JPWO2019030832A1 - Unmanned air vehicle and power receiving coil unit - Google Patents

Abstract

A mechanism to receive power by non-contact power supply to the unmanned air vehicle while suppressing the influence on the performance of the unmanned air vehicle is realized. The unmanned air vehicle includes a pedestal portion in which a flight control device is provided, a plurality of arms extending from the pedestal portion in the outer circumferential direction of the pedestal portion, a plurality of arms in which thrust generating devices are provided, and a lower portion of the pedestal portion. And a spiral-type power receiving coil that is wound around a conductive wire that receives the power supplied to the flight control device or thrust generating device by non-contact power supply, and is provided near the grounded end of the leg column. One or more receiving coil units. The power receiving coil unit has an interval for allowing the air blown from the thrust generating device to pass between adjacent conductive wires of the power receiving coil.

Description

  The present invention relates to an unmanned air vehicle and a power receiving coil unit.

  Patent Document 1 describes an imaging unmanned aerial vehicle that photographs an investigation target part while flying. The unmanned aerial vehicle for shooting includes an unmanned aerial vehicle, a photographing device mounted on the unmanned aerial vehicle, and three or more legs provided on the unmanned aerial vehicle, and the leg end of the leg is brought into contact with the investigation target portion. By photographing the investigation target part in the state in which it has been made, the photographing posture with respect to the investigation target part is maintained.

  Patent Document 2 describes a delivery method using an unmanned air vehicle that reliably delivers a package to a customer. The unmanned air vehicle hoveres at the delivery destination, takes a picture of the delivery destination with a camera, and determines whether or not the package delivery is appropriate based on the video.

  Non-Patent Document 1 describes a drone (unmanned airplane) compatible with wireless power feeding for solar panel monitoring and the like. When the drone lands on the charging stand, the built-in battery is charged by wireless power supply. While the battery is charging, the drone LED lights up green.

  Non-Patent Document 2 describes a wireless power feeding system for drones and robots. Further, according to the wireless power feeding system, it is described that the trouble of removing the battery from the drone can be omitted, and it is not necessary to expose an unnecessary metal surface, so that it can be charged safely.

Japanese Patent Laying-Open No. 2015-22395 Japanese Patent Laid-Open No. 2006-88675 “Nikkei Technology Online”, [online], October 09, 2015, Motoyuki Otsuka, [Search June 28, 2017], Internet <URL: http://techon.nikkeibp.co.jp/atcl/ event / 15/091600004/100900058 /? bpnet & rt = nocnt> "Business network.jp", [online], May 20, 2015, business network.jp editorial department, [Search June 28, 2017], Internet <URL: http://businessnetwork.jp/Detail/ tabid / 65 / artid / 3983 / Default.aspx>

  As described in Non-Patent Documents 1 and 2, it is proposed to charge the battery mounted on the unmanned air vehicle by non-contact power supply for the purpose of eliminating the trouble of battery replacement and improving safety. Has been. In order to charge the battery by non-contact power supply here, it is necessary to provide a power receiving coil on the unmanned air vehicle side, but for example, when trying to supply power with short-wave electromagnetic waves by non-contact power supply of magnetic resonance type, It is necessary to install a receiving coil with a large diameter of about several tens of centimeters, aerodynamic characteristics, safety, securing loading space, securing a field of view when mounting photography equipment, ensuring transmission efficiency for contactless power feeding, etc. It is necessary to consider the effects on the performance and functions of unmanned air vehicles.

  The present invention has been made in view of such a background, and is capable of realizing a mechanism for supplying power to an unmanned air vehicle by non-contact power feeding while suppressing an influence on the performance and function of the unmanned air vehicle. An object is to provide a flying object and a power receiving coil unit.

  One aspect of the present invention for achieving the above object is an unmanned air vehicle, a pedestal portion provided with a flight control device, and extending from the pedestal portion to the outer periphery of the pedestal portion with a predetermined length. A plurality of arms provided with a thrust generating device, leg posts extending below the pedestal, and power supplied to the flight control device or the thrust generating device by non-contact power feeding. One or more power receiving coil units provided in the vicinity of the ground-side end of the leg strut, including a spiral spiral power receiving coil, and the thrust between the conductive wires adjacent to the power receiving coil There is an interval for passing the air blown from the generator.

  As described above, the power receiving coil unit is configured such that the adjacent conductors of the power receiving coil are spaced apart from each other, so that the air that is pushed downward from the thrust generator and blows to the power receiving coil during the flight of the unmanned air vehicle is adjacent to the power receiving coil unit. Go through and go down. Therefore, it is possible to prevent the air from flowing back to the thrust generator and to suppress the influence on the performance of the unmanned air vehicle. In addition, the power consumption of the unmanned air vehicle can be reduced, and the flight time can be extended. Moreover, since the receiving coil unit has a simple structure, it can be realized easily and at low cost.

  Another aspect of the present invention is the above-described unmanned air vehicle, wherein the conducting wire has a rhombic cross-sectional shape, and the conducting wire has one top of the rhombus and the other of the rhombus facing the one top. The diagonal line connecting the top part is provided so as to be vertical.

  Thus, by making the cross-sectional shape of the conducting wire rhombus, the air blown to the power receiving coil unit during the flight of the unmanned air vehicle efficiently passes downward between the conducting wires adjacent to each other. Therefore, the influence on the performance of the unmanned air vehicle can be more reliably prevented.

  Another aspect of the present invention is the above-described unmanned air vehicle, wherein the conducting wire has a substantially rhombic cross-sectional shape curved so that four sides thereof are convex toward the outer peripheral side, and the conducting wire has the substantially rhombic shape. The diagonal line which connects one top part and the other top part of the said substantially rhombus facing the said one top part is provided so that it may become perpendicular | vertical.

  Thus, by making the cross-sectional shape of the conducting wire substantially rhombus curved so that its four sides are convex toward the outer peripheral side, the air blown to the power receiving coil unit during the flight of the unmanned air vehicle is efficiently between adjacent conducting wires. Go down through. Therefore, the influence on the performance of the unmanned air vehicle can be more reliably prevented.

  Another aspect of the present invention is the unmanned aerial vehicle, wherein the conductive wire is a coated conductive wire in which a conductor wire is covered with an insulator.

  Another aspect of the present invention is the unmanned aerial vehicle, wherein the power receiving coil unit includes a spacer that supports the conductors so that the gap is formed between the adjacent conductors.

  Another aspect of the present invention is the above-described unmanned air vehicle, wherein the spacer includes a substantially flat plate-like upper member, a substantially flat plate-like substantially flat plate-like lower member, the upper member, and the lower member. A fitting portion that is fitted so that the lower surface of the upper member and the upper surface of the lower member face each other, and a plurality of first groove portions in which the conductive wires are accommodated are formed on the lower surface of the upper member, A plurality of second groove portions for accommodating the conducting wires are formed on the upper surface of the lower member, and the upper member and the lower member are located between the first groove portion of the upper member and the second groove portion of the lower member. Are fitted by the fitting portion in a state where the conductive wire is sandwiched therebetween.

  As described above, by using the spacer having the above-described configuration, the adjacent conductors of the power receiving coil can be easily maintained in a spaced state, and the power receiving coil unit can have a practically sufficient strength. it can.

  Another aspect of the present invention is the above-described unmanned air vehicle, comprising a horizontal leg that extends in the horizontal direction in the vicinity of the ground-side end of the leg support, and the upper member has the upper surface on the upper surface, One or more attachment members having a shape fitted to the horizontal leg are provided.

  The spacer can be attached to any position within a range in which the conductor of the power receiving coil is linear by the attachment member. Therefore, the user can position the spacer at an appropriate position of the horizontal leg from the viewpoint of, for example, the weight balance of the unmanned air vehicle.

  Another aspect of the present invention is the above-described unmanned air vehicle, wherein a plurality of the above-described unmanned air vehicles are provided to extend below the pedestal portion while securing a space for loading a load below the pedestal portion. The power receiving coil unit has a leg column, has a substantially rectangular parallelepiped outer shape, and is provided in the vicinity of a ground side end of the leg column so that a longitudinal direction thereof extends in a horizontal direction. Is provided such that its longitudinal direction extends along the periphery of the space, and includes a horizontal leg extending in the horizontal direction in the vicinity of the grounding side end portion of the leg support, and the power receiving coil unit includes: The horizontal leg is provided so that the longitudinal direction thereof coincides with the extending direction of the horizontal leg, and the lower surface thereof is parallel to the grounding surface of the unmanned air vehicle. A second receiving coil unit; and a first The first horizontal leg extending in the horizontal direction in the vicinity of the ground contact end of the leg post and the first horizontal leg in the horizontal direction in the vicinity of the ground contact end of the second leg support The second horizontal leg extending to the first horizontal leg, and the first horizontal leg and the second horizontal leg are provided so as to sandwich the space between them. The coil unit is provided on the first horizontal leg with its longitudinal direction coinciding with the extending direction of the first horizontal leg, and the second power receiving coil unit has its longitudinal direction on the second horizontal leg. The second horizontal leg is provided so as to coincide with the extending direction of the horizontal leg.

  In this way, the power receiving coil unit is provided so that the direction of the winding axis of the power receiving coil is vertical, for example, efficiently and reliably from the power transmission coil of the charging station provided with its power transmission surface facing upward. Power can be received by non-contact power feeding. In addition, the power receiving coil unit is installed on the horizontal leg so that its lower surface is parallel to the ground plane of the unmanned air vehicle, so that the unmanned air vehicle can be kept horizontal during take-off and landing, and maneuverability during take-off and landing is easy. The stability and safety of the aircraft can be ensured.

  Another aspect of the present invention is the above-described unmanned air vehicle, wherein the rectifier circuit rectifies the power received by the power receiving coil, and the charge control device that charges the power storage device with the power rectified by the rectifier circuit. And further comprising.

  By using the power receiving coil unit of the present invention, it is possible to easily realize the function of charging the power storage device with the electric power received and received by the unmanned air vehicle by non-contact power feeding.

  Another aspect of the present invention is the above-described unmanned air vehicle, wherein the non-contact power feeding is a magnetic resonance type non-contact power feeding.

  Another aspect of the present invention includes a pedestal portion provided with a flight control device, a plurality of arms extending from the pedestal portion in the outer peripheral direction of the pedestal portion with a predetermined length and provided with a thrust generator, and the pedestal A power receiving coil unit provided in an unmanned aerial vehicle that includes a leg strut extending below the unit, and receiving power supplied to the flight control device or the thrust generating device by non-contact power feeding Including a spiral type power receiving coil, which is provided in the vicinity of the ground-side end of the leg post, and allows air blown from the thrust generating device to pass between the conductive wires adjacent to the power receiving coil. Have an interval.

  By providing the power receiving coil unit having the above-described configuration, for example, independently of the unmanned aerial vehicle, a mechanism for non-contact power feeding can be easily provided in the existing unmanned aerial vehicle.

  Another aspect of the present invention is the power receiving coil unit, wherein the conducting wire has a rhombic cross-sectional shape, and the conducting wire has one top of the rhombus and the other of the rhombus facing the one top. The diagonal line connecting the top part is provided so as to be vertical.

  Another aspect of the present invention is the power receiving coil unit, wherein the conducting wire has a substantially rhombic cross-sectional shape that is curved so that four sides thereof are convex toward the outer peripheral side, and the conducting wire has the substantially rhombic shape. The diagonal line which connects one top part and the other top part of the said substantially rhombus facing the said one top part is provided so that it may become perpendicular | vertical.

  Another aspect of the present invention is the power receiving coil unit, the rectifying circuit that rectifies the power received by the power receiving coil, and the charge control device that charges the power storage device with the power rectified by the rectifying circuit. And further comprising.

  Since the power receiving coil unit is further provided with a rectifier circuit and a charge control device, there is no need to prepare a rectifier circuit and a charge control device separately. Can be provided.

  In addition, the subject which this application discloses, and its solution method are clarified by the column of the form for inventing, and drawing.

  ADVANTAGE OF THE INVENTION According to this invention, the mechanism which supplies electric power to a unmanned aerial vehicle by non-contact electric power feeding is realizable, suppressing the influence which acts on the performance and function of an unmanned aerial vehicle.

It is a figure (front view) which shows the structure of the charging system. 1 is a diagram (plan view) illustrating a configuration of a charging system 1. FIG. It is a figure (front view) which shows the other structure of the charging system. It is a figure (plan view) showing other composition of charging system. 2 is a diagram (perspective view) showing a configuration of an unmanned air vehicle 3. FIG. (A) is a figure which shows the hardware constitutions of the charging station 2, (b) is a figure which shows the circuit structure of the power transmission apparatus 10. FIG. It is a figure which shows the hardware constitutions of the information processing apparatus 15 shown to Fig.3 (a). It is a figure which shows the function with which the information processing apparatus 15 is provided. 2 is a diagram illustrating a hardware configuration of an unmanned air vehicle 3. FIG. It is a figure which shows the function with which the control circuit 251 shown in FIG. 6 is provided. 2 is a diagram illustrating a configuration of a power receiving device 20. FIG. It is a figure which shows the hardware constitutions of the charging control apparatus. It is a figure which shows the function (software structure) with which the charge control apparatus 75 is provided. (A) is the top view which looked at the receiving coil unit 81 from upper direction (+ z direction), (b) is the top view which looked at the receiving coil unit 81 from the downward direction (-z direction), (c) is power receiving. It is sectional drawing (sectional drawing cut | disconnected by the XX 'line of (a)) of the coil unit 81. FIG. It is another example of the receiving coil unit 81, (a) is the top view which looked at the receiving coil unit 81 from upper direction (+ z direction), (b) looked at the receiving coil unit 81 from the downward direction (-z direction). FIG. 6C is a cross-sectional view of the power receiving coil unit 81 (a cross-sectional view taken along line XX ′ in FIG. 5A). It is a figure which shows the other structure of the attachment member 814. FIG. 4 is a schematic diagram for explaining an electrical connection relationship among a power receiving coil unit 81, a control unit 82, a wiring cable 83, and a battery 260. FIG. It is a flowchart explaining power transmission control processing S1300. It is a flowchart explaining charge control processing S1400. 6 is a schematic diagram for explaining the influence of the power receiving coil unit 81 on the performance of the unmanned air vehicle 3. FIG. (A) is the top view which looked at the receiving coil unit 81 from upper direction (+ z direction), (b) is sectional drawing (sectional drawing cut | disconnected by the XX 'line | wire of (a)) of the receiving coil unit 81. is there. 2C is a cross-sectional view of the conducting wire 215 of the power receiving coil 211. FIG. FIG. 4 is a diagram showing a state where a power receiving coil unit 81 is attached to an unmanned air vehicle 3. (A) is sectional drawing of the spacer 91, (b) is sectional drawing of the conducting wire 215 of the receiving coil 211. FIG. (A) is sectional drawing of the spacer 91, (b) is sectional drawing of the conducting wire 215 of the receiving coil 211. FIG. It is the top view which looked at the receiving coil unit 81 from upper direction (+ z direction). It is a figure which shows a mode that the receiving coil unit 81 shown in FIG. 20 was attached to the unmanned air vehicle 3 which has the arc-shaped horizontal leg 332. FIG.

  Hereinafter, modes for carrying out the invention will be described. In the following description, the same or similar components may be denoted by common reference numerals and description thereof may be omitted.

  FIG. 1A, FIG. 1B, and FIG. 2 show the configuration of an unmanned air vehicle charging system (hereinafter referred to as charging system 1), which will be described as an embodiment of the present invention. The charging system 1 includes an unmanned air vehicle 3 that receives power supply by contactless power feeding (also referred to as wireless power feeding) and a charging station 2 that supplies power to the unmanned air vehicle 3 by non-contact power feeding. 1A is a front view of the charging system 1, FIG. 1B is a plan view of the charging system 1 as viewed from above, and FIG. 2 is a perspective view of the unmanned air vehicle 3 as viewed from obliquely upward from the front.

  The unmanned aerial vehicle 3 is used for various purposes such as shooting aerial images and transporting luggage. The unmanned aerial vehicle 3 is, for example, a multicopter (such as a bicopter tricopter, a quadcopter, a hexacopter, an octocopter), a helicopter, an airplane, a flying robot, or the like. The unmanned aerial vehicle 3 may be of a type that is remotely operated in a wireless manner, or of a type that autonomously flies with an autonomous control mechanism. In the present embodiment, it is assumed that the unmanned air vehicle 3 is a quadcopter of a type that is remotely controlled by a wireless system.

  The unmanned aerial vehicle 3 extends in the horizontal direction at 45 °, 135 °, 225 °, and 315 ° as the basic skeleton (frame) with respect to the pedestal portion 31 and the + y direction, respectively. Four arms 32 and leg portions 33 (including leg posts 331 and horizontal legs 332 described later, which are also referred to as skids) provided so as to extend below the pedestal portion 31 (−z direction). The arm 32 and the leg portion 33 are configured using, for example, a tubular (cylindrical, rectangular, etc.) member or a truss-shaped member. These are made of, for example, resin, metal, or the like.

  The pedestal portion 31 has a structure having a plurality of plate members in the vertical direction (z-axis direction) (in this example, two levels in the vertical direction). The leg part 33 is fixed to the two leg struts 331 extending from the pedestal part 31 in the left-right direction (± x axis direction) and extending downward by a predetermined length, and to the lower end of the leg strut 331 (see FIG. and a horizontal leg 332 extending in a predetermined length (for example, a length in the front-rear direction (y-axis direction) of the unmanned air vehicle 3) in the y-axis direction). The horizontal leg 332 is connected to the leg column 331 through a T-shaped connecting member or the like in the vicinity of the center in the longitudinal direction (y-axis direction). In addition, the horizontal leg 332 is not an essential configuration, and for example, the leg portion 33 may be configured by four leg columns 331.

  A flight control device 250 is provided on the upper stage of the pedestal 31. A lower part of the pedestal 31 is provided with a part of the power receiving device 20 described later, a battery 260 (power storage device), a control unit 82 described later, and the like. These are fixed to the pedestal 31 using, for example, a double-sided tape or a hook-and-loop fastener.

  A power motor 255 (thrust generating device) is provided in the vicinity of the end of each of the four arms 32 such that the direction of the rotation axis is directed in the vertical direction (z-axis direction). A propeller 271 (rotary blade) is attached to the rotating shaft of each power motor 255. Each power motor 255 is connected to a motor control device 254 described later.

  As shown in the figure, a space S surrounded by the lower stage of the pedestal 31 and the two leg posts 331 is formed below the pedestal 31, and in this space S, the unmanned air vehicle 3 A load 41 is mounted. The load 41 is, for example, a pickup when the unmanned aerial vehicle 3 is used for collection and delivery of luggage, and, for example, when the unmanned aerial vehicle 3 is used for aerial photography purposes, a photographic equipment (camera, video camera, stabilizer) is used. , Gimbals, vibration buffers, etc.).

  The charging station 2 includes a flat rectangular housing 201. The casing 201 is provided with a power transmission device 10 and a body detection sensor 14 that perform power transmission to the unmanned air vehicle 3 by non-contact power feeding. The output signal of the airframe detection sensor 14 is used to determine whether or not the unmanned air vehicle 3 is disposed at a fixed position of the charging station 2. In the following, it is assumed that the non-contact power supply is a magnetic resonance method (AC resonance method or DC resonance method) as an example, but the non-contact power supply method is not necessarily limited to the same method. For example, the charging system 1 can be realized by other contactless power feeding methods such as an “electromagnetic induction method” and a “microwave method”.

  The unmanned aerial vehicle 3 is provided with a power receiving device 20 that receives power transmitted from the power transmitting device 10 by non-contact power feeding. The power receiving device 20 includes a power receiving coil 211 that receives power transmitted from the power transmitting coil 111 of the power transmitting device 10, a rectifier circuit 22, and the like.

  As shown in the figure, the two horizontal legs 332 of the unmanned aerial vehicle 3 are provided with a power receiving coil unit 81 in which the power receiving coil 211 is incorporated so as to be removable. In addition, a control unit 82 on which the rectifier circuit 22 and the like are mounted is provided on the lower stage of the pedestal 31 so as to correspond to each of the power receiving coil units 81. The control unit 82 is further equipped with a charge control device 75 described later. The power receiving coil unit 81 and the control unit 82 are electrically connected via a wiring cable 83. In the following description, the configuration including all of the power receiving coil unit 81, the control unit 82, and the charging control device 75 may be collectively referred to as a power receiving coil unit.

  As shown in FIG. 1A or 1B, two spiral power transmission coils 111 are provided near the upper surface (hereinafter also referred to as a stage) of the casing 201 of the charging station 2. The two power transmission coils 111 are both embedded in the vicinity of the upper surface of the housing 201 so that the power transmission surface is parallel to the xy plane. When the unmanned aerial vehicle 3 is arranged on the stage, the two power transmission coils 111 have their arrangement positions and arrangement regions such that the respective power transmission surfaces face the respective power reception surfaces of the two power reception coils 211 of the unmanned aircraft 3. Is set.

  Note that the number, arrangement position, and arrangement form of the power transmission coils 111 provided in the charging station 2 are not necessarily limited to the configuration shown in FIG. The number, the arrangement position, and the arrangement form of the power transmission coils 111 are appropriately set so that the transmission efficiency is increased according to the shape and size of the power transmission coil 111 and the power reception coil 211, for example. Moreover, you may enable it to adjust the arrangement position and arrangement form of the power transmission coil 111 manually or automatically. This adjustment is performed, for example, by searching for a position with high transmission efficiency by changing the relative positional relationship between the power transmission coil 111 and the power reception coil 211.

  As another form of the power transmission coil 111, for example, as shown in FIGS. 1C and 1D, only one spiral large-diameter power transmission coil 111 may be provided near the upper surface of the charging station 2. In this case, the diameter of the power transmission coil 111 is such that both the two power receiving coils 211 of the unmanned air vehicle 3 are placed on the power transmission surface (in the power transmission surface) of the power transmission coil 111 in a state where the unmanned air vehicle 3 is placed on the stage of the charging station 2. It should be larger than the size of the facing. Since the spiral power transmission coil 111 spreads the magnetic field concentrically, it is possible to efficiently supply power even if one power transmission coil 111 supplies power to the two power receiving coils 211 on the unmanned air vehicle 3 side. Further, since the directivity of the spiral power transmission coil 111 is symmetric around its center, for example, the unmanned air vehicle 3 can land on the stage from any direction (the axis of the unmanned air vehicle 3 is in the xy plane). Power can be supplied efficiently (whichever direction you land).

  FIG. 3A shows a hardware configuration (block diagram) of the charging station 2. As shown in the figure, the charging station 2 includes a power transmission device 10, a body detection sensor 14, and an information processing device 15. FIG. 3B shows a circuit configuration of the power transmission device 10. As illustrated in FIG. 1, the power transmission device 10 includes a power transmission circuit 11, a power measurement circuit 12, and a power supply circuit 13. The power transmission circuit 11 includes a power transmission coil 111, a capacitive element 112, and a control circuit 113. The power measurement circuit 12 includes a voltmeter 121 and an ammeter 122 that measure the power supplied from the power supply circuit 13 to the power transmission circuit 11. The measurement value of the power measurement circuit 12 is input to the information processing device 15 or the like. The power transmission coil 111 may be capable of adjusting the inductance in order to improve the transmission efficiency of the non-contact power feeding. The capacitive element 112 may be capable of adjusting the capacitance so as to improve the transmission efficiency of contactless power feeding.

  The power supply circuit 13 includes, for example, an AC / DC converter and a regulator (switching regulator, linear regulator, etc.), and supplies power supplied from a commercial power supply to the power transmission circuit 11 and the information processing device 15, for example. .

  The control circuit 113 generates a drive current having a predetermined frequency to be supplied to the power transmission circuit 11. The control circuit 113 includes, for example, a driver circuit (gate driver, half-bridge driver, etc.), a high frequency amplifier, and a matching circuit (matching circuit).

  Returning to FIG. 3A, the airframe detection sensor 14 determines whether or not the unmanned aerial vehicle 3 is disposed at the correct position of the charging station (a state where the power transmission region of the power transmission coil 111 and the power reception region of the power reception coil 211 face each other). Or not). The body detection sensor 14 is configured using, for example, one or more photoelectric sensors disposed at a predetermined position of the charging station 2. The body detection sensor 14 is configured using, for example, a pressure sensor, a distance measurement sensor, or the like.

  FIG. 4 shows a hardware configuration (block diagram) of the information processing apparatus 15 (computer) shown in FIG. As shown in the figure, the information processing apparatus 15 includes a processor 151, a storage device 152, an input device 153, an output device 154, and a communication device 155. These are connected to be communicable via a communication means such as a bus.

  The processor 151 is configured using, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The storage device 152 is a device that stores programs and data, and is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an NVRAM (Non Volatile RAM), or the like. The processor 151 and the storage device 152 may be provided as, for example, a microcomputer (microcomputer) in which these are packaged together.

  The input device 153 is an interface that receives input of information and instructions from the user, and is, for example, a keyboard, a mouse, a touch panel, or the like. The output device 154 is an interface that provides information to the user, and is a liquid crystal panel (Liquid Crystal Display), an LED (Light Emitting Diode), a speaker, or the like.

  The communication device 155 performs wireless communication with a communication device 259 on the unmanned air vehicle 3 described later and a communication device 754 of the charging control device 75. This wireless communication is performed using, for example, a 2.4 GHz band radio wave.

  FIG. 5 shows functions (software configuration) included in the information processing apparatus 15. As shown in the figure, the information processing apparatus 15 includes functions of an operation input receiving unit 501, a machine body recognition processing unit 502, a machine body presence / absence detection unit 503, a power transmission control unit 504, a power consumption monitoring unit 505, and an information output unit 506. Is provided. These functions are realized by, for example, the processor 151 reading and executing a program stored in the storage device 152.

  The operation input receiving unit 501 receives an operation input from the user via the input device 153. For example, the operation input reception unit 501 determines whether or not the user has performed a power transmission start operation (power supply permission operation) or a power transmission stop operation, and notifies the power transmission control unit 504 of the result.

  The airframe recognition processing unit 502 performs authentication processing based on authentication information acquired from the unmanned air vehicle 3 (for example, an identification number or a registration number unique to each unmanned air vehicle 3). The authentication information is acquired, for example, when the communication device 155 wirelessly communicates with a communication device 754 of the charge control device 75 described later. As described above, the airframe recognition processing unit 502 authenticates the unmanned air vehicle 3, thereby preventing, for example, theft prevention or malfunction of other company's products.

  Aircraft presence / absence detection unit 503 detects whether or not unmanned aerial vehicle 3 is located at the correct position of charging station 2 based on information input from airframe detection sensor 14.

  The power transmission control unit 504 controls the magnitude (output) of power transmitted from the power transmission coil 111 and the presence / absence of power transmission. For example, the power transmission control unit 504 controls the presence / absence of power transmission from the power transmission coil 111 in response to a notification from the operation input receiving unit 501 (for example, a notification that the user has performed a power transmission start operation or a power transmission stop operation). The power transmission control unit 504 controls the presence / absence of power transmission from the power transmission coil 111 based on the determination result of the airframe presence / absence detection unit 503, for example. For example, the power transmission control unit 504 controls the duty ratio in the PWM control of the driver circuit of the control circuit 113, the coupling coefficient between the power transmission circuit 11 and the power reception circuit 21, the capacitance of the capacitive element 112, and the power supply circuit 13. This is performed by changing one or more of the power supply amount to the circuit 113 and the power supply amount from the control circuit 113 to the power transmission coil 111. Note that the power transmission control unit 504 may have a function of automatically adjusting the inductance of the power transmission coil 111 and the capacitance of the capacitive element 112 so that the transmission efficiency of contactless power feeding is improved. The power transmission control unit 504 grasps the transmission efficiency based on, for example, the ratio between the transmitted power from the power transmission circuit 11 and the received power of the power receiving device 20 acquired by wireless communication with the charging control device 75 described later. . Moreover, the power transmission control unit 504 grasps the transmission efficiency based on the measurement value of the power measurement circuit 12, for example.

  The power consumption monitoring unit 505 monitors the power consumption of the power transmission circuit 11 as needed based on information (voltage value, current value) obtained from the power measurement circuit 12. The information output unit 506 outputs various information to the output device 154.

  FIG. 6 shows a hardware configuration (block diagram) of the unmanned air vehicle 3. As shown in the figure, the unmanned air vehicle 3 includes a power receiving device 20, a charging control device 75, a battery 260, a flight control device 250, and a thrust generating device 270. The flight control device 250 and the thrust generation device 270 are operated by electric power supplied from the battery 260. For example, the charging control device 75 operates with electric power supplied from the power receiving device 20.

  The flight control device 250 includes a control circuit 251, a receiver 252, various sensors 253, an output device 258, a communication device 259, and a battery 260.

  The control circuit 251 includes a processor and a storage element and functions as an information processing apparatus. The control circuit 251 may be realized, for example, as a microcomputer (microcomputer) in which a processor and a storage element are integrally packaged.

  The various sensors 253 are, for example, a triaxial gyro sensor (angular velocity sensor), a triaxial acceleration sensor, an atmospheric pressure sensor, a magnetic sensor, an ultrasonic sensor, a GPS (Global Positioning System) signal receiving device, and the like. The three-axis gyro sensor detects, for example, the front / rear / left / right inclination and the angular velocity of rotation of the unmanned air vehicle 3. The triaxial acceleration sensor detects, for example, the acceleration of the unmanned air vehicle 3 (acceleration in the front / rear / right / left / up / down directions). For example, the atmospheric pressure sensor measures the atmospheric pressure for obtaining the altitude and the ascending / descending speed of the unmanned air vehicle 3. The magnetic sensor detects, for example, the direction in which the aircraft's axis is currently facing. The ultrasonic sensor detects, for example, the distance between the unmanned air vehicle 3 and the ground, wall, obstacle or the like. The unmanned aerial vehicle 3 does not necessarily have to include all the sensors exemplified above.

  The receiver 252 receives a radio signal transmitted from the remote control transmitter 6 and inputs the content of the received radio signal to the control circuit 251.

  The output device 258 is an interface that provides information to the user, such as an LED or a speaker.

  For example, the communication device 259 performs wireless communication with the communication device 155 on the charging station 2 side. The communication device 259 performs wired communication or wireless communication with a communication device 754 of the charge control device 75 described later.

  The battery 260 is, for example, a lithium polymer secondary battery, an electric double layer capacitor (electric double layer capacitor), a lithium ion secondary battery, or the like. The voltage between the terminals of the battery 260 is input to the control circuit 251. The control circuit 251 grasps the remaining amount of the battery 260 based on the inter-terminal voltage. For example, the control circuit 251 outputs information indicating the current remaining amount of the battery 260 from the output device 258. The control circuit 251, the charging control device 75, and the charging station 2 may communicate with each other and share information held by each of them.

  The thrust generation device 270 includes a motor control device 254 and a power motor 255. A motor control device 254 (also referred to as an ESC (Electronic Speed Controller), an amplifier, or the like) controls the rotation of the power motor 255 by, for example, electric resistance value control or PWM (Pulse Width Modulation) control. The motor control device 254 generates thrust for flight. The control circuit 251 controls the operation (posture (pitch, roll, yaw), movement (position (pitch, roll, yaw)) of the unmanned air vehicle 3 by controlling the rotational speed of each of the plurality of power motors 255 based on information input from the various sensors 253. Forward, backward, left and right movement, ascending, descending, etc.). The power motor 255 is an electric motor, for example, a brushless motor.

  FIG. 7 shows functions (software configuration) included in the control circuit 251 shown in FIG. As shown in the figure, the control circuit 251 includes an attitude control unit 801 and a steering control unit 802. These functions are realized, for example, when the processor of the control circuit 251 reads and executes a program stored in the storage device of the control circuit 251.

  The attitude control unit 801 controls the motor control device 254 (power motor 255) in accordance with signals input from the various sensors 253, and controls the flight attitude of the unmanned air vehicle 3. The steering control unit 802 controls the motor control device 254 (power motor 255) according to the signal input from the receiver 252 and controls the operation of the unmanned air vehicle 3.

  FIG. 8 shows the configuration of the power receiving device 20. As shown in the figure, the power receiving device 20 rectifies the power received by the power receiving circuit 21 (including the power receiving coil 211 and the capacitor 212) that performs magnetic resonance type non-contact power feeding, and loads ( The rectifier circuit 22 supplied to the flight control device 250, the battery 260 and the like, and the received power supplied to the load are measured, and the measured value is input to the charge control device 75 (voltmeter 241 and current). Including a total of 242). The power receiving coil 211 may be capable of adjusting the inductance. Further, the capacitor 212 may be one that can adjust the capacitance.

  As shown in the figure, the power receiving coil unit 81 is mounted with the power receiving coil 211 and the capacitive element 212 of the power receiving circuit 21. The control unit 82 includes the rectifier circuit 22, the power measurement circuit 24, and the charge control device 75. The capacitive element 212 may be mounted on the control unit 82, for example.

  FIG. 9 shows a hardware configuration (block diagram) of the charging control device 75. As shown in the figure, the charge control device 75 includes a processor 751, a storage device 752, a charge control circuit 753, and a communication device 754. These are connected to be communicable via a communication means such as a bus.

  The processor 751 is configured using, for example, a CPU or MPU. The storage device 752 is a device that stores programs and data, and is, for example, a ROM, a RAM, an NVRAM, or the like. The processor 751 and the storage device 752 may be provided as, for example, a microcomputer (microcomputer) in which these are packaged together.

  The charge control circuit 753 includes a charge control circuit for efficiently charging the battery 260, a monitoring circuit for the voltage between terminals of the battery 260, various protection circuits, and the like.

  The communication device 754 performs wireless communication with the communication device 155 of the charging station 2. The communication device 754 performs wired communication or wireless communication with the communication device 259 of the flight control device 250.

  FIG. 10 shows functions (software configuration) included in the charge control device 75. As shown in the figure, the charging control device 75 includes functions of an authentication information transmitting unit 781, a received power monitoring unit 782, and a charging control unit 783. These functions are realized, for example, when the processor 751 reads and executes a program stored in the storage device 752. Note that the flight control device 250 may realize all or part of the functions of the charge control device 75.

  The authentication information transmitting unit 781 stores the authentication information and transmits the authentication information to the charging station 2 via the communication device 754.

  The received power monitoring unit 782 monitors the received power based on the voltage or current measurement value input from the power measurement circuit 24 of the power receiving device 20. The received power monitoring unit 782 notifies the charging station 2 of the measured value (received power) at any time by wireless communication via the communication device 754. Note that the received power monitoring unit 782 may have a function of automatically adjusting the inductance of the power receiving coil 211 and the capacitance of the capacitive element 212 so that the transmission efficiency of non-contact power feeding is improved.

  The charging control unit 783 charges the battery 260 by efficiently supplying the received power to the battery 260 while monitoring the measured value of the voltage or current input from the power measuring circuit 24 or the voltage between the terminals of the battery 260. The charge control unit 783 charges the battery 260 while performing, for example, CVCC (Constant Voltage. Constant Current) control. In addition, the charging control unit 783 notifies the information processing device 15 of the charging station 2 as needed, for example, the voltage between the terminals of the battery 260 and information on the progress of charging. In addition, the charging control unit 783 performs charging control of the battery 260 in accordance with, for example, an instruction sent from the information processing device 15 of the charging station 2. Note that the charging control unit 783 shares information about the battery 260 (maximum charging capacity, appropriate charging voltage, appropriate charging current, etc.) by communication with the charging station 2, and based on these information, the charging control unit 783 or The charging station 2 may be configured to perform charging control of the battery 260, monitoring of a charging state, and the like.

<Receiving coil unit>
11A (a) to 11 (c) show the configuration of the power receiving coil unit 81. FIG. FIG. 11A (a) is a plan view of the power receiving coil unit 81 viewed from above (+ z direction), and FIG. 11A (b) is a plan view of the power receiving coil unit 81 viewed from below (−z direction). FIG. 11A (c) is a cross-sectional view of the power receiving coil unit 81 (cross-sectional view taken along the line XX ′ of FIG. 11A (a)).

  As shown in FIG. 11A (a), the power receiving coil unit 81 includes a substantially rectangular parallelepiped case 811 made of an insulating material such as an insulating resin, and a spiral type power receiving coil accommodated in the case 811. 211. The power receiving coil 211 is provided inside the case 811 so that the direction of the winding axis thereof is in the vertical direction (z-axis direction). Although not shown in the figure, the capacitive element 212 of the power receiving circuit 21 is mounted at a predetermined position of the case 811. The length of the case 811 in the longitudinal direction is set to be approximately the same as the length of the horizontal leg 332 in the longitudinal direction, for example. The appearance of the case 811 is a flat and substantially rectangular parallelepiped shape. From the viewpoint of aerodynamic characteristics, the case 811 preferably has a streamlined shape or a shape close to a streamlined shape.

  Near the center of the upper surface of the case 811, a rail 812 is provided in parallel to the longitudinal direction (y-axis direction) of the case 811, and an attachment member for attaching the power receiving coil unit 81 to the horizontal leg 332 is provided on the rail 812. 814 is supported (locked) slidably along the rail 812. The user slides the attachment member 814 along the rail, whereby a fitting portion 8141 described later of the attachment member 814 is placed at an appropriate position of the horizontal leg 332 (for example, a position where the weight of the power receiving coil unit is appropriately distributed). Can be positioned.

  As shown in FIG. 11A (c), the attachment member 814 supports an annular fitting portion 8141 having an inner diameter slightly larger than the outer diameter of the horizontal leg 332 and a partially opened annular fitting portion 8141. It has a support column 8142 and a flat-plate-shaped locking portion 8143 provided below the support column 8142 and slidably combined with the rail 812. The attachment member 814 is configured using a material such as resin having excellent durability, for example. The frictional force between the mounting member 814 and the rail 812 is such that the mounting member 814 can slide along the rail 812, and the mounting member 814 naturally moves along the rail 812 during the flight of the unmanned air vehicle 3. It is set to such an extent that it will not be done. A locking mechanism for fixing the mounting member 814 to a predetermined position on the rail may be provided so that the mounting member 814 does not move after the mounting member 814 is positioned.

  As shown in FIG. 11A (a), a wiring cable 83 connected to two terminals of the power receiving coil 211 inside the case 811 extends on the upper surface of the case 811. The other end of the wiring cable 83 is electrically connected to, for example, a control unit 82 provided at the lower stage of the pedestal portion 31. As shown in FIGS. 11B and 11C, the lower surface of the case 811 has a planar shape so as to ensure a large ground contact area.

  In the above, the power receiving coil 211 provided in the power receiving coil unit 81 is a spiral type, but the mode of the power receiving coil 211 is not necessarily limited. For example, a helical coil may be used as the power receiving coil 211. FIG. 11B shows an example of a power receiving coil unit 81 using a helical power receiving coil 211. When a helical coil is used, for example, the power transmission coil 111 and the power reception coil 211 are arranged so that the winding axis of the power transmission coil 111 and the winding axis of the power reception coil 211 are coaxial. .

  When the unmanned aerial vehicle 3 does not have the horizontal leg 332 and is composed only of the leg support 331, the fitting portion 8141 of the mounting member 814 has, for example, a hollow cylindrical shape with an open top as shown in FIG. 11B. Also good.

  Further, as described above, the attachment member 814 is not fixed to the horizontal leg 332 or the leg column 331 by the frictional force caused by the fitting, but is more firmly fixed to the horizontal leg 332 or the leg column 331 using a screw or a band. May be.

  FIG. 12 is a schematic diagram for explaining an electrical connection relationship between the power receiving coil unit 81, the control unit 82, the wiring cable 83, and the battery 260. As shown in the figure, a wiring cable 83 is connected to the control unit 82 and a charging terminal of a battery 260 is connected via a charging cable 84. A pair of connectors 85 a and 85 b (for example, male and female connectors) are provided in the middle of the charging cable 84. By connecting the connector 85a provided at the end of the charging cable 84 on the control unit 82 side and the connector 85b provided on the end of the charging cable 84 on the battery 260 side, the control unit 82 and the battery 260 are connected. Can be easily electrically connected. In this example, the two power receiving coil units 81 are connected to different batteries 260, respectively. However, for example, the power received by the two power receiving coil units 81 may be supplied to the same battery 260. .

  For example, the user attaches the power receiving coil unit 81, the control unit 82, and the wiring cable 83 to the unmanned air vehicle 3, and then connects the connector 85a and the connector 85b to charge the existing unmanned air vehicle 3. The station 2 can be brought into a state where non-contact power feeding is possible. As described above, since the control unit 82 has a function of communicating with the charging station 2, the charging station 2 communicates with the control unit 82, monitors the power reception status and transmission efficiency of non-contact power feeding, It is possible to control charging 260, check the progress of charging, and the like. Further, as described above, since the control unit 82 has a function of transmitting authentication information, the charging station 2 can authenticate the unmanned air vehicle 3 based on the authentication information notified from the control unit 82. Thus, by providing the power receiving coil unit 81, the control unit 82, and the wiring cable 83 as a set of power receiving coil units, the user can easily charge the existing unmanned air vehicle 3 by non-contact power feeding. can do.

= Processing example =
Then, the process performed in the charging system 1 is demonstrated.

<Power transmission control processing>
FIG. 13 is a flowchart illustrating a process performed in charging station 2 (hereinafter referred to as power transmission control process S1300). Hereinafter, the power transmission control process S1300 will be described with reference to FIG.

  When the power of the charging station 2 is turned on, it is first determined whether or not the airframe recognition processing unit 502 of the charging station 2 can recognize the unmanned air vehicle 3. Specifically, the aircraft recognition processing unit 502 receives the authentication information from the charging control device 75 mounted on the unmanned air vehicle 3, and performs the above determination by performing authentication based on the received authentication information (S1311: NO).

  When the airframe recognition processing unit 502 recognizes the unmanned air vehicle 3 (successful authentication) (S1311: YES), the airframe presence / absence detecting unit 503 of the charging station 2 then moves the unmanned air vehicle 3 to a fixed position (the power transmission coil 111). It is determined whether or not the power transmission surface is set at a position facing the power receiving surface of the power receiving coil 211 (S1312). When the airframe presence / absence detection unit 503 determines that the unmanned aerial vehicle 3 is set at the fixed position (S1312: YES), the process proceeds to S1313. When the airframe presence / absence detection unit 503 determines that the unmanned air vehicle 3 is not set at the fixed position (S1312: NO), the process returns to S1311.

  In S1313, the operation input reception unit 501 of the charging station 2 determines whether or not the user has performed a power transmission start operation (power supply permission operation) (S1313: NO). If it is determined that the user has performed a power transmission start operation (S1313: YES), this is notified to the power transmission control unit 504, and the power transmission control unit 504 starts power transmission by non-contact power feeding (energizes the power transmission coil 111) (S1314). ).

  Without waiting for the user's power transmission start operation, the aircraft presence / absence detection unit 503 automatically determines that the unmanned aerial vehicle 3 is currently set in a fixed position (S1312: YES). Alternatively, the power transmission control unit 504 may start power transmission. Prior to the start of power transmission, the power transmission control unit 504 attempts to communicate with the flight control device 250 in order to prevent the flight control device 250 from malfunctioning due to the influence of noise generated during non-contact power feeding. Power transmission may be started after confirming that the operation has stopped.

  After starting the power transmission, the airframe recognition processing unit 502 monitors in real time whether or not the unmanned air vehicle 3 can be recognized (S1315). When the aircraft recognition processing unit 502 cannot recognize the unmanned air vehicle 3 (S1315: NO), it notifies the power transmission control unit 504 to that effect, and the power transmission control unit 504 stops the power transmission (S1318). Thereafter, the process returns to S1311.

  Further, the airframe presence / absence detection unit 503 monitors in real time whether or not the unmanned air vehicle 3 is set at a fixed position (S1316). When the unmanned aerial vehicle 3 is not set at a fixed position (S1316: NO), the airframe presence / absence detection unit 503 notifies the power transmission control unit 504 to that effect, and the power transmission control unit 504 stops power transmission in response thereto. (S1318). Thereafter, the process returns to S1311.

  Further, the operation input receiving unit 501 monitors in real time whether or not the user has performed a power transmission stop operation (S1317). When the operation input reception unit 501 determines that the user has performed a power transmission stop operation (S1317: YES), the operation input reception unit 501 notifies the power transmission control unit 504 to that effect, and the power transmission control unit 504 stops the power transmission (S1318). . Thereafter, the process returns to S1311.

<Charge control process>
FIG. 14 is a flowchart illustrating a process (hereinafter referred to as a charge control process S1400) performed by the charge control device 75 attached to the unmanned air vehicle 3 when charging the battery 260 with the power received by the non-contact power supply. . Hereinafter, the charging control process S1400 will be described with reference to FIG.

  First, the charging control unit 783 of the charging control device 75 determines whether or not a charging start instruction is received from the charging station 2 (S1411). When it is determined that the charge control device 75 has received a charge start instruction (S1411: YES), the process proceeds to S1412.

  In S1412, the charging control unit 783 of the charging control device 75 determines whether or not the power receiving state of the power receiving device 20 by non-contact power supply is a chargeable state based on information notified from the received power monitoring unit 782. For example, the charging control unit 783 determines whether the voltage value (or current value) measured by the voltmeter 241 (or ammeter 242) of the power measurement circuit 24 exceeds a preset voltage threshold (or current threshold). (Whether or not the power necessary for the flight can be received) is determined to determine whether or not the power receiving state is a chargeable state. When the charging control unit 783 determines that the power receiving state of the power receiving device 20 is a chargeable state (S1412: YES), the process proceeds to S1414. When the charging control unit 783 determines that the power receiving state of the power receiving device 20 is not a state in which charging is possible (S1412: NO), the process returns to S1411.

  In S <b> 1414, the charging control unit 783 of the charging control device 75 starts charging the battery 260 with the power received by the power receiving device 20.

  When charging is started, the charging control unit 783 monitors whether the battery 260 is fully charged by monitoring the voltage between terminals of the battery 260, the amount of charge (the amount of current flowing into the battery 260), and the like. (S1415). If the charging control unit 783 determines that the battery 260 is fully charged (S1415: YES), the charging control unit 783 stops the current supply to the battery 260 (S1419). Thereafter, the process returns to S1411. If the charging control unit 783 determines that the battery 260 is not fully charged (S1415: NO), the process proceeds to S1416.

  In S1416, the charging control unit 783 determines whether or not the power receiving state of the power receiving device 20 by non-contact power feeding is a chargeable state in the same manner as in S1412. When the charging control unit 783 determines that the power receiving state of the power receiving device 20 is a chargeable state (S1416: YES), the process proceeds to S1417. When it is determined that the power receiving state of the power receiving device 20 is not a chargeable state (S1416: NO), the charging control unit 783 stops the current supply to the battery 260 (S1419). Thereafter, the process returns to S1411.

  In step S <b> 1417, the charge control unit 783 determines whether any abnormality is detected based on information notified from the charge control device 75. If no abnormality is detected (S1417: YES), the process proceeds to S1418. When any abnormality is detected (S1417: YES), the charging control unit 783 stops the current supply to the battery 260 (S1419). Thereafter, the process returns to S1411.

  In S1418, the charging control unit 783 determines whether or not a charging stop instruction has been received from the charging station 2 (S1418). When it is determined that the charge control device 75 has not received a charge stop instruction (S1418: NO), the process returns to S1415. When it is determined that the charge control device 75 has received the charge stop instruction (S1418: YES), the charge control unit 783 stops the current supply to the battery 260 (S1419). Thereafter, the process returns to S1411.

  As described above, according to the charging system 1 of the present embodiment, the power receiving coil 211 that receives power by non-contact power feeding is disposed on the unmanned air vehicle 3, and the load 41 is disposed below the pedestal 31. The space S can be provided while being secured. Further, the power receiving coil 211 can be provided at a safe position away from the thrust generator 270. In addition, the power receiving coil 211 can be provided at a position away from the flight control device 250, and the influence of radiation noise during power feeding on the flight control device 250 and the thrust generation device 270 can be suppressed. In addition, since the power receiving coil unit 81 is provided in the vicinity of the ground-side end portion of the leg column 331, for example, the power receiving coil 211 is attached to the power transmitting coil 111 only by placing the unmanned air vehicle 3 on the power transmitting coil 111 of the charging station 2. Power can be supplied efficiently by being close to each other.

  Further, the lower portion of the space S for mounting the load 41 is opened, and the load 41 can be easily handled and detached. In addition, when a photographic equipment is mounted as the load 41, the power receiving coil 211 is less likely to enter the field of view during photographing, and a wide field of view can be secured.

  Further, when the unmanned air vehicle 3 has the horizontal legs 332, the receiving coil unit 81 is provided with the longitudinal direction thereof aligned with the extending direction of the horizontal legs 332, thereby ensuring a wide space in which the load 41 is disposed. be able to.

<Other examples of power receiving coil unit>
By the way, the power receiving coil unit 81 shown in FIGS. 11A to 11C is entirely covered with a substantially rectangular parallelepiped case 811 made of an insulating material such as an insulating resin. The case 811 exists on the air flow path pushed downward by the propeller 271. Therefore, the presence of the power receiving coil unit 81 described above affects the performance of the unmanned air vehicle 3 to some extent.

  This will be specifically described. FIG. 15 is a schematic diagram for explaining how the power receiving coil unit 81 affects the performance of the unmanned air vehicle 3. As shown in the figure, during the flight of the unmanned air vehicle 3, the air is pushed downward by the rotation of the propeller 271 and blown to the power receiving coil unit 81, and a part of the blown air flows back in the direction of the propeller 271. Thus, the air mass between the propeller 271 and the power receiving coil unit 81 becomes a high pressure. For this reason, the load of the propeller 271 (the load of the power motor 255) is increased, the power consumption is increased, and the battery 260 is quickly consumed. In order to prevent the influence of the power receiving coil unit 81, for example, it is conceivable to lengthen the leg support 331. However, the weight of the fuselage increases, and the weight balance and flight performance of the unmanned air vehicle 3 are also affected. .

  In view of this background, the present inventor has invented a power receiving coil unit 81 having the configuration shown in FIGS. 16A is a plan view of the power receiving coil unit 81 as viewed from above (+ z direction), and FIG. 16B is a cross-sectional view of the power receiving coil unit 81 (XX ′ in FIG. 16A). It is sectional drawing cut | disconnected by the line. FIG. 16C is a cross-sectional view of the conducting wire 215 of the power receiving coil 211.

  As shown in FIG. 16A, the power receiving coil unit 81 includes a power receiving coil 211 wound in a spiral around the axis in the z direction (vertical direction), and a side adjacent to the wound power receiving coil 211. And a plurality of spacers 91 (supports) made of a material such as an insulating resin excellent in durability, which supports the matching conductive wires 215 so as to be arranged at intervals. Each spacer 91 is provided at a predetermined position of the power receiving coil 211 with an interval in the y direction.

  The terminals 214 a and 214 b of the power receiving coil 211 are electrically connected to the control unit 82 provided at the lower stage of the pedestal portion 31 of the unmanned air vehicle 3 via the wiring cable 83. Note that the positions where the terminals 214a and 214b are taken out from the power receiving coil 211 are not necessarily limited to those shown in FIG.

  Although not shown in the figure, a capacitive element 212 which is a component of the power receiving circuit 21 is mounted at a predetermined position of the case 811. In addition, since the adjacent conducting wire 215 is arrange | positioned at intervals as above-mentioned, you may implement | achieve the receiving circuit 21 using the electrostatic capacitance which arises by that between conducting wires 215.

  As shown in FIG. 16C, the conducting wire 215 is a coated conducting wire having a conductor wire 215a made of a conductor such as metal and a coating 215b made of an insulator such as an insulating resin and covering the periphery of the conductor wire 215a. is there. As shown in the figure, the conducting wire 215 has a circular cross-sectional shape.

  As shown in FIG. 16B, the spacer 91 includes a substantially flat upper member 91a and a substantially flat lower member 91b. The lower surface of the upper member 91a and the upper surface of the lower member 91b are flat surfaces except for portions where groove portions 911a and 911b and fitting portions 913a and 913b described later are provided. In this example, the lower surface of the upper member 91a and the upper surface of the lower member 91b are set to the same shape and the same size. The upper surface of the upper member 91a is a flat surface except for a portion where a mounting member 914 described later is provided. The lower surface of the lower member 91b is a flat surface. The lower surface of the lower member 91b functions as a grounding surface when the unmanned air vehicle 3 is landed.

  The upper member 91a and the lower member 91b are a substantially mushroom-shaped fitting portion 913a formed of a substantially mushroom-like protrusion provided at a predetermined position on the lower surface of the upper member 91a and a lower portion 91b. The fitting portion 913b made of a depression is integrated by fitting with the conductor 215 sandwiched between them. In this example, the spacer 91 has a structure in which the conductive wire 215 of the power receiving coil 211 is sandwiched from the vertical direction (± z direction). However, the structure in which the upper member 91a and the lower member 91b are integrated, or the spacer 91 is The structure attached to the power receiving coil 211 is not necessarily limited to that shown in this example.

  A plurality of groove portions 911a (first groove portions) that extend in the y direction and are arranged in the x direction are formed on the lower surface of the upper member 91a. The cross-sectional shape of the groove portion 911a is a semicircular shape having substantially the same diameter as the outer diameter of the conducting wire 215. On the other hand, on the upper surface of the lower member 91b, a plurality of groove portions 911b (second groove portions) that extend in the y direction and are arranged side by side in the x direction at positions corresponding to the plurality of groove portions 911a of the upper member 91a. Is formed. The cross-sectional shape of the groove portion 911b is a semicircular shape having substantially the same diameter as the outer diameter of the conducting wire 215.

  An attachment member 914 for attaching the power receiving coil unit 81 to the horizontal leg 332 is provided on the upper surface side of the upper member 91a. As shown in the figure, an annular fitting portion 9141 having an inner diameter slightly larger than the outer diameter of the horizontal leg 332 and a partially opened portion is supported on the upper portion of the mounting member 914, and the fitting portion 9141 is supported. Support pillars 9142 are provided.

  The spacer 91 can be attached to any position within a range where the conducting wire 215 of the power receiving coil 211 is linear. Therefore, for example, the user positions the spacer 91 at an appropriate position of the horizontal leg 332 (for example, a position where the weight of the power receiving coil unit 81 is appropriately distributed to the unmanned air vehicle 3 from the viewpoint of weight balance). be able to.

  FIG. 17 shows a state where the power receiving coil unit 81 is attached to the unmanned air vehicle 3. In the case where the unmanned air vehicle 3 does not have the horizontal leg 332 but only the leg support 331, for example, as shown in FIG. It is good also as a hollow cylindrical form which opens. In addition, the attachment member 914 may be fixed to the horizontal leg 332 or the leg column 331 using a screw, a band, or the like, instead of being fixed to the horizontal leg 332 or the leg column 331 by the frictional force generated by the fitting.

  As described above, in the power receiving coil unit 81 shown in FIG. 16, the adjacent conductors 215 of the power receiving coil 211 are arranged at intervals, so that the propeller 271 rotates during the flight of the unmanned air vehicle 3. As a result, the air pushed downward and blown onto the power receiving coil 211 passes between the adjacent conductors 215 and escapes downward. Therefore, reflux to the propeller 271 can be prevented and the influence on the performance of the unmanned air vehicle 3 can be suppressed. In addition, the consumption amount of the battery 260 is reduced, and the flight time can be extended. Moreover, since the receiving coil unit 81 of this example has a simple structure, it can be realized easily and at low cost, and a practically sufficient strength can be ensured.

  FIG. 18 is a modification of the conducting wire 215 and the spacer 91 of the power receiving coil unit 81 shown in FIG. 18A is a cross-sectional view of the spacer 91, and FIG. 18B is a cross-sectional view of the conducting wire 215 of the power receiving coil 211. As shown in FIG. 18B, the conducting wire 215 has a rhombus cross-sectional shape. The conducting wire 215 is provided so that a diagonal line connecting one top of the rhombus and the other top facing the one top is vertical (having a diagonal in the z direction and the x direction). Further, according to the cross-sectional shape of the conducting wire 215, the cross-sectional shapes of the groove portion 911a and the groove portion 911b are also rhombuses. Thus, by making the cross-sectional shape of the conducting wire 215 a rhombus, the air blown from the propeller 271 to the power receiving coil unit 81 during the flight of the unmanned air vehicle 3 passes between the adjacent conducting wires 215 and efficiently escapes downward. Therefore, the influence on the performance of the unmanned air vehicle 3 can be surely prevented.

  FIG. 19 is a diagram illustrating a further modification of the conducting wire 215 and the spacer 91 of the power receiving coil unit 81 illustrated in FIG. 16. FIG. 19A is a cross-sectional view of the spacer 91, and FIG. 19B is a cross-sectional view of the conducting wire 215 of the power receiving coil 211. As shown in FIG. 19B, the conducting wire 215 has a cross-sectional shape of a substantially rhombus (rhombus closer to a streamline than the conducting wire 215 shown in FIG. 18) that curves so that its four sides are convex toward the outer periphery. Have. Further, the conductive wire 215 is provided so that a diagonal line connecting one top portion of the approximately rhombus and the other top portion facing the one top portion is vertical (having a diagonal line in the z direction and the x direction). Further, in accordance with the cross-sectional shape of the conducting wire 215, the cross-sectional shapes of the groove portion 911a and the groove portion 911b are also substantially rhombus. Thus, by making the cross-sectional shape of the conducting wire 215 substantially diamond-shaped, the air blown from the propeller 271 to the power receiving coil unit 81 during the flight of the unmanned air vehicle 3 passes between the adjacent conducting wires 215 and efficiently escapes downward. . Therefore, the influence on the performance of the unmanned air vehicle 3 can be more reliably prevented.

  In addition, the cross-sectional shape of the conducting wire 215 is not limited to the one shown above, and may be a shape that allows air to pass more efficiently by adjusting the maximum blade thickness, camber, and length from the leading edge to the trailing edge.

  By the way, the planar shape (the shape viewed from the + z direction) of the power receiving coil 211 of the power receiving coil unit 81 is not necessarily the shape shown in FIG. For example, when the horizontal leg 332 extends in an arc shape depending on the unmanned air vehicle 3, it is preferable to make the planar shape of the spiral of the power receiving coil 211 an arc shape from the viewpoint of stability, aesthetics, and the like. Therefore, in this case, for example, as shown in FIG. 20, the planar shape of the power receiving coil unit 81 may be an arc. FIG. 21 shows a state where the power receiving coil unit 81 shown in FIG. 20 is attached to the horizontal leg 332 of the unmanned air vehicle 3 in which the horizontal leg 332 is arcuate.

  Although the embodiment has been described above, the above description is intended to facilitate understanding of the present invention and is not intended to limit the present invention. It goes without saying that the present invention can be changed and improved without departing from the gist thereof, and that the present invention includes equivalents thereof. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of the above embodiment.

  Each of the above-described configurations, function units, processing units, processing means, and the like may be realized in hardware by designing some or all of them, for example, with an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

  In each of the above drawings, control lines and information lines indicate what is considered necessary for explanation, and not all control lines and information lines on the mounting are necessarily shown. For example, it may be considered that almost all configurations are actually connected to each other.

  The arrangement form of the various functional units in the charging system 1 described above is merely an example. The arrangement form of various functional units can be changed to an optimum arrangement form from the viewpoint of the performance of hardware and software provided in the charging system 1, processing efficiency, communication efficiency, and the like.

DESCRIPTION OF SYMBOLS 1 Charging system, 2 Charging station, 3 Unmanned air vehicle, 10 Power transmission device, 111 Power transmission coil, 20 Power reception device, 211 Power reception coil, 212 Capacitance element, 214a terminal, 214b terminal, 215 Conductor, 215a Conductor wire, 215b Cover, 250 Flight control device, 255 power motor, 260 battery, 270 thrust generator, 271 propeller, 31 pedestal, 32 arm, 33 leg, 331 leg support, 332 horizontal leg, 75 charge control device, 81 power receiving coil unit, 811 case 82 Control unit 83 Wiring cable 84 Charging cable 91 Spacer 91a Upper member 91b Lower member 911a Groove 911b Groove 913a Fitting portion 913b Fitting portion 914 Fitting portion 9141 Fitting portion 9142 Support pillar

Another aspect of the present invention is the unmanned aerial vehicle, the power storage device supplying power to the flight control device or the thrust generating device, the rectifier circuit for rectifying the power received by the power receiving coil, And a charge control device that charges the power storage device with the power rectified by the rectifier circuit.

Another aspect of the present invention is the power receiving coil unit, the power storage device that supplies power to the flight control device or the thrust generation device, the rectifier circuit that rectifies the power received by the power receiving coil, And a charge control device that charges the power storage device with the power rectified by the rectifier circuit.

Claims (15)

A pedestal part provided with a flight control device;
A plurality of arms extending at a predetermined length from the pedestal portion in the outer peripheral direction of the pedestal portion, and provided with a thrust generator;
Leg struts extending below the pedestal, and
One or more provided in the vicinity of the ground-side end of the leg strut including a spiral-type power receiving coil formed by winding a conducting wire that receives power supplied to the flight control device or the thrust generating device by non-contact power feeding Power receiving coil unit,
With
Between the conducting wires adjacent to the power receiving coil, there is an interval for passing the air blown from the thrust generating device,
Unmanned air vehicle. An unmanned air vehicle according to claim 1,
The conducting wire has a rhombic cross-sectional shape,
The conducting wire is provided so that a diagonal line connecting one top of the rhombus and the other top of the rhombus facing the one top is vertical.
Unmanned flying vehicle. An unmanned air vehicle according to claim 1,
The conducting wire has a substantially rhombic cross-sectional shape that curves so that its four sides are convex on the outer peripheral side,
The conducting wire is provided such that a diagonal line connecting one top of the approximately rhombus and the other apex of the approximately rhombus facing the one apex is vertical.
Unmanned flying vehicle. An unmanned air vehicle according to any one of claims 1 to 3,
The conducting wire is a coated conducting wire in which the conductor wire is covered with an insulator.
Unmanned flying vehicle. An unmanned air vehicle according to claim 1,
The power receiving coil unit includes a spacer that supports the conductive wires so that the gap is formed between the adjacent conductive wires.
Unmanned flying vehicle. An unmanned air vehicle according to claim 5,
The spacer is
A substantially flat upper member and a substantially flat lower member;
A fitting portion for fitting the upper member and the lower member so that the lower surface of the upper member and the upper surface of the lower member face each other;
With
A plurality of first groove portions for accommodating the conducting wires are formed on the lower surface of the upper member,
A plurality of second grooves for accommodating the conducting wires are formed on the upper surface of the lower member,
The upper member and the lower member are fitted by the fitting portion in a state where the conductive wire is sandwiched between the first groove portion of the upper member and the second groove portion of the lower member.
Unmanned flying vehicle. An unmanned aerial vehicle according to claim 5 or 6,
A horizontal leg provided extending in the horizontal direction in the vicinity of the end on the grounding side of the leg support,
The upper member includes, on its upper surface, one or more attachment members having a shape that fits into the horizontal leg.
Unmanned flying vehicle. An unmanned aerial vehicle according to claim 5 or 6,
The upper member includes an attachment member having a shape fitted to the lower end portion of the leg support on the upper surface thereof.
Unmanned flying vehicle. An unmanned air vehicle according to any one of claims 1 to 3,
The plurality of leg posts provided to extend below the pedestal portion while securing a space for loading a load below the pedestal portion,
The power receiving coil unit has a flat, substantially rectangular parallelepiped outer shape, and is provided in the vicinity of the end on the grounding side of the leg support so that its longitudinal direction extends in the horizontal direction,
The power receiving coil unit is provided such that its longitudinal direction extends along the periphery of the space,
A horizontal leg provided extending in the horizontal direction in the vicinity of the end on the grounding side of the leg support,
The power receiving coil unit is provided on the horizontal leg so that its longitudinal direction coincides with the extending direction of the horizontal leg, and its lower surface is parallel to the ground plane of the unmanned air vehicle,
A first receiving coil unit;
A second receiving coil unit;
The first horizontal leg provided extending in the horizontal direction in the vicinity of the ground-side end of the first leg column;
A second horizontal leg provided extending in the horizontal direction in parallel with the first horizontal leg in the vicinity of the ground contact side end of the second leg column;
With
The first horizontal leg and the second horizontal leg are provided so as to sandwich the space between them,
The first power receiving coil unit is provided on the first horizontal leg with its longitudinal direction coinciding with the extending direction of the first horizontal leg,
The second power receiving coil unit is provided on the second horizontal leg with its longitudinal direction coinciding with the extending direction of the second horizontal leg.
Unmanned flying vehicle. An unmanned air vehicle according to any one of claims 1 to 3,
A rectifier circuit for rectifying the power received by the power receiving coil;
A charge control device that charges the power storage device with the power rectified by the rectifier circuit;
An unmanned air vehicle further comprising: An unmanned air vehicle according to any one of claims 1 to 3,
The non-contact power supply is a magnetic resonance type non-contact power supply,
Unmanned flying vehicle. A pedestal part provided with a flight control device;
A plurality of arms extending at a predetermined length from the pedestal portion in the outer peripheral direction of the pedestal portion, and provided with a thrust generator;
Leg struts extending below the pedestal, and
A power receiving coil unit provided in an unmanned air vehicle comprising:
Including a spiral-shaped power receiving coil formed by winding a conductive wire, which receives power supplied to the flight control device or the thrust generating device by non-contact power feeding, and is provided in the vicinity of the ground-side end of the leg strut,
Between the conducting wires adjacent to the power receiving coil, there is an interval for passing the air blown from the thrust generating device,
Power receiving coil unit. The power receiving coil unit according to claim 12,
The conducting wire has a rhombic cross-sectional shape,
The conducting wire is provided so that a diagonal line connecting one top of the rhombus and the other top of the rhombus facing the one top is vertical.
Power receiving coil unit. The power receiving coil unit according to claim 12,
The conducting wire has a substantially rhombic cross-sectional shape that curves so that its four sides are convex on the outer peripheral side,
The conducting wire is provided such that a diagonal line connecting one top of the approximately rhombus and the other apex of the approximately rhombus facing the one apex is vertical.
Power receiving coil unit. The power receiving coil unit according to any one of claims 12 to 14,
A rectifier circuit for rectifying the power received by the power receiving coil;
A charge control device that charges the power storage device with the power rectified by the rectifier circuit;
Further comprising
Power receiving coil unit.

Images