The output unit 120 may be, for example, a semiconductor laser (Laser Diode; LD). The output unit 120 may be a liquid laser or a gas laser. The output unit 120 may be a tunable laser.

The mounting unit 140 may mount the output unit 120. The mounting unit 140 may be, for example, a rotating table that rotates the output unit 120. The mounting unit 140 may be, for example, a gimbal.

The mounting unit 140 may rotate the output unit 120, for example, around the roll axis of the power supply device 100. The mounting unit 140 may rotate the output unit 120, for example, around the pitch axis of the power supply device 100. In the example of the power supply device 100 shown in FIG. 1, the roll axis, pitch axis, and yaw axis of the power supply device 100 may be the x-axis, y-axis, and z-axis, respectively.

The imaging unit 160 may capture an image. For example, the imaging unit 160 may capture an image including the power supply target 200 of the power supply device 100 and an irradiation area irradiated with the laser light 122.

The captured image may be, for example, a still image. The captured image may be a moving image.

The imaging unit 160 may be any imaging device that can capture the laser light 122 output by the output unit 120. The imaging unit 160 may be, for example, a visible light camera. The imaging unit 160 may be an infrared camera. The imaging unit 160 may be a wide-angle camera.

The imaging unit 160 may be connected to the power supply device 100 by a wired connection, for example. The imaging unit 160 may be connected to the power supply device 100 by a wireless connection. The wireless connection between the imaging unit 160 and the power supply device 100 may be compliant with a wireless communication system such as Wi-Fi (registered trademark), microwave, optical communication, Bluetooth (registered trademark), and ZigBee (registered trademark).

The imaging unit 160 may be installed, for example, around the output unit 120. The imaging unit 160 may be installed, for example, around the output unit 120 in a state parallel to the output unit 120. Note that the periphery of the output unit 120 may be an area that is closer to the output unit 120 than a predetermined distance. The imaging unit 160 may be installed, for example, at the same altitude as the output unit 120.

The power supply device 100 may have a function of controlling the output unit 120, for example. The power supply device 100 may control the output direction of the laser light 122 output by the output unit 120, for example. The power supply device 100 may control the output direction of the laser light 122, for example, by controlling the angle of the mounting unit 140 using a motor (not shown). The motor may be, for example, a stepping motor.

The power supply device 100 may control the output direction of the laser light 122 based on, for example, the captured images captured by the imaging unit 160. For example, the power supply device 100 may identify the power supply target 200 and the irradiation area of the laser light 122 included in each of the multiple captured images captured by the imaging unit 160. The power supply device 100 may control the output direction of the laser light 122 so that the laser light 122 tracks the power supply target 200 with greater overlap between the identified power supply target 200 and the irradiation area of the laser light 122.

The power supply device 100 may, for example, calculate the amount of rotation to rotate the mounting unit 140 based on the captured image, and rotate the mounting unit 140 by the calculated amount of rotation, thereby controlling the output direction of the laser light 122. The power supply device 100 may, for example, calculate a first amount of rotation based on the captured image of the current frame and the captured image of the frame prior to the current frame, and rotate the mounting unit 140 by the calculated first amount of rotation. The power supply device 100 may identify the difference between the power supply target 200 included in the current frame and the irradiation area of the laser light 122, and, if necessary, calculate a second amount of rotation corresponding to the difference, and further rotate the mounting unit 140 by the calculated second amount of rotation.

The power supply device 100 may have a function of wirelessly communicating with the power supply target 200, for example. The wireless communication between the power supply device 100 and the power supply target 200 may conform to a wireless communication system such as Wi-Fi, microwave, optical communication, Bluetooth, and ZigBee.

The power supply device 100 may be installed, for example, on a ceiling or side wall of a room, an office, or the like. The power supply device 100 may also be installed in any other location. The power supply device 100 may be mounted on a moving object such as a drone.

The power supply target 200 may receive wireless power from the power supply device 100. The power supply target 200 may have a photovoltaic panel 220.

The power supply target 200 may be, for example, a flying object such as a vehicle or a drone, or a moving object such as a robot. The power supply target 200 may be, for example, an IoT (Internet of Things) device. The power supply target 200 may be, for example, a mobile phone such as a smartphone, a tablet terminal, a wearable terminal, or the like. The power supply target 200 may be, for example, a PC (Personal Computer). The power supply target 200 may include anything that falls under the IoE (Internet of Everything) category. The power supply target 200 may be a photovoltaic panel.

The photovoltaic panel 220 may convert light energy into electrical energy. The photovoltaic panel 220 may be mounted, for example, on the upper surface of the power supply target 200. The photovoltaic panel 220 may also be mounted in any other location on the power supply target 200.

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

The shape of the photovoltaic panel 220 may be, for example, a circle. The shape of the photovoltaic panel 220 may be, for example, an ellipse. The shape of the photovoltaic panel 220 may be, for example, a rectangle. The shape of the photovoltaic panel 220 may be, for example, a square. The shape of the photovoltaic panel 220 may be any other shape.

When wirelessly feeding power to a power supply target using laser light, if the light source is installed in an inclined state at the stage of installing the light source before starting wireless power supply, or if the installation position of the light source is not properly adjusted, a deviation occurs in the irradiation area of the laser light output by the light source. Similarly, when wireless power is fed using a tracking mechanism that is a mechanism for tracking the power supply target with laser light, if the light source and the imaging device are not installed in a parallel state at the stage of installing the light source and the imaging device before starting wireless power supply, or if the installation positions of the light source and the imaging device are not properly adjusted, a deviation occurs in the irradiation area of the laser light output by the light source. Since the laser light has high directivity, if a deviation occurs in the irradiation area of the laser light, the laser light may not be irradiated to the entire light receiving surface of the target. In particular, if the distance from the light source to the target is long, even if the deviation is slight, the laser light may not be irradiated to the entire light receiving surface of the target. In addition, if the imaging device is a wide-angle camera, the exact position of the target cannot be identified due to distortion of the image captured by the imaging device, and the laser light may not be irradiated to the entire light receiving surface of the target. If the laser light is not irradiated over the entire light receiving surface of the target, the power supply efficiency of wireless power supply using laser light will be significantly reduced. For this reason, it is desirable to prevent a decrease in the power supply efficiency of wireless power supply using laser light by correcting the irradiation area of the laser light in real time so that the laser light is irradiated over the entire light receiving surface of the target.

According to the system 10 of one embodiment, the power supply device 100 may specify the power supply target 200 and the irradiation area of the laser light 122 included in each of the multiple captured images captured by the imaging unit 160, and control the output direction of the laser light 122 so that the laser light 122 tracks the power supply target 200 in a state where the specified power supply target 200 and the irradiation area of the laser light 122 overlap more. Since the power supply device 100 can specify the position of the power supply target 200 and the position of the irradiation area of the laser light 122 in real time from the multiple captured images captured by the imaging unit 160, by controlling the output direction of the laser light 122 as described above, the irradiation area of the laser light 122 can be corrected in real time so that the entire light receiving surface of the power supply target 200 is irradiated with the laser light 122. As a result, the system 10 of one embodiment can prevent a decrease in power supply efficiency by the power supply device 100 correcting the irradiation position of the laser light 122 in real time.

Figure 2 shows an example of an image captured by the imaging unit 160. In Figure 2, an example of an image captured by the imaging unit 160 while the power supply device 100 is wirelessly supplying power to the power supply target 200, which is a vehicle moving on the rail 50, is mainly described.

2, the center of the captured image may be center 60. Here, the description will continue assuming that the coordinates of center 60 in the coordinate system of the captured image are ( _Xc , _Yc ).

In the example of the captured image shown in FIG. 2, the irradiation area of the laser light output by the output unit 120 may be the irradiation area 124. The center of the irradiation area 124 may be the center 128.

The power supply target 200 may have, for example, a target unit 250. The target unit 250 may be installed, for example, above the light receiving surface of the photovoltaic panel 220 of the power supply target 200.

The target portion 250 may include, for example, a diffusing lens at a center 255 of the target portion 250. In this case, the laser light that has passed through the diffusing lens may be irradiated onto the photovoltaic panel 220. Here, the explanation will be continued assuming that the coordinates of the center 255 in the coordinate system of the captured image are (X ₁ , Y ₁ ).

The target portion 250 may include, for example, a mark around the periphery of the diffusing lens. The mark may be a mark for increasing the visibility of the target portion 250. FIG. 2 shows an example of a target portion 250 including four circular marks around the periphery of the diffusing lens.

The power supply device 100 may, for example, specify a difference between the coordinates ( _XC , _YC ) of the center 60 and the coordinates ( _X1 , _Y1 ) of the center 255 by performing an image analysis process on the captured image. The power supply device 100 may, for example, specify a difference ΔX= _X1 - _XC between the coordinates ( _XC , _YC ) of the center 60 and the coordinates ( _X1 , _Y1 ) of the center 255 in the X-axis direction and a difference ΔY= _Y1 - _YC in the Y-axis direction. The difference between the coordinates ( _XC , _YC ) of the center 60 and the coordinates ( _X1 , _Y1 ) of the center 255 may be represented by the number of pixels.

Figure 3 is an explanatory diagram for explaining an example in which the power supply device 100 determines the output direction of the laser light output by the output unit 120. Figure 3 mainly explains an example in which the power supply device 100 determines the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center 255 of the target unit 250 in Figure 2.

As shown in (a) of Fig. 3, the x coordinate of the imaging unit 160 is _xc . _xc may correspond to _XC , which is the X coordinate of the center 60 in Fig. 2. As shown in (b) of Fig. 3, the y coordinate of the imaging unit 160 is _yc . _yc may correspond to _YC , which is the Y coordinate of the center 60 in Fig. 2. As shown in (a) and (b) of Fig. 3, the z coordinate of the output unit 120 and the imaging unit 160 is h. Here, the explanation will be continued on the assumption that the worker who installed the imaging unit 160 registered the three-dimensional coordinates ( _xc , _yc , h) of the installation position of the imaging unit 160 in the power supply device 100 when installing the imaging unit 160.

As shown in Fig. 3A, the x coordinate of the center 255 is _x1 . _x1 may correspond to _X1 , which is the X coordinate of the center 255 in Fig. 2. As shown in Fig. 3B, the y coordinate of the center 255 is _y1 . _y1 may correspond to _Y1 , which is the Y coordinate of the center 255 in Fig. 2. Also, as shown in Fig. 3A and Fig. 3B, the z coordinate of the center 255 is 0. Here, the description will be continued assuming that the power supply target 200 moves in a plane of z=0.

For example, by executing a calculation process for calculating distances from a captured image, the power supply device 100 may calculate the distance in the x-axis direction and the distance in the y-axis direction between the imaging unit 160 and the center 255 from the difference between the coordinates ( _XC , _YC ) of the center 60 and the coordinates ( _X1 , _Y1 ) of the center 255 shown in Fig. 2. For example, the power supply device 100 may calculate the distance in the x-axis direction Δx= _x1 - _xc between the imaging unit 160 and the center 255 from the difference in the X-axis direction ΔX= _X1 - _XC between the coordinates of the center 60 and the coordinates of the center 255, and may calculate the distance in the y-axis direction Δy= _y1 - _yc between the imaging unit 160 and the center 255 from the difference in the Y-axis direction ΔY= _Y1 - _YC between the coordinates of the center 60 and the coordinates of the center 255.

The calculation process for calculating the distance from the captured image may be (distance) = (distance per pixel) x (number of pixels). Here, the explanation will continue assuming that the worker who installed the imaging unit 160 measured the distance per pixel when installing the imaging unit 160 and registered it in the power supply device 100.

For example, the power supply device 100 may calculate the angle θx of the output unit 120 when the center of the irradiation area of the laser light coincides with the center 255 based on the distance _Δx in the x-axis direction between the imaging unit 160 and the center 255, the distance dx in the x-axis direction between the output unit 120 and the imaging unit 160, and the z coordinate _h of the imaging unit 160. The power supply device 100 may calculate the angle _θx by, for example, the following formula.

Here, the angle θ _x is the rotation angle of the output section 120 around the y-axis, and may be −90°<θ _x <90°.

The power supply device 100 may calculate the angle θy of the output unit 120 when the center of the irradiation area of the laser light coincides with the center 255, based on, for example, a distance _Δy in the y-axis direction between the imaging unit 160 and the center 255, a distance dy in the y-axis direction between the output unit 120 and the imaging unit 160, and a z coordinate _h of the imaging unit 160. The power supply device 100 may calculate the angle _θy by, for example, the following formula.

Here, the angle θ _y is the rotation angle of the output section 120 around the x-axis, and may be −90°<θ _y <90°.

The power supply device 100 may determine that the output direction of the laser light is (θ _x , θ _y ) when the center of the irradiation area of the laser light coincides with the center 255. The power supply device 100 may control the output direction of the laser light based on (θ _x , θ _y ).

Figure 4 shows a schematic diagram of another example of an image captured by the imaging unit 160. Figure 4 mainly describes an example in which the power supply device 100 identifies the center 128 of the irradiation area 124 of the laser light output by the output unit 120 by performing image analysis processing on the captured image.

Figure 4 (a) is a captured image in which the illumination area 124 of the captured image shown in Figure 2 is enlarged. As shown in Figure 4 (a), the illumination area 124 includes a brightness value saturation area 126, which is an area where the brightness value has reached an upper limit. The brightness value saturation area 126 may be, for example, an area in the captured image where whiteout occurs.

The power supply device 100 may, for example, perform a binarization process on the captured image of (a) in FIG. 4. The binarization process may, for example, be an image process in which areas of the captured image whose luminance values satisfy a predetermined luminance value condition are displayed in white, and areas that do not satisfy the luminance value condition are displayed in black. The luminance value condition may, for example, be that the luminance value has reached an upper limit. The luminance value condition may also be that the luminance value is higher than a predetermined luminance value threshold.

Figure 4(b) shows a captured image after the power supply device 100 performs binarization processing on the captured image of Figure 4(a) with the brightness value condition being that the brightness value has reached the upper limit. As shown in Figure 4(b) , in the captured image, the brightness value saturated region 126 is displayed in white, and the region other than the brightness value saturated region 126 is displayed in black.

The power supply device 100 may identify the center of the brightness value saturation region 126 as the center of the irradiation region 124 based on the captured image after binarization processing shown in FIG. 4B, for example. The power supply device 100 may also identify the center of the irradiation region 124 based on the captured image shown in FIG. 4A.

Figure 5 is an explanatory diagram for explaining an example in which the power supply device 100 controls the output direction of the laser light output by the output unit 120. Figure 5 mainly explains an example in which the power supply device 100 controls the output direction of the laser light so that the laser light tracks the power supply target 200 in a state where the center 255 of the target unit 250 and the center 128 of the irradiation area of the laser light are more closely aligned.

Fig. 5A is another example of a captured image captured by the imaging unit 160. Here, the explanation will be continued assuming that the coordinates of the center 255 and the coordinates of the center 128 in the captured image shown in Fig. 5A are ( _XTn , _YTn ) and ( _XLn , _YLn ), respectively, and that the coordinates of the center 255 in the captured image one frame before the captured image are ( _XTn-1 , _YTn-1 ).

The power supply device 100 may, for example, identify the output direction (θ _{xTn , θ yTn ) of the laser light when the center of the irradiation area of the laser light coincides with the center 255 of the captured image shown in (a) of Fig. 5. The power supply device 100 may, for example, identify (θ xTn ,} θ _yTn ) from the coordinates (X _Tn , Y _Tn ) of the center 255 in the captured image in a manner similar to that described above in _Fig . 3.

For example, the power supply device 100 may identify the output direction (θ xTn-1 , θ yTn-1 ) of the laser light when the center of the irradiation area of the laser light coincides with the center 255 of the captured image one frame before the captured image shown in (a) of Fig. 5. The power supply device 100 may identify (θ _xTn-1 , θ _yTn-1 ) from the coordinates (X Tn _{- 1} , Y _{Tn-1 )} of the center 255 in the captured image, for example, in a manner similar to the method described above in Fig. 3.

For example, the power supply device 100 may calculate the first amount of rotation based on the specified (θ _xTn , θ _yTn ) and (θ _xTn-1 , θ _yTn-1 ). For example, the power supply device 100 may calculate that the amount of rotation about the y-axis of the first amount of rotation is θ _xTn - θ _xTn-1 , and that the amount of rotation about the x-axis of the first amount of rotation is θ _yTn - θ _yTn-1 .

Thereafter, the power supply device 100 may identify a difference ΔD between the coordinates (X _Tn , Y _Tn ) of the center 255 and the coordinates (X _Ln , Y _Ln ) of the center 128 in the captured image shown in (a) of Fig. 5. Here, if the difference X _Ln -X _Tn between the X coordinate X _Tn of the center 255 and the X coordinate X _Ln of the center 128 is ΔD _X , and the difference Y _Ln -Y _Tn between the Y coordinate Y _Tn of the center 255 and the Y coordinate Y Ln of the _center 128 is ΔD _Y , then the relationship ΔD ² = ΔD _X ² + ΔD _Y ² is established. Here, the explanation will be continued assuming that ΔD is shorter than a predetermined difference threshold.

Because ΔD is shorter than the difference threshold, the power supply device 100 may determine not to rotate the mounting portion 140 further from the first rotation amount. Therefore, when the power supply device 100 controls the output direction of the laser light based on the captured image shown in FIG. 5(a), the power supply device 100 may rotate the mounting portion 140 by the first rotation amount so that the laser light tracks the power supply target 200 with the center 255 and the center 128 more closely aligned.

(b) of Fig. 5 is another example of a captured image captured by the imaging unit 160. Here, the explanation will be continued assuming that the coordinates of the center 255 and the coordinates of the center 128 in the captured image shown in (b) of Fig. 5 are ( _X'Tn , _Y'Tn ) and ( _X'Ln , _Y'Ln ), respectively, and that the coordinates of the center 255 in the captured image captured one frame before the captured image in question are ( _X'Tn-1 , _Y'Tn-1 ).

The power supply device 100 may, for example, identify the output direction (θ'xTn, _{θ'yTn) of the laser light when the center of the irradiation area of the laser light coincides with the center 255 of the captured image shown in (b) of Fig. 5. The power supply device 100 may, for example, identify (θ'xTn , θ'yTn} ) from the coordinates ( _X'Tn , _Y'Tn ) of the center 255 in the captured image in the same manner as the method described above in _Fig . 3.

For example, the power supply device 100 may identify the output direction (θ' xTn-1 , θ' yTn-1 ) of the laser light when the center of the irradiation area of the laser light coincides with the center 255 of the captured image one frame before the captured image shown in (b) of Fig. 5. The power supply device 100 may identify (θ' _{xTn -1} , θ' _yTn-1 ) from the coordinates (X' _Tn-1 , Y' _Tn-1 ) of the center 255 in the captured image, for example, in a manner similar to the method described above in Fig. ₃ .

For example, the power supply device 100 may calculate the first amount of rotation based on the specified (θ' _xTn , θ' _yTn ) and (θ' _xTn-1 , θ' _yTn-1 ). For example, the power supply device 100 may calculate that the amount of rotation about the y-axis of the first amount of rotation is θ' _xTn -θ' _xTn-1 , and that the amount of rotation about the x-axis of the first amount of rotation is θ' _yTn -θ' _yTn-1 .

Thereafter, the power supply device 100 may specify a difference ΔD' between the coordinates (X' _Tn , Y' _Tn ) of the center 255 and the coordinates (X' _Ln , Y' _Ln ) of the center 128 in the captured image shown in (b) of Fig. 5. Here, if the difference X' _Ln -X' _Tn between the X coordinate X' _Tn of the center 255 and the X coordinate X' _Ln of the center 128 is ΔD' _X , and the difference Y' _Ln -Y' _Tn between the Y coordinate Y' _Tn of the center 255 and the Y coordinate Y' _Ln of the center 128 is ΔD' _Y , then the relationship ΔD' ² = ΔD' _X ² + ΔD' _Y ² is established. Here, the explanation will be continued assuming that ΔD' is longer than the difference threshold.

Because ΔD' is longer than the difference threshold, the power supply device 100 may determine to rotate the mounting unit 140 further than the first rotation amount. In this case, the power supply device 100 may calculate a second rotation amount corresponding to ΔD'.

For example, in order to calculate the second rotation amount, the power supply device 100 may identify the output direction ( _θ'xLn , _θ'yLn ) of the laser light when the captured image shown in (b) of Fig. 5 was captured. The power supply device 100 may identify ( _θ'xLn , _θ'yLn ) from the coordinates ( _X'Ln , Y'Ln) of the center 128 in the captured image in a manner similar to that described above in _Fig . 3.

The power supply device 100 may calculate the second rotation amount corresponding to ΔD' based on the specified ( _θ'xTn , _θ'yTn ) and ( _θ'xLn , θ'yLn). The power supply device 100 may calculate, for example, that the rotation amount around the y-axis corresponding to _ΔD'X among the second rotation amounts is _θ'xLn - _θ'xTn , and that the rotation amount around _the x-axis corresponding to _ΔD'Y among the second rotation amounts is _θ'yLn - _θ'yTn .

The power supply device 100 may rotate the mounting portion 140 by the calculated first and second rotation amounts. Therefore, when the power supply device 100 controls the output direction of the laser light based on the captured image shown in FIG. 5(b), the power supply device 100 may rotate the mounting portion 140 by the first and second rotation amounts so that the laser light tracks the power supply target 200 with the center 255 of the target portion 250 and the center 128 of the irradiation area 124 more closely aligned.

Figure 6 shows an example of a schematic functional configuration of the power supply device 100. The power supply device 100 may include an information storage unit 102, an information acquisition unit 104, an identification unit 106, a control unit 108, a learning data storage unit 110, a model generation unit 112, a model storage unit 114, a model acquisition unit 116, a parameter setting unit 118, an output unit 120, and an imaging unit 160. Note that it is not essential that the power supply device 100 has all of these components.

The information storage unit 102 may store various types of information. For example, the information storage unit 102 may store installation position information indicating the installation position of the imaging unit 160. The installation position of the imaging unit 160 may be represented by three-dimensional coordinates, for example. The information storage unit 102 may store pixel distance information indicating the distance per pixel in the captured image captured by the imaging unit 160. The information storage unit 102 may store brightness value conditions.

The information acquisition unit 104 may acquire various pieces of information. For example, the information acquisition unit 104 may acquire various pieces of information by receiving various pieces of information from an external device. The information acquisition unit 104 may acquire various pieces of information by an input unit provided in the power supply device 100 accepting input of various pieces of information by a user of the power supply device 100. The information acquisition unit 104 may store the acquired various pieces of information in the information storage unit 102.

The information acquisition unit 104 may receive various information from the power supply target 200, for example. The information acquisition unit 104 may receive various information from the power supply target 200, for example, via a wireless communication connection established between the power supply device 100 and the power supply target 200. The information acquisition unit 104 may receive battery remaining amount information indicating the remaining battery amount of the power supply target 200, for example, from the power supply target 200.

The identification unit 106 may identify a specific target included in the captured image captured by the imaging unit 160 and stored in the information storage unit 102. The identification unit 106 may, for example, identify the power supply target 200 included in the captured image and the irradiation area of the laser light output by the output unit 120. The identification unit 106 may, for example, identify the power supply target 200 included in the captured image and the irradiation area of the laser light by performing an image analysis process on the captured image. The identification unit 106 may, for example, identify the power supply target 200 and the irradiation area of the laser light included in each of the multiple captured images.

The identification unit 106 may, for example, identify the center of the target portion 250 of the power supply target 200 and the center of the irradiation area of the laser light, which are included in the captured image. The identification unit 106 may, for example, identify the center of the target portion 250 and the center of the irradiation area of the laser light by performing an image analysis process on the captured image. The identification unit 106 may, for example, identify the center of the target portion 250 and the center of the irradiation area of the laser light, which are included in each of the multiple captured images.

The identification unit 106 may, for example, identify the difference between the center of the target portion 250 included in the captured image and the center of the irradiation area of the laser light. The identification unit 106 may, for example, identify the difference between the center of the target portion 250 and the center of the irradiation area of the laser light by identifying the difference in the first axis direction in the coordinate system of the captured image between the center of the target portion 250 and the center of the irradiation area of the laser light, and the difference in the second axis direction in the coordinate system of the captured image perpendicular to the first axis between the center of the target portion 250 and the center of the irradiation area of the laser light.

The identification unit 106 may, for example, identify a luminance value saturated region within the irradiation area of the laser light. The identification unit 106 may, for example, identify a luminance value saturated region within the irradiation area of the laser light by performing a binarization process on the captured image based on the luminance value conditions stored in the information storage unit 102. The identification unit 106 may, for example, identify the center of the luminance value saturated region within the irradiation area of the laser light as the center of the irradiation area of the laser light.

The identification unit 106 may, for example, based on the captured image and the installation position information and pixel distance information stored in the information storage unit 102, identify the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image was captured. For example, the identification unit 106 may calculate the roll axis direction distance of the power supply device 100 between the center of the imaging unit 160 and the center of the target unit 250 and the pitch axis direction distance of the power supply device 100 from the difference between the center of the captured image corresponding to the installation position of the imaging unit 160 indicated by the installation position information and the center of the target unit 250 included in the captured image, and the distance per pixel in the captured image indicated by the pixel distance information. The identification unit 106 may, for example, calculate the roll axis direction distance of the power supply device 100 between the center of the imaging unit 160 and the center of the target unit 250 corresponding to the first axis direction from the difference in the first direction between the center of the captured image and the center of the target unit 250 included in the captured image, and the distance per pixel in the captured image indicated by the pixel distance information. Similarly, the determination unit 106 may calculate the distance in the pitch axis direction of the power supply device 100 between the imaging unit 160 and the center of the target unit 250, which corresponds to the second axis direction, from the difference in the second direction between the center of the captured image and the center of the target unit 250 included in the captured image and the distance per pixel in the captured image indicated by the pixel distance information.

Then, the identification unit 106 may calculate the pitch axis rotation angle of the output unit 120 about the pitch axis of the power supply device 100 when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image was captured, based on the distance in the roll axis direction of the power supply device 100 between the imaging unit 160 and the center of the target unit 250, the distance in the roll axis direction of the power supply device 100 between the output unit 120 and the imaging unit 160, and the installation altitude of the imaging unit 160. Similarly, the identification unit 106 may calculate the roll axis rotation angle of the output unit 120 about the roll axis of the power supply device 100 when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image was captured, based on the distance in the pitch axis direction of the power supply device 100 between the imaging unit 160 and the center of the target unit 250, the distance in the pitch axis direction of the power supply device 100 between the output unit 120 and the imaging unit 160, and the installation altitude of the imaging unit 160. The determination unit 106 may determine the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target portion 250, based on the pitch axis rotation angle and roll axis rotation angle of the output unit 120.

The identification unit 106 may identify the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image was captured, in a similar manner to the case where the identification unit 106 identifies the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image was captured. The identification unit 106 may identify the output direction of the laser light when the captured image was captured, in a similar manner to the case where the identification unit 106 identifies the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image was captured.

The control unit 108 may control the output unit 120. The control unit 108 may, for example, periodically control the output unit 120. The control unit 108 may, for example, control the output unit 120 for each frame of the imaging unit 160. For example, if the frame rate of the imaging unit 160 is 30 fps (frames per second), the control unit 108 may control the output unit 120 30 times per second.

The control unit 108 may, for example, control the output direction of the laser light output by the output unit 120. The control unit 108 may, for example, control the output direction of the laser light by controlling the angle of the mounting unit 140 on which the output unit 120 is mounted.

The control unit 108 may, for example, control the output direction of the laser light so that the laser light output by the output unit 120 tracks the power supply target 200. The control unit 108 may, for example, control the output direction of the laser light so that the laser light tracks the power supply target 200 in a state where the power supply target 200 identified by the identification unit 106 and the irradiation area of the laser light overlap more closely. The control unit 108 may, for example, control the output direction of the laser light so that the laser light tracks the power supply target 200 in a state where the center of the target portion 250 identified by the identification unit 106 and the center of the irradiation area of the laser light coincide more closely.

The control unit 108 may calculate the first rotation amount, for example, to control the output direction of the laser light. The control unit 108 may calculate the first rotation amount based on, for example, the output direction of the laser light when the center of the irradiation area of the laser light identified by the identification unit 106 coincides with the center of the target unit 250 when the captured image was captured, and the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the captured image of the frame before the captured image was captured. The control unit 108 may calculate the first rotation amount, for example, by calculating the pitch axis rotation amount around the pitch axis of the power supply device 100 and the roll axis rotation amount around the roll axis of the power supply device 100. Similarly, the control unit 108 may calculate a first rotation amount based on the output direction of the laser light when the center of the irradiation area of the laser light identified by the identification unit 106 coincides with the center of the power supply target 200 when the captured image was captured, and the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the power supply target 200 when the captured image of the frame before the captured image was captured. The control unit 108 may rotate the mounting unit 140 by the calculated first rotation amount.

The captured image of the frame before the captured image in question may be, for example, a captured image that is one frame before the captured image in question. The captured image of the frame before the captured image in question may also be a captured image that is two or more frames before the captured image in question.

The control unit 108 may control the output direction of the laser light by controlling the angle of the mounting unit 140 according to the difference between the center of the target portion 250 included in the captured image captured by the imaging unit 160, identified by the identification unit 106, and the center of the irradiation area of the laser light. For example, when the difference is shorter than the difference threshold stored in the information storage unit 102, the control unit 108 may control the angle of the mounting unit 140 by rotating the mounting unit 140 by a first rotation amount calculated based on the captured image and the captured image of the frame before the captured image. On the other hand, when the difference is longer than the difference threshold, the control unit 108 may control the angle of the mounting unit 140 by rotating the mounting unit 140 by the first rotation amount and a second rotation amount corresponding to the difference.

The control unit 108 may calculate the second rotation amount to control the output direction of the laser light in response to determining that the difference is longer than the difference threshold. The control unit 108 may calculate the second rotation amount, for example, based on the output direction of the laser light when the center of the irradiation area of the laser light identified by the identification unit 106 coincides with the center of the target unit 250 when the captured image was captured, and the output direction of the laser light when the captured image was captured. The control unit 108 may calculate the second rotation amount, for example, by calculating the pitch axis rotation amount and the roll axis rotation amount of the power supply device 100. Similarly, the control unit 108 may calculate the second rotation amount based on the output direction of the laser light when the center of the irradiation area of the laser light identified by the identification unit 106 coincides with the center of the power supply target 200 when the captured image was captured, and the output direction of the laser light when the captured image was captured. The control unit 108 may rotate the mounting unit 140 by the calculated second rotation amount.

The rotation direction of the pitch axis rotation amount of the second rotation amount may be the same as the rotation direction of the pitch axis rotation amount of the first rotation amount, or may be the opposite direction to the rotation direction of the pitch axis rotation amount of the first rotation amount. The rotation direction of the roll axis rotation amount of the second rotation amount may be the same as the rotation direction of the roll axis rotation amount of the first rotation amount, or may be the opposite direction to the rotation direction of the roll axis rotation amount of the first rotation amount.

The control unit 108 may control the output direction of the laser light by controlling the optical system of the output unit 120, which may include optical elements such as mirrors and prisms. In this case, the control unit 108 may control the output direction of the laser light so that the laser light output by the output unit 120 tracks the power supply target 200, in a manner similar to the case where the output direction of the laser light is controlled by controlling the angle of the mounting unit 140.

The control unit 108 may control the output power at which the output unit 120 outputs the laser light. The control unit 108 may control the output power, for example, based on the remaining battery level of the power supply target 200 indicated by the battery remaining level information stored in the information storage unit 102. The control unit 108 may control the output power, for example, so that the laser light is output at a higher output power as the remaining battery level of the power supply target 200 decreases. The control unit 108 may control the output power, for example, so that the laser light is output at a first output power when the remaining battery level of the power supply target 200 is higher than a battery remaining level threshold pre-stored in the information storage unit 102, and the laser light is output at a second output power higher than the first output power when the remaining battery level of the power supply target 200 is lower than the battery remaining level threshold.

The control unit 108 may control the output power based on, for example, a tracking result of the laser light tracking the power supply target 200. For example, when the output unit 120 is outputting the laser light at the first output power, if the laser light tracks the power supply target 200 in a state where the difference between the center of the target portion 250 included in the captured image and the center of the irradiation area of the laser light is shorter than the difference threshold value stored in advance in the information storage unit 102 for a predetermined period, the control unit 108 may change the output power from the first output power to the second output power. For example, when the output unit 120 is outputting the laser light at the second output power, if the laser light tracks the power supply target 200 in a state where the difference is longer than the difference threshold value for a predetermined period, the control unit 108 may change the output power from the second output power to the first output power.

When the output unit 120 is a tunable laser, the control unit 108 may control the wavelength of the laser light output by the output unit 120. In this case, the control unit 108 may control the wavelength of the laser light, for example, so as to increase the visibility of the irradiation area of the laser light in the captured image.

The information acquisition unit 104 may acquire learning data including an image including the target portion 250 of the power supply target 200 and target area information indicating the area of the target portion 250 included in the image. The image included in the learning data may be, for example, an image captured by the imaging unit 160. The image included in the learning data may be an image captured by any imaging device other than the imaging unit 160. The information acquisition unit 104 may store the acquired learning data in the learning data storage unit 110.

The model generation unit 112 may generate a model for identifying the target portion 250 of the power supply target 200 from the captured image by machine learning. The model generation unit 112 may generate a model for identifying the target portion 250 from the captured image by machine learning, for example, using multiple pieces of learning data stored in the learning data storage unit 110 as teacher data. The model generation unit 112 may store the generated model in the model storage unit 114.

The model acquisition unit 116 may acquire a model that identifies the target portion 250 of the power supply target 200 from the captured image. The model acquisition unit 116 may acquire the model, for example, by receiving the model from an external device via a network that may include the Internet or a core network provided by a telecommunications carrier. The model acquisition unit 116 may acquire the model by an input unit provided in the power supply device 100 accepting an input of the model by a user of the power supply device 100. The model acquisition unit 116 may store the acquired model in the model storage unit 114.

The identification unit 106 may identify the target portion 250 from the captured image captured by the imaging unit 160 using the model generated by the model generation unit 112. The identification unit 106 may identify the target portion 250 from the captured image captured by the imaging unit 160 using the model acquired by the model acquisition unit 116.

The parameter setting unit 118 may set parameters for the image capturing unit 160. The parameter setting unit 118 may set parameters for the image capturing unit 160 based on, for example, at least one of the wavelength and output power of the laser light output by the output unit 120 and the luminance value within the irradiation area included in the captured image captured by the image capturing unit 160.

The parameter setting unit 118 may set the parameters of the imaging unit 160, for example, so that the visibility of the irradiation area of the laser light in the captured image is increased. The parameter setting unit 118 may set the parameters of the imaging unit 160 so that the visibility of the brightness value saturated area in the irradiation area of the laser light is increased.

The parameter setting unit 118 may set, for example, the white balance of the imaging unit 160. The parameter setting unit 118 may set, for example, the ISO sensitivity of the imaging unit 160. The parameter setting unit 118 may set any other parameter of the imaging unit 160.

Figure 7 is an explanatory diagram for explaining an example of the processing flow of the power supply device 100. In Figure 7, the state in which the output direction of the laser light from the output unit 120 is being controlled is explained as the start state.

In step (step may be abbreviated to S) 102, the information acquisition unit 104 may acquire an image captured by the imaging unit 160. In S104, the control unit 108 may calculate a first rotation amount based on the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the image acquired by the information acquisition unit 104 in S102 was captured, and the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the image of the frame before the captured image was captured.

In S106, the identification unit 106 may identify the center of the target portion 250 of the power supply target 200 and the center of the irradiation area of the laser light, which are included in the captured image acquired by the information acquisition unit 104 in S102. The identification unit 106 may further identify the difference between the center of the target portion 250 and the center of the irradiation area.

In S108, the control unit 108 may determine whether the difference between the center of the target portion 250 identified by the identification unit 106 in S106 and the center of the irradiation region is shorter than the difference threshold value stored in the information storage unit 102. If the control unit 108 determines that the difference is shorter than the difference threshold value, the process may proceed to S110. If the control unit 108 determines that the difference is longer than the difference threshold value, the process may proceed to S112.

In S110, the control unit 108 may rotate the mounting unit 140 by the first rotation amount calculated in S104. In S112, the control unit 108 may calculate a second rotation amount corresponding to the difference between the center of the target unit 250 identified by the identification unit 106 in S106 and the center of the irradiation area. In S114, the control unit 108 may rotate the mounting unit 140 by the first rotation amount calculated in S104 and the second rotation amount calculated in S112.

If the information acquisition unit 104 has not acquired an end instruction in S116, the process may return to S102. If the information acquisition unit 104 has acquired an end instruction in S116, the power supply device 100 may end control of the output direction of the laser light.

In the example of the processing flow of the power supply device 100 shown in FIG. 7, the processing of S116 may be replaced with a processing in which the information acquisition unit 104 receives battery remaining amount information from the power supply target 200 and the control unit 108 determines whether the remaining battery amount of the power supply target 200 indicated by the battery remaining amount information is greater than the battery remaining amount threshold stored in the information storage unit 102. In this case, if the control unit 108 determines that the remaining battery amount of the power supply target 200 is less than the battery remaining amount threshold, the process returns to S102, and if the control unit 108 determines that the remaining battery amount of the power supply target 200 is greater than the battery remaining amount threshold, the power supply device 100 may end control of the output direction of the laser light.

Figure 8 is an explanatory diagram for explaining another example of the processing flow of the power supply device 100. In Figure 8, the state in which the output direction of the laser light from the output unit 120 is being controlled is explained as the start state.

In S202, the information acquisition unit 104 may acquire an image captured by the imaging unit 160. In S204, the control unit 108 may calculate a first rotation amount based on the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the image acquired by the information acquisition unit 104 in S202 was captured, and the output direction of the laser light when the center of the irradiation area of the laser light coincides with the center of the target unit 250 when the image of the frame before the captured image was captured. In S206, the control unit 108 may rotate the mounting unit 140 by the first rotation amount calculated in S204.

In S208, the identification unit 106 may identify the center of the target portion 250 of the power supply target 200 and the center of the irradiation area of the laser light, which are included in the captured image acquired by the information acquisition unit 104 in S202. The identification unit 106 may further identify the difference between the center of the target portion 250 and the center of the irradiation area.

In S210, the control unit 108 may determine whether the difference between the center of the target portion 250 identified by the identification unit 106 in S208 and the center of the irradiation region is shorter than the difference threshold value stored in the information storage unit 102. If the control unit 108 determines that the difference is shorter than the difference threshold value, the process may proceed to S216. If the control unit 108 determines that the difference is longer than the difference threshold value, the process may proceed to S212.

In S212, the control unit 108 may calculate a second rotation amount corresponding to the difference between the center of the target unit 250 identified by the identification unit 106 in S208 and the center of the irradiation area. In S214, the control unit 108 may rotate the mounting unit 140 by the second rotation amount calculated in S212.

If the information acquisition unit 104 has not acquired an end instruction in S216, the process may return to S202. If the information acquisition unit 104 has acquired an end instruction in S216, the power supply device 100 may end control of the output direction of the laser light.

In an example of the processing flow of the power supply device 100 shown in FIG. 8, the processing of S216 may be replaced with a processing in which the information acquisition unit 104 receives battery remaining amount information from the power supply target 200 and the control unit 108 determines whether the remaining battery amount of the power supply target 200 indicated by the battery remaining amount information is greater than the battery remaining amount threshold stored in the information storage unit 102. In this case, if the control unit 108 determines that the remaining battery amount of the power supply target 200 is less than the battery remaining amount threshold, the process returns to S202, and if the control unit 108 determines that the remaining battery amount of the power supply target 200 is greater than the battery remaining amount threshold, the power supply device 100 may end control of the output direction of the laser light.

9 shows an example of a hardware configuration of a computer 1200 functioning as the power supply device 100. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the above embodiment, or to execute operations or one or more "parts" associated with the device according to the above embodiment, and/or to execute a process or steps of the process according to the above embodiment. Such a program can be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

10 system, 50 rail, 60 center, 100 power supply device, 102 information storage unit, 104 information acquisition unit, 106 identification unit, 108 control unit, 110 learning data storage unit, 112 model generation unit, 114 model storage unit, 116 model acquisition unit, 118 parameter setting unit, 120 output unit, 122 laser light, 124 irradiation area, 126 brightness value saturation area, 128 center, 140 mounting unit, 160 imaging unit, 200 power supply target, 220 photovoltaic panel, 250 target unit, 255 center, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 input/output controller, 1222 communication interface, 1224 storage device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 I/O chip, 1242 keyboard

Claims (14)

A power supply device that wirelessly supplies power to a power supply target that is a moving body ,
an output unit that outputs a laser beam ;
a mounting portion for mounting the output portion;
an imaging unit configured to capture an image including the power supply target of the power supply device and an irradiation area irradiated with the laser light;
An identification unit that identifies the power supply target, a center of a target portion of the power supply target, the irradiation area, and a center of the irradiation area , which are included in each of the plurality of captured images captured by the imaging unit;
a control unit that controls an output direction of the laser light so that the laser light tracks the power supply target in a state where the power supply target identified by the identification unit and the irradiation area overlap as much as possible ;
The identification unit identifies a difference between the center of the target portion included in the captured image and the center of the irradiation area,
the control unit controls an angle of the mounting unit by rotating the mounting unit by a first rotation amount calculated based on the captured image and an captured image of a frame prior to the captured image when the difference is shorter than a predetermined difference threshold, and controls the angle of the mounting unit by rotating the mounting unit by a second rotation amount corresponding to the first rotation amount and the difference when the difference is longer than the difference threshold, thereby controlling the output direction of the laser light such that the laser light tracks the power supply target in a state where the center of the target portion and the center of the irradiation area are more closely aligned.
Power supply device. The power supply device according to claim 1 , wherein the specifying unit specifies, as the center of the illumination region, a center of a brightness value saturated region in which a brightness value in the illumination region has reached an upper limit. a learning data storage unit for storing learning data including a captured image including the target portion and target area information indicating an area of the target portion included in the captured image;
a model generation unit that uses the plurality of learning data stored in the learning data storage unit as teacher data to generate a model for identifying the target portion from a captured image by machine learning,
The identification unit identifies the target portion from the captured image captured by the imaging unit, using the model generated by the model generation unit.
The power supply device according to claim 1 . The power supply device according to claim 1, further comprising a parameter setting unit that sets parameters of the imaging unit based on at least one of the wavelength and output power of the laser light and the luminance value in the irradiation area included in the captured image. The power supply device according to claim 4 , wherein the parameter setting section sets a white balance of the imaging section. The power supply device according to claim 4 , wherein the parameter setting section sets an ISO sensitivity of the imaging section. the output unit outputs the laser light having a wavelength in a red region,
The imaging unit is a visible light camera.
The power supply device according to claim 1 . 2. The power supply device according to claim 1, wherein, when the output unit is outputting the laser light at a first output power, if the laser light is tracking the power supply target with the difference being shorter than the difference threshold for a predetermined period of time, the control unit changes the output power of the laser light from the first output power to a second output power greater than the first output power. 2. The power supply device according to claim 1, wherein when the output unit is outputting the laser light at a second output power, if the laser light is tracking the power supply target with the difference being longer than the difference threshold for a predetermined period of time, the control unit changes the output power of the laser light from the second output power to a first output power that is smaller than the second output power. an information acquisition unit that receives battery remaining amount information indicating a remaining amount of the battery of the power supply target;
Further equipped with
the control unit controls the output power of the laser light such that the laser light is output with a larger output power as the remaining battery charge of the power supply target decreases.
The power supply device according to claim 1 . an information acquisition unit that receives battery remaining amount information indicating a remaining amount of the battery of the power supply target;
Further equipped with
the control unit controls the output power of the laser light so as to output the laser light at a first output power when the battery remaining capacity of the power supply target is higher than a predetermined battery remaining capacity threshold, and to output the laser light at a second output power higher than the first output power when the battery remaining capacity of the power supply target is lower than the battery remaining capacity threshold.
The power supply device according to claim 1 . A program for causing a computer to function as the power supply device according to any one of claims 1 to 11 . The power supply device according to any one of claims 1 to 11 ,
A system comprising: A control method for controlling a power supply device that wirelessly supplies power to a power supply target that is a moving body, the control method comprising the steps of :
an imaging step of capturing an image including the power supply target of the power supply device and an irradiation area irradiated with a laser light output by an output unit mounted on a mounting unit of the power supply device ;
A determination step of determining the power supply target, a center of a target portion of the power supply target, the irradiation area, and a center of the irradiation area , which are included in each of the plurality of captured images captured in the imaging step;
a control step of controlling an output direction of the laser light so that the laser light tracks the power supply target in a state where the power supply target identified in the identification step and the irradiation area overlap more closely with each other ;
The identifying step includes a step of identifying a difference between the center of the target portion included in the captured image and the center of the irradiation area,
The control step includes a step of controlling an angle of the mounting part by rotating the mounting part by a first rotation amount calculated based on the captured image and an captured image of a frame preceding the captured image when the difference is shorter than a predetermined difference threshold, and controlling the angle of the mounting part by rotating the mounting part by a second rotation amount corresponding to the first rotation amount and the difference when the difference is longer than the difference threshold, thereby controlling the output direction of the laser light so that the laser light tracks the power supply target in a state where the center of the target part and the center of the irradiation area are more closely aligned.
Control methods.

Images