Propulsion device, propulsion control device, and propulsion control program

Abstract

The locking device (100) can be transferred to a locked state and an unlocked state. A lock device (100) has a lock pin (101), a solenoid (110), and a pressing unit (120). The lock pin (101) is movable to a lock position (P11) in which the propeller (20) is locked and an unlock position (P12) in which the propeller (20) is not locked. The pressing unit (120) presses the lock pin (101) to the lock position (P11) by means of a mechanical pressing force (F12). The solenoid (110) is configured to include a solenoid coil (111) and a plunger (112). The plunger (112) moves the lock pin (101) to the unlocked position (P12) against the mechanical pressing force (F12) by energizing the solenoid coil (111).

Description

Citation of related applications

[0001] This application is based on patent application No. 2022-105084 filed in Japan on June 29, 2022 and patent application No. 2023-81861 filed in Japan on May 17, 2023, and the contents of the basic applications are cited in their entirety in the manner of. Technical Field

[0002] The disclosure in this specification relates to a propulsion device, a propulsion control device, and a propulsion control program. Background Art

[0003] Patent Document 1 describes an aircraft that flies with multiple rotors. The aircraft has a motor that drives the rotors to rotate and a control device that controls the motor. In the aircraft, the control device locks the rotation of the motor so that the rotation of the rotors is locked within a specific angle range. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-79869 Summary of the invention

[0005] However, in the above-mentioned Patent Document 1, when the rotor is locked, the control device continues to energize the motor in order to lock the rotation of the motor. Therefore, although the rotor is locked so that it does not rotate, the motor consumes power. Therefore, the power consumed when the aircraft is flying may increase.

[0006] A main object of the present disclosure is to provide a propulsion device, a propulsion control device, and a propulsion control program that can reduce the electric power consumed when an aircraft is flying.

[0007] The various embodiments disclosed in this specification use different technical means to achieve various purposes. In addition, the claims and the symbols in parentheses described therein are examples of the correspondence relationship with the specific elements described in the embodiment described later as one embodiment, and do not limit the technical scope.

[0008] In order to achieve the above-mentioned purpose, the disclosed method is a propulsion device, The propulsion device rotates the rotor by means of an electric motor in order to propel the flying object, and includes: a restriction member movable to a restriction position where the rotation of the rotor blade is restricted by being hooked on a receiving portion that rotates together with the rotor blade, and a permission position where the rotation of the rotor blade is permitted without being hooked on the receiving portion; and The energizing drive unit includes an energizing portion to be energized, and drives the restricting member to move from one of the restricting position and the allowing position to the other by energizing the energizing portion.

[0009] According to the above-mentioned propulsion device, by energizing the energizing portion, the limiting member moves from one of the limiting position and the allowing position to the other. In this structure, by controlling the energization of the energizing portion in such a manner that the limiting member is located at the limiting position, the rotation of the rotor can be limited by the limiting member. Therefore, it is not necessary to energize the motor for the purpose of limiting the rotation of the rotor. Therefore, it is possible to avoid a situation where the motor continues to consume power despite limiting the rotation of the rotor. As a result, it is possible to reduce the power consumed when the flying object is flying.

[0010] The disclosed method is a propulsion control device, The propulsion control device controls the rotation of the rotor wing via the electric motor in order to propel the flying object, and includes: a restriction execution unit that performs restriction processing by controlling energization of the energizing unit, wherein the restriction processing is for moving the restriction member to a restriction position where the rotation of the rotor blade is restricted by being hooked on a receiving portion that rotates together with the rotor blade; and The permission executing unit performs a permission process by controlling the energization of the energizing unit, wherein the permission process moves the restricting member to a permission position where the restricting member is not hooked on the receiving portion and the rotation of the rotor blade is permitted.

[0011] According to the above-mentioned propulsion control device, similarly to the above-mentioned propulsion device, it is possible to reduce the electric power consumed when the flying object flies.

[0012] A propulsion control program for controlling the rotation of a rotor wing via an electric motor in order to propel an aircraft, The propulsion control program causes at least one processor to function as a restriction execution unit and a permission execution unit. The restriction execution unit performs restriction processing by controlling the energization of the energizing unit, and the restriction processing is for moving the restriction member to a restriction position where the rotation of the rotor blade is restricted by being hooked on a receiving portion that rotates together with the rotor blade. The permission execution unit performs a permission process by controlling the energization of the energizing unit, and the permission process is to move the restriction member to a permission position where the restriction member is not hooked on the receiving portion and the rotation of the rotor blade is permitted.

[0013] According to the above-mentioned propulsion control program, similarly to the above-mentioned propulsion device, it is possible to reduce the electric power consumed when the flying object flies. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a diagram showing the structure of the eVTOL in the first embodiment. Figure 2 is a block diagram showing the electrical structure of an eVTOL. Figure 3 It is a diagram showing the arrangement of the propellers locked when the eVTOL is lifted. Figure 4 This is a diagram showing the arrangement of locked propellers during cruising of an eVTOL. Figure 5 is a schematic diagram showing the structure of the EPU. Figure 6 is a schematic diagram showing the structure of the locking device in a locked state. Figure 7 is a schematic diagram showing the structure of the locking device in an unlocked state. Figure 8 is a flow chart showing the steps of the flight control process. Fig. 9 is a flowchart showing the steps of the locking process. Fig.10 2 is a schematic diagram showing the structure of the locking device in a locking waiting state. Fig.11 : is a flowchart showing the procedure of the lock release process. Fig.12 1 is a schematic diagram showing the structure of the lock device in the unlocked state in the second embodiment. Fig.13 is a schematic diagram showing the structure of the locking device in a locked state. Fig.14 It is a schematic diagram showing the structure of the locking device in the third embodiment. Fig.15 It is a diagram showing the structure of a lock pin in a fourth embodiment. Fig.16 It is a diagram showing the structure of a lock pin in a fifth embodiment. Fig.17 Detailed description of the invention is given in the following figure: FIG. 1 is a flowchart showing the procedure of the lock process in the sixth embodiment. DETAILED DESCRIPTION

[0015] Hereinafter, with reference to the accompanying drawings, a plurality of methods for implementing the present disclosure will be described. In each method, sometimes the same reference numerals are marked on the parts corresponding to the matters described in the previous method, and repeated descriptions are omitted. In the case where only a part of the structure is described in each method, other methods previously described can be applied to the other parts of the structure. Not only are the combinations of the parts that can be combined specifically and clearly recorded in each embodiment, but as long as there is no obstacle to the combination, the embodiments can also be partially combined even if not clearly recorded.

[0016] <First embodiment> Figure 1 The flight system 30 shown is installed on the eVTOL 10. The eVTOL 10 is an electric vertical take-off and landing aircraft that can take off and land in a vertical direction. eVTOL is the abbreviation of electric Vertical Take-Off and Landing aircraft. The eVTOL 10 is an aircraft that flies in the atmosphere, which is equivalent to a flying object. The eVTOL 10 is also an electric electric aircraft, sometimes referred to as an electric flying object. The eVTOL 10 is a manned aircraft with passengers on board. The flight system 30 is a system that drives the eVTOL 10 to fly.

[0017] The eVTOL 10 has a fuselage 11 and a propeller 20. The fuselage 11 has a fuselage body 12 and wings 13. The fuselage body 12 is the body of the fuselage 11, and has a shape extending in the front and rear direction, for example. The fuselage body 12 has a passenger compartment for passengers to sit. The wings 13 extend from the fuselage body 12, and a plurality of wings are provided on the fuselage body 12. The wings 13 are fixed wings. The plurality of wings 13 include a main wing, a tail wing, and the like.

[0018] A plurality of propellers 20 are provided on the fuselage 11. The eVTOL 10 is a multi-propeller aircraft (Japanese: マルチコプタ) having at least three propellers 20. For example, at least four propellers 20 are provided on the fuselage 11. The propellers 20 are provided on the fuselage body 12 and the wing 13, respectively. The propeller 20 rotates around the propeller axis. The propeller axis is, for example, the center line of the propeller 20. The propeller 20 enables the eVTOL 10 to generate thrust and lift. The propeller 20 is equivalent to a rotary wing. The propeller 20 is sometimes referred to as a rotating member.

[0019] The propeller 20 has blades 21, a propeller head 22, and a propeller shaft 23. A plurality of blades 21 are arranged in the circumferential direction of the propeller axis. The propeller head 22 connects the plurality of blades 21. The blades 21 extend from the propeller head 22 in the radial direction of the propeller axis. The propeller shaft 23 is the rotation axis of the propeller 20 and extends from the propeller head 22 along the propeller axis.

[0020] The eVTOL 10 is a tilt-rotor aircraft (Japanese: チルトロータ機). In the eVTOL 10, the propeller 20 can be tilted. That is, the pitch angle of the propeller 20 can be adjusted. For example, when the eVTOL 10 ascends, the orientation of the propeller 20 is set such that the axis of the propeller extends in the vertical direction. In this case, the propeller 20 functions as a lifting propeller for generating lift for the eVTOL 10. When the eVTOL 10 moves forward, the orientation of the propeller 20 is set such that the axis of the propeller extends in the front-rear direction. In this case, the propeller 20 functions as a cruising propeller for generating thrust for the eVTOL 10.

[0021] As Figure 1 , Figure 2 shown, the flight system 30 includes a battery 31, a distributor 32, a converter 33, a communication device 34, a storage device 35, a flight control device 40, and an EPU 50. In Figure 2 , the propeller 20 is illustrated as a rotating member, the battery 31 is illustrated as a battery, the distributor 32 is illustrated as a distributor, and the converter 33 is illustrated as a DC-DC converter. Additionally, the communication device 34 is illustrated as a communication device, the storage device 35 is illustrated as a storage device, and the flight control device 40 is illustrated as a flight control device.

[0022] The battery 31 is electrically connected to multiple EPUs 50. The battery 31 is a power supply unit that supplies power to the EDS 50 and is equivalent to a power source unit. The battery 31 is a DC voltage source that applies a DC voltage to the EDS 50. The battery 31 has a rechargeable secondary battery. Examples of such secondary batteries include lithium-ion batteries and nickel-metal hydride batteries. Additionally, as the power source unit, in addition to or as an alternative to the battery 31, a fuel cell or a generator, etc. can also be used.

[0023] The distributor 32 is electrically connected to the battery 31 and multiple EPUs 50. The distributor 32 distributes the power from the battery 31 to the multiple EPUs 50. The power distributed by the distributor 32 to the EPUs 50 is driving power for driving the EPUs 50. The converter 33 is electrically connected to the battery 31, the flight control device 40, and the EPUs 50. The converter 33 supplies the power from the battery 31 to the flight control device 40 and the EPUs 50. The power supplied by the converter 33 to the flight control device 40 and the EPUs 50 is control power for the flight control device 40 and the EPUs 50 to perform control.

[0024] The flight control device 40 controls the flight system 30. The communication device 34 communicates with external facilities such as a control center. Information related to the flight of the eVTOL 10 and the like is stored in the storage device 35.

[0025] The eVTOL 10 has an EPU 50. The EPU 50 is a device for driving the propeller 20 to rotate, and is equivalent to a drive device. EPU is an abbreviation for Electric Propulsion Unit. The EPU 50 is sometimes referred to as an electric drive device or an electric drive system. The EPU 50 is provided separately for each of the plurality of propellers 20. The EPU 50 is arranged along the propeller axis on the propeller 20. A plurality of EPUs 50 are fixed to the fuselage 11. The EPU 50 supports the propeller 20 in a rotatable manner. The EPU 50 is connected to the propeller 20. The propeller 20 is fixed to the fuselage 11 via the EPU 50.

[0026] The eVTOL 10 has a propulsion device 15. The propulsion device 15 is a device for propelling the eVTOL 10. The eVTOL 10 can fly, such as taking off, by being propelled by the propulsion device 15. The propulsion device 15 has a propeller 20 and an EPU 50. In the propulsion device 15, the propeller 20 rotates as the EPU 50 is driven. A plurality of propulsion devices 15 are provided on the eVTOL 10.

[0027] like Figure 5 As shown, the EPU 50 includes a motor device 60 and an inverter device 80. In the EPU 50, the motor device 60 and the inverter device 80 are arranged along the motor axis Cm. The motor device 60 includes a motor 61 and a motor housing. The motor housing accommodates the motor 61. The motor 61 is a rotating electrical machine and is a multi-phase AC motor. The motor 61 is, for example, a three-phase motor.

[0028] The motor 61 has a motor stator 63, a motor rotor 64, and a motor shaft 65. The motor stator 63 is a fixed part, and the motor stator 63 is a rotating part. The motor shaft 65 is fixed to the motor rotor 64 and rotates together with the motor rotor 64. The motor 61 is an axial gap type rotating electric machine. In the motor 61, the motor stator 63 and the motor rotor 64 are arranged along the motor axis Cm.

[0029] The motor axis Cm is the rotation axis of the motor rotor 64. The motor rotor 64 rotates around the motor axis Cm. The motor axis Cm is, for example, the center line of the motor rotor 64. The motor axis Cm is also the center line of the motor 61 and the motor shaft 65. If the rotation of the motor rotor 64 is referred to as the rotation of the motor 61, the motor 61 rotates around the motor axis Cm.

[0030] The inverter device 80 includes an inverter 81, a motor control unit 82, and an inverter housing. The inverter housing accommodates the inverter 81 and the motor control unit 82. The inverter 81 converts the power supplied to the motor 61 from direct current to alternating current. The inverter 81 is a multi-phase power conversion unit. The inverter 81 is, for example, a three-phase inverter. The motor control unit 82 is, for example, an MCU, which controls the drive of the motor 61. MCU is the abbreviation of a motor control unit. The motor control unit 82 controls the motor 61 by controlling the inverter 81.

[0031] The EPU 50 has an EPU shaft 51 and a gear 53. The EPU shaft 51 is formed into a columnar shape by a metal material or the like. The EPU shaft 51 connects the motor 61 to the propeller 20. For example, the EPU shaft 51 connects the motor shaft 65 to the propeller shaft 23 via the gear 53. The EPU shaft 51 rotates around the EPU axis Cepu. The EPU axis Cepu is the rotation axis of the EPU shaft 51. The EPU axis Cepu is the center line of the EPU shaft 51.

[0032] The EPU shaft 51 and the propeller 20 are arranged along the EPU axis Cepu and in the axial direction AD. For example, the EPU shaft 51, the propeller head 22 and the propeller shaft 23 are arranged in the axial direction AD. The axial direction AD is the direction in which the EPU axis Cepu extends. The EPU axis Cepu is consistent with the propeller axis. For the EPU axis Cepu, the axial direction AD, the radial direction RD and the circumferential direction CD are orthogonal to each other. The EPU shaft 51 and the propeller 20 rotate in the circumferential direction CD. The circumferential direction CD is equivalent to the rotation direction of the propeller 20. In addition, in the radial direction RD, the outer side is sometimes referred to as the radial outer side, and the inner side is referred to as the radial inner side. In addition, the EPU axis Cepu and the motor axis Cm can be consistent or offset in the radial RD.

[0033] The gear 53 mechanically connects the motor shaft 65 and the EPU shaft 51. The gear 53 transmits the rotation of the motor shaft 65 to the EPU shaft 51. The gear 53 is provided, for example, between the propeller 20 and the motor device 60 in the axial direction AD. The gear 53 has a speed reducer. The gear 53 is sometimes called a gear box.

[0034] In the propulsion device 15, an air cooling method is used as a cooling method for the EPU 50. In the propulsion device 15, as the propeller 20 rotates, the outside air flows around the outer peripheral side of the EPU 50, thereby cooling the EPU 50 from the outer peripheral side. Therefore, as the propeller 20 rotates, the heat of the motor device 60 or the heat of the inverter device 80 is released to the outside air, thereby air cooling the EPU 50.

[0035] The EPU 50 includes a rotation sensor 52. The rotation sensor 52 is provided with respect to the EPU shaft 51. The rotation sensor 52 detects the number of rotations of the EPU shaft 51. For example, the rotation sensor 52 is provided on the gear 53. The rotation sensor 52 detects the number of rotations of the EPU shaft 51 as the number of rotations of the propeller 20. The rotation sensor 52 outputs a detection signal corresponding to the number of rotations of the EPU shaft 51 to the motor control unit 82. The rotation sensor 52 is configured to include, for example, an encoder, a resolver, and the like.

[0036] The flight control device 40 controls the motor control unit 82. The flight control device 40 is, for example, an ECU, and performs flight control for making the eVTOL 10 fly. The flight control device 40 is a control device that controls the flight system 30. ECU is an abbreviation for Electronic Control Unit. The flight control device 40 is mainly composed of a computer. The computer has a processor 40a, a memory 40b, an input / output interface, and a bus connecting them. The flight control device 40 performs various processes such as flight control processing for performing flight control by executing a control program stored in the memory 40b by the processor 40a.

[0037] The processor 40a is hardware for calculation processing combined with the memory 40b. The processor 40a performs various processes such as flight control processing by accessing the memory 40b. The memory 40b is a storage medium storing control programs and the like. For example, the memory 40b is a non-transitory physical recording medium that non-temporarily stores programs and data that can be read by a computer. In addition, the non-transitory physical recording medium of the memory 40b is a non-transitory tangible storage medium (non-transitory tangible storage medium), which is implemented by a semiconductor memory or a magnetic disk and the like. The control program for performing flight control and the like are stored in the memory 40b. The control program for performing flight control is equivalent to the flight control program.

[0038] The motor control unit 82 controls the propulsion device 15 by controlling the motor 61. The motor control unit 82 performs propulsion control for propelling the eVTOL 10. The motor control unit 82 performs propulsion control using detection results of various sensors such as the rotation sensor 52, command signals from the flight control device 40, and the like. The motor control unit 82 is equivalent to a propulsion control device. The motor control unit 82 is mainly composed of a computer. The computer has a processor 82a, a memory 82b, an input / output interface, and a bus connecting them. The motor control unit 82 performs various processes such as propulsion control processing for propulsion control by executing a control program stored in the memory 82b by the processor 82a.

[0039] The processor 82a is hardware for calculation processing combined with the memory 82b. The processor 82a performs various processes such as flight control processing by accessing the memory 82b. The memory 82b is a storage medium storing control programs and the like. For example, the memory 82b is a non-transitory physical recording medium that non-temporarily stores programs and data that can be read by a computer. In addition, the non-transitory physical recording medium of the memory 82b is a non-transitory tangible storage medium (non-transitory tangible storage medium), which is implemented by a semiconductor memory or a magnetic disk and the like. The control program for performing flight control and the like is stored in the memory 82b. The control program for performing propulsion control is equivalent to the propulsion control program.

[0040] exist Figure 5 In the figure, the flight control device 40 is shown as FCS, the processor 40a is shown as PRO, and the memory 40b is shown as MEM. The inverter 81 is shown as PCC, the motor control unit 82 is shown as MCU, the processor 82a is shown as PRO, the memory 82b is shown as MEM, and the rotation sensor 52 is shown as RS.

[0041] The propulsion device 15 has a locking device 100. The locking device 100 can lock the propeller 20. The locking device 100 can be transferred to a locked state and an unlocked state. When the locking device 100 is in the locked state, the propeller 20 is locked by limiting the rotation of the propeller 20. When the locking device 100 is in the locked state, the propeller 20 is held at a predetermined locking angle. In addition, the locking angle may also have a predetermined angle range.

[0042] When the locking device 100 is in the unlocked state, the propeller 20 is not locked. When the locking device 100 is in the unlocked state, the rotation of the propeller 20 is not restricted and the rotation of the propeller 20 is allowed. The unlocked state is a state in which the lock of the propeller 20 is released.

[0043] The motor control unit 82 controls the locking device 100. The motor control unit 82 can switch the locking device 100 to a locked state and an unlocked state. The flight control device 40 controls the locking device 100 via the motor control unit 82 by outputting a command signal to the motor control unit 82. The flight control device 40 controls the locking device 100 individually for each of the plurality of propulsion devices 15.

[0044] The flight control device 40 controls the locking device 100 according to the flight state of the eVTOL 10. For example, when the eVTOL 10 is lifted for vertical takeoff, the flight control device 40 drives the propeller 20 that functions as a lifting propeller to rotate through the motor 61. In this case, the flight control device 40 locks the propeller 20 that does not function as a lifting propeller through the locking device 100.

[0045] For example, Figure 3 As shown, the flight control device 40 locks the propeller 20 that does not function as a propeller for lifting in a state extending along the pitch axis. For the propeller 20, the rotation angle in the state extending along the pitch axis is the locking angle. By locking the propeller 20 in this way, it is possible to avoid adverse conditions such as airflow turbulence caused by the propeller 20 that does not function as a propeller for lifting when the eVTOL 10 is lifted.

[0046] When the eVTOL 10 is cruising, the flight control device 40 drives the propeller 20 functioning as the cruising propeller to rotate by the motor 61. In this case, the flight control device 40 uses the locking device 100 to lock the propeller 20 not functioning as the cruising propeller.

[0047] For example, Figure 4 As shown, the flight control device 40 locks the propeller 20 that does not function as a cruise propeller in a state extending along the roll axis. For the propeller 20, the rotation angle in the state extending along the roll axis is the locking angle. By locking the propeller 20 in this way, it is possible to avoid adverse conditions such as airflow turbulence caused by the propeller 20 that does not function as a cruise propeller when the eVTOL 10 is cruising.

[0048] like Figure 6 As shown, the locking device 100 includes a locking pin 101, a solenoid 110, a pressing force transmission part 115, and a pressing unit 120. The locking pin 101 restricts the rotation of the propeller 20 by being hooked on the EPU shaft 51. That is, the locking pin 101 can lock the propeller 20. The locking pin 101 corresponds to a restricting member.

[0049] The locking pin 101 can be moved to a locking position P11 and an unlocking position P12. When the locking pin 101 is in the locking position P11, the propeller 20 is locked. When the locking pin 101 is in the locking position P11, the rotation of the propeller 20 is restricted by hooking the shaft groove 55 of the EPU shaft 51. When the locking pin 101 is in the unlocking position P12, the propeller 20 is not locked. When the locking pin 101 is in the unlocking position P12, the propeller 20 is not hooked in the shaft groove 55, and the rotation of the propeller 20 is allowed. The locking position P11 is equivalent to the restriction position, and the unlocking position P12 is equivalent to the permission position.

[0050] The shaft groove 55 is provided in the EPU shaft 51. The shaft groove 55 is a groove-shaped recessed portion provided in the shaft outer peripheral surface 51a. The shaft outer peripheral surface 51a is the outer peripheral surface of the EPU shaft 51. The shaft groove 55 is open toward the radial outside. The shaft groove 55 extends, for example, along the shaft outer peripheral surface 51a and in the axial direction AD. The shaft groove 55 is hooked on a part of the locking pin 101. In the shaft groove 55, for example, the pin portion 103 of the locking pin 101 is hooked. The shaft groove 55 is hooked by the locking pin 101. The shaft groove 55 is equivalent to a receiving portion. The pin portion 103 enters the shaft groove 55, and the propeller 20 is held at a locking angle. In addition, if there is a gap between the inner wall surface of the shaft groove 55 and the pin portion 103, the locking angle has a prescribed angle range.

[0051] The locking pin 101 is formed of a metal material or the like. The locking pin 101 includes a pin base 102 and a pin portion 103. The pin base 102 is formed in a plate shape and, for example, extends along the shaft outer peripheral surface 51a. The pin portion 103 is a convex portion provided on the plate surface of the pin base 102. The pin portion 103 protrudes radially inward from the pin base 102.

[0052] The locking pin 101 is relatively movable in the radial direction RD with respect to the EPU shaft 51. The locking pin 101 is movable to the locking position P11 and the unlocking position P12 by moving in the radial direction RD. The locking pin 101 moves to the locking position P11 by approaching the EPU shaft 51 from the unlocking position P12. The position where the pin portion 103 of the locking pin 101 is hooked in the shaft groove 55 and the rotation of the propeller 20 is locked is the locking position P11. In addition, the position where the pin portion 103 is not hooked in the shaft groove 55 and the rotation of the propeller 20 is not locked is the unlocking position P12.

[0053] The pressing unit 120 can lock the propeller 20 by mechanical energy. The pressing unit 120 can move the locking pin 101 from the unlocking position P12 to the locking position P11 by mechanical energy. The pressing unit 120 uses the restoring force of the elastic member as the mechanical energy.

[0054] The pressing unit 120 includes a pressing member 121 and a pressing support portion 122. The pressing member 121 is configured to include an elastic member such as a spring. The pressing member 121 can be elastically deformed as a whole. When the locking pin 101 is located at the unlocking position P12, the pressing member 121 is in an elastically deformed state. The pressing member 121 applies force to the locking pin 101 from the unlocking position P12 toward the locking position P11 by a mechanical pressing force F12 generated by the elastic deformation of the pressing member 121. The mechanical pressing force F12 is a restoring force of the pressing member 121. The mechanical pressing force F12 is a force generated by the mechanical energy generated by the pressing member 121. The pressing member 121 presses the locking pin 101 toward the EPU shaft 51 by the mechanical pressing force F12.

[0055] The pressing support part 122 supports the pressing member 121 in a state where the pressing member 121 can be elastically deformed. The pressing support part 122 is fixed to a motor housing or the like of the EPU 50. Alternatively, the pressing support part 122 may be a part of the motor housing or the like.

[0056] The solenoid 110 can unlock the propeller 20 by electrical energy. The solenoid 110 can move the lock pin 101 from the lock position P11 to the unlock position P12 by electrical energy. The solenoid 110 uses the power supplied from the battery 31 to the solenoid 110 as electrical energy. For example, the power of the battery 31 is supplied to the solenoid 110 via the motor control unit 82.

[0057] The solenoid 110 has a solenoid coil 111 and a plunger 112. In the solenoid 110, as the solenoid coil 111 is energized, the plunger 112 is displaced. For example, the plunger 112 can move along the center line of the solenoid coil 111. The plunger 112 applies force to the locking pin 101 from the locking position P11 toward the unlocking position P12 by the electrical pressing force F11 generated by the energization of the solenoid coil 111. The electrical pressing force F11 is a force generated by the electromagnetic attraction of the solenoid 110. The electromagnetic attraction is a force generated by the excitation of the solenoid 110. The excitation of the solenoid 110 is generated by the energization of the solenoid coil 111. The electrical pressing force F11 is a force generated by the electrical energy generated by the energization of the solenoid coil 111. The electrical pressing force F11 is greater than the mechanical pressing force F12.

[0058] A plurality of current-carrying paths that can be energized are connected to the solenoid 110. The plurality of current-carrying paths include a first parallel path 130a and a second parallel path 130b. The parallel paths 130a and 130b electrically connect the motor control unit 82 and the solenoid coil 111. The parallel paths 130a and 130b are formed by electrical wiring such as communication lines. The first parallel path 130a and the second parallel path 130b are connected in parallel to each other. The motor control unit 82 controls the energization of the solenoid coil 111 so that the signal current Is flows through one of the first parallel path 130a and the second parallel path 130b. The solenoid 110 generates an electrical pressing force F11 by causing the signal current Is to flow through the solenoid coil 111.

[0059] In addition, as long as the solenoid coil 111 flows a current such as the signal current Is, it may be electrically connected to the battery 31 without passing through the motor control unit 82. For example, in a configuration in which the energization between the battery 31 and the solenoid coil 111 is cut off by a predetermined switch, the opening and closing of the switch may be controlled by the motor control unit 82.

[0060] The solenoid 110 drives the lock pin 101 to move from the lock position P11 to the unlock position P12 as electricity is supplied to the solenoid coil 111. The solenoid coil 111 corresponds to a supply unit, and the solenoid 110 corresponds to a supply drive unit.

[0061] The pressing force transmission part 115 transmits the pressing forces F11 and F12 to the locking pin 101. For example, the mechanical pressing force F12 generated by the pressing unit 120 is applied to the locking pin 101 via the pressing force transmission part 115. The mechanical pressing force F12 is also applied to the solenoid 110 via the pressing force transmission part 115. In addition, the electrical pressing force F11 generated by the solenoid 110 is applied to the locking pin 101 via the pressing force transmission part 115. The electrical pressing force F11 is also applied to the pressing unit 120 via the pressing force transmission part 115.

[0062] The pressing force transmission part 115 includes a transmission plate part 116 and a transmission shaft part 117. The transmission plate part 116 can rotate with the transmission shaft part 117 as a rotation axis. The transmission plate part 116 rotates by applying the pressing forces F11 and F12. For example, the transmission plate part 116 transmits the mechanical pressing force F12 to the locking pin 101 and the solenoid 110 by rotating to one side of the circumference of the transmission shaft part 117. The transmission plate part 116 applies the electrical pressing force F11 to the locking pin 101 and the pressing unit 120 by rotating to the other side of the circumference.

[0063] Next, the operation of the locking device 100 will be described.

[0064] like Figure 6As shown, the locking device 100 is in a locked state when the solenoid coil 111 is not energized. When the solenoid coil 111 is not energized, no electrical pressing force F11 is generated in the solenoid 110. That is, the plunger 112 does not apply force to the locking pin 101 toward the unlocking position P12. In this case, the pressing unit 120 holds the locking pin 101 in the locking position P11 by the mechanical pressing force F12. The mechanical pressing force F12 is a force that can hold the locking pin 101 in the locking position P11. The mechanical pressing force F12 is equivalent to the mechanical limiting force, and the pressing unit 120 is equivalent to the mechanical limiting part.

[0065] like Figure 7 As shown, the locking device 100 is transferred to the unlocked state when the solenoid coil 111 is energized. When the solenoid coil 111 is energized, the solenoid 110 generates an electrical pressing force F11. In this case, the plunger 112 overcomes the mechanical pressing force F12 generated by the pressing unit 120 and moves the locking pin 101 from the locked position P11 to the unlocked position P12. The plunger 112 keeps the locking pin 101 at the unlocked position P12 by continuing to energize the solenoid coil 111. The plunger 112 is equivalent to the energization allowing unit.

[0066] Reference Figure 8 The propulsion control of the propulsion device 15 is described with reference to the flowchart of FIG. 8 . The motor control unit 82 repeatedly executes the propulsion control process in a predetermined control cycle. The motor control unit 82 has a function of executing the processing of each step of the propulsion control process.

[0067] The motor control unit 82 Figure 8 In step S101 shown in the figure, motor information is obtained. The motor information is information related to the state of the motor 61. The motor information includes the number of propeller revolutions, etc. The number of propeller revolutions is the number of revolutions of the propeller 20. For example, the number of propeller revolutions is the number of revolutions of the propeller 20 per unit time. The motor control unit 82 uses detection signals of various sensors such as the rotation sensor 52 to obtain the motor information.

[0068] In step S102, the motor control unit 82 determines whether to lock the propeller 20. The motor control unit 82 determines whether to lock the propeller 20 based on the flight state or flight schedule of the eVTOL 10. For example, when the eVTOL 10 is lifted, if the propeller 20 does not function as a lift propeller, the motor control unit 82 locks the propeller 20. When the eVTOL 10 is lifted, if the propeller 20 functions as a lift propeller, the motor control unit 82 does not lock the propeller 20.

[0069] When the propeller 20 is locked, the motor control unit 82 proceeds to step S104 and performs a locking process. The locking process is a process for locking the propeller 20. In the locking process, a process for shifting the locking device 100 from the unlocked state to the locked state is performed. The locking process will be described in detail later.

[0070] If the propeller 20 is not locked, the motor control unit 82 proceeds to step S103 and determines whether to unlock the propeller 20. In the unlocking, the locking device 100 is transferred from the locked state to the unlocked state. The motor control unit 82 determines whether to unlock the propeller 20 based on the flight state or flight plan of the eVTOL 10. For example, when the eVTOL 10 cruises after lifting, if the propeller 20 that is locked as a lifting propeller is not used as a cruising propeller, the lock of the propeller 20 is unlocked.

[0071] When the propeller 20 is unlocked, the motor control unit 82 proceeds to step S105 and performs unlocking processing. The unlocking processing is a processing for unlocking the propeller 20. In the unlocking processing, a processing for transferring the locking device 100 from the locked state to the unlocked state is performed. The unlocking processing will be described in detail later.

[0072] Next, refer to Fig. 9 The locking process is described with reference to the flowchart of FIG.

[0073] The motor control unit 82 Fig. 9 In step S201 shown, it is determined whether the rotation of the propeller 20 is slow enough. In this determination, it is determined whether the rotation of the propeller 20 has become so slow that the locking pin 101 can be hooked in the shaft groove 55. For example, the motor control unit 82 determines whether the number of propeller rotations is less than a predetermined threshold value. When the number of propeller rotations is less than the threshold value, the motor control unit 82 determines that the rotation of the propeller 20 has become slow enough to allow the locking pin 101 to be hooked in the shaft groove 55. On the other hand, when the number of propeller rotations is not less than the threshold value, the motor control unit 82 determines that the rotation of the propeller 20 has not become so slow that the locking pin 101 can be hooked in the shaft groove 55.

[0074] In the case where the rotation of the propeller 20 has not become sufficiently slow, the motor control unit 82 proceeds to step S202 and performs a rotation deceleration process. The rotation deceleration process is a process for decelerating the rotation of the motor 61 so as to slow down the rotation of the propeller 20. In the rotation deceleration process, motor control is performed to slow down the rotation of the motor 61. The processes of steps S201 and S202 are repeated until the rotation of the propeller 20 becomes sufficiently slow.

[0075] When the rotation of the propeller 20 is slow enough, the motor control unit 82 proceeds to step S203 and performs a locking command process. The locking command process is a process for moving the locking pin 101 from the unlocking position P12 to the locking position P11. The locking command process of the present embodiment is a process for cutting off the energization of the solenoid coil 111 in such a way that the signal current Is does not flow through the solenoid coil 111. The motor control unit 82 continues to energize the solenoid coil 111 within a specified waiting time. The waiting time is, for example, the time required for the propeller 20 to rotate multiple times. When performing the locking command process, the pressing unit 120 applies force to the locking pin 101 toward the locking position P11. The locking command process is equivalent to a restriction process. The function of the process of executing step S203 in the motor control unit 82 is equivalent to a restriction execution unit.

[0076] When the power supply to the solenoid coil 111 is cut off, if the shaft groove 55 is located at a position opposite to the pin portion 103, the pin portion 103 enters the shaft groove 55 by the mechanical pressing force F12. That is, the locking pin 101 is hooked on the shaft groove 55. On the other hand, if the shaft groove 55 is not located at a position opposite to the pin portion 103, Fig.10 As shown, the locking pin 101 is pressed against the shaft outer peripheral surface 51a by the mechanical pressing force F12. When the shaft groove 55 moving in the circumferential direction CD reaches a position opposite to the pin portion 103, the mechanical pressing force F12 causes the pin portion 103 to enter the shaft groove 55. That is, the locking pin 101 moves to the locking position P11.

[0077] In addition, if the rotation of the propeller 20 is not slow enough, even if the shaft groove 55 reaches the position opposite to the pin portion 103, the pin portion 103 cannot enter the shaft groove 55 and the shaft groove 55 passes the pin portion 103. On the other hand, if the rotation of the propeller 20 is slow enough, it is difficult for the pin portion 103 to not enter the shaft groove 55 and the shaft groove 55 passes the pin portion 103. That is, the lock pin 101 is easily moved to the lock position P11 by the mechanical pressing force F12.

[0078] The motor control unit 82 determines whether the rotation of the propeller 20 has stopped in step S204. For example, the motor control unit 82 uses the detection signal of the rotation sensor 52 to determine whether the propeller rotation number is zero. When the propeller rotation number is zero, the motor control unit 82 determines that the rotation of the propeller 20 has stopped. When the propeller rotation number is not zero, the motor control unit 82 determines that the rotation of the propeller 20 has not stopped. When the rotation of the propeller 20 has not stopped, the motor control unit 82 repeatedly performs the processing of steps S203 and S204 until the rotation of the propeller 20 stops.

[0079] When the rotation of the propeller 20 stops, the motor control unit 82 proceeds to step S205 and performs a lock confirmation process. As a case where the rotation of the propeller 20 stops, there are a case where the locking pin 101 moves to the locking position P11 and a case where the locking pin 101 does not move to the locking position P11. As a case where the locking pin 101 does not move to the locking position P11, there is a case where the rotation of the propeller 20 is stopped by the friction force between the pin portion 103 and the shaft outer peripheral surface 51a while the pin portion 103 is pressed against the shaft outer peripheral surface 51a by the mechanical pressing force F12.

[0080] The lock confirmation process is a process for confirming that the propeller 20 does not rotate. In the lock confirmation process, assuming that the lock pin 101 moves to the lock position P11, the motor 61 is energized so that the propeller 20 generates a rotational force to an extent that the locking pin 101 and the shaft groove 55 are not released. In addition, in the lock confirmation process, assuming that the lock pin 101 does not move to the lock position P11, the motor 61 is energized so that the propeller 20 generates a rotational force greater than the frictional force between the pin portion 103 and the shaft outer peripheral surface 51a.

[0081] In step S206, the motor control unit 82 determines whether the locking of the propeller 20 is completed. For example, the motor control unit 82 determines whether the locking pin 101 has moved to the locking position P11 by determining whether the propeller 20 is rotating. As a judgment of whether the propeller 20 is rotating, there is a judgment of whether the number of propeller rotations is zero, etc. When the propeller 20 is not rotating, the motor control unit 82 considers that the locking pin 101 has moved to the locking position P11 and determines that the locking of the propeller 20 is completed. When the propeller 20 is rotating, the motor control unit 82 determines that the locking pin 101 has not moved to the locking position P11 and the locking of the propeller 20 has not been completed. The function of executing the process of step S206 in the motor control unit 82 is equivalent to the rotation judgment unit.

[0082] When the locking of the propeller 20 is completed, the motor control unit 82 proceeds to step S207 and performs a locking completion process. In the locking completion process, a process of notifying the pilot of the completion of the locking of the propeller 20 is performed.

[0083] If the locking of the propeller 20 is not completed, the motor control unit 82 proceeds to step S208 and performs a locking abnormality process. In the locking abnormality process, a process of notifying that the locking of the propeller 20 is not completed is performed. As the case where the locking of the propeller 20 is not completed, there are cases where an abnormality of the pressing unit 120 or an abnormality of the locking pin 101 occurs. In addition, if the locking of the propeller 20 is not completed, the motor control unit 82 may perform the processes of steps S201 to S208 at least once more.

[0084] Next, refer to Fig.11 The lock release process is described with reference to the flowchart of FIG.

[0085] The motor control unit 82 performs a release command process in step S301. The release command process is a process for releasing the lock of the propeller 20. That is, the release command process is a process for moving the locking pin 101 from the locked position P11 to the unlocked position P12. The release command process of the present embodiment is a process for energizing the solenoid coil 111 in such a way that a signal current Is flows through the solenoid coil 111. When performing the release command process, the solenoid 110 applies a force to the locking pin 101 toward the unlocked position P12. The release command process is equivalent to the permission process. The function of the process of executing step S301 in the motor control unit 82 is equivalent to the permission execution unit.

[0086] The motor control unit 82 performs a release confirmation process in step S302. The release confirmation process is a process for confirming that the lock of the propeller 20 is released. That is, the release confirmation process is a process for confirming that the locking pin 101 moves from the locked position P11 to the unlocked position P12. In the release confirmation process, it is assumed that the lock of the propeller 20 is released, and the motor 61 is energized in such a way that the propeller 20 rotates. In addition, in the release confirmation process, it is assumed that the lock of the propeller 20 is not released, and the motor 61 is energized so that the propeller 20 generates a rotational force to such an extent that the locking pin 101 does not deform.

[0087] In step S303, the motor control unit 82 determines whether the unlocking of the propeller 20 is completed. For example, the motor control unit 82 determines whether the locking pin 101 has moved to the unlocking position P12 by determining whether the propeller rotation number is zero. When the propeller rotation number is not zero, the motor control unit 82 determines that the locking pin 101 has moved to the unlocking position P12 and determines that the unlocking of the propeller 20 is completed. When the propeller rotation number is zero, the motor control unit 82 determines that the locking pin 101 has not moved to the unlocking position P12 and the unlocking of the propeller 20 is not completed.

[0088] When the propeller 20 rotates, the motor control unit 82 determines that the unlocking of the propeller 20 is completed, and proceeds to step S304 to perform the unlocking completion process. In the unlocking completion process, a process of notifying the completion of the unlocking of the propeller 20 and the like are performed.

[0089] When the propeller 20 is not rotating, the motor control unit 82 considers that the unlocking of the propeller 20 has not been completed, and proceeds to step S305 to perform unlocking promotion processing. The unlocking promotion processing is a processing for easily unlocking the propeller 20. As the unlocking promotion processing, the motor control unit 82 repeatedly performs the forward rotation and reverse rotation of the motor 61 in a manner such that the propeller 20 shakes in the circumferential direction CD. The motor control unit 82 repeatedly performs the forward rotation and reverse rotation of the motor 61 so that the propeller 20 generates a rotational force to the extent that the locking pin 101 does not deform. Thereby, it is easy to eliminate the state where the locking pin 101 is unintentionally held in the locking position P11.

[0090] The motor control unit 82 preferably performs a release command process together with the release promotion process. When the solenoid 110 urges the lock pin 101 toward the unlocked position P12 by the release command process, the propeller 20 is shaken in the circumferential direction CD by the release promotion process, so that the lock pin 101 is easily moved to the unlocked position P12.

[0091] In step S306, the motor control unit 82 performs the release confirmation process in the same manner as in step S302. In step S307, the motor control unit 82 determines whether the lock release of the propeller 20 is completed in the same manner as in step S303. When the lock release of the propeller 20 is completed, the motor control unit 82 proceeds to step S304 and performs the release completion process. When the lock of the propeller 20 is released by performing the release promotion process, the motor control unit 82 may also notify in step S304 that the release promotion process has been performed.

[0092] If the propeller 20 does not rotate even after the release promotion process is performed, the motor control unit 82 proceeds to step S308. In step S308, the motor control unit 82 determines whether to change the power supply path for energizing the solenoid coil 111. In this determination, it is determined whether only one of the first parallel path 130a and the second parallel path 130b is used for energizing the solenoid coil 111. In the case where only one of the parallel paths 130a and 130b is used for energization, the motor control unit 82 considers that the power supply path is changed and proceeds to step S312.

[0093] As a case where the lock of the propeller 20 is not released, there is a case where the solenoid coil 111 is not energized due to an abnormality such as a disconnection in the parallel paths 130a and 130b. For example, when an abnormality occurs in the first parallel path 130a, the signal current Is that the motor control unit 82 flows to the first parallel path 130a may not reach the solenoid coil 111. In this case, even if the first parallel path 130a is used to energize the solenoid coil 111, the solenoid 110 does not operate, so the lock of the propeller 20 is not completed.

[0094] The motor control unit 82 performs a path change process in step S312. The motor control unit 82 changes the power path for energizing the solenoid coil 111 from one of the parallel paths 130a and 130b to the other. After changing the power path for energizing the solenoid coil 111, the motor control unit 82 performs the processes of steps S301 to S307 again. When the lock of the propeller 20 is released after the power path is changed, the motor control unit 82 may also notify the change of the power path in the lock end process of step S304.

[0095] As a case where the lock of the propeller 20 is released after the energizing path is changed, there is a case where an abnormality occurs only in one of the parallel paths 130a and 130b. In this case, no abnormality occurs in the path for energizing the solenoid coil 111 after the energizing path is changed.

[0096] On the other hand, as a case where the lock of the propeller 20 is released even if the energizing path is changed, there is a case where an abnormality occurs in both parallel paths 130a and 130b. In this case, an abnormality also occurs in the path for energizing the solenoid coil 111 after the energizing path is changed.

[0097] If the lock of the propeller 20 is not released even if the power path is changed, the motor control unit 82 proceeds to step S308 again and determines whether to change the power path. In this case, it is considered that an abnormality has occurred in both parallel paths 130a and 130b, and the motor control unit 82 determines not to change the power path. If the power path is not changed, the motor control unit 82 proceeds to step S309.

[0098] The motor control unit 82 performs a forced release process in step S309. The forced release process is a process for forcibly releasing the lock of the propeller 20 by the locking device 100. In the forced release process, for example, the motor 61 is energized so that the propeller 20 generates a strong rotational force to the extent that the locking pin 101 is deformed. In the forced release process, the lock of the propeller 20 by the locking pin 101 is forcibly released by forcibly rotating the EPU shaft 51.

[0099] In step S310, the motor control unit 82 determines whether the forced release of the lock of the propeller 20 has been completed. For example, the motor control unit 82 determines whether the forced release has been completed by determining whether the propeller rotation number is zero. When the propeller rotation number is not zero, the motor control unit 82 determines that the forced release has been completed. When the propeller rotation number is zero, the motor control unit 82 determines that the forced release has not been completed.

[0100] When the forced release is completed, the motor control unit 82 proceeds to step S304 and performs a release completion process. When the propeller 20 is unlocked by performing the forced release process, the motor control unit 82 may also notify in step S304 that the forced release process has been performed. The notification content may also include deformation of the locking pin 101, etc.

[0101] If the forced release is not completed, the motor control unit 82 proceeds to step S311 and performs release abnormality processing. As the release abnormality processing, the motor control unit 82 notifies that the lock of the propeller 20 cannot be released due to an abnormality in the propulsion device 15. The motor control unit 82 may also notify that the abnormality generated in the propulsion device 15 includes an abnormality in the parallel paths 130a, 130b, an abnormality in the lock pin 101, and the like.

[0102] According to the present embodiment described so far, the locking pin 101 is moved from the locking position P11 to the unlocking position P12 by energizing the solenoid coil 111. In this structure, by controlling the energization of the motor 61 so that the locking pin 101 is located at the locking position P11, the rotation of the propeller 20 can be restricted by the locking pin 101. Therefore, it is not necessary to energize the motor 61 for the purpose of restricting the rotation of the propeller 20. Therefore, it is possible to avoid a situation where the motor 61 continues to consume power despite restricting the rotation of the propeller 20. As a result, the power consumed when the eVTOL 10 is flying can be reduced.

[0103] In the present embodiment, the locking of the propeller 20 is achieved by a mechanical structure such as the hooking of the locking pin 101 and the shaft groove 55. Therefore, it is possible to suppress the unintentional deviation of the locking angle of the locked propeller 20. For example, in a structure in which the propeller 20 is locked by the drive control of the motor 61, unlike the present embodiment, the locking angle of the propeller 20 may be unintentionally deviated.

[0104] In addition, when the propeller 20 is locked, the flow of external air accompanying the rotation of the propeller 20 is not generated on the outer peripheral side of the EPU 50, and the cooling effect of the external air on the EPU 50 is low. In contrast, in a structure in which the propeller 20 is locked by drive control of the motor 61, for example, although heat is generated in the motor device 60 as the motor 61 is energized, the cooling effect of the external air on the EPU 50 is low. That is, in this structure, although the motor 61 does not drive the propeller 20 to rotate, the temperature of the motor 61 may become too high. In contrast, according to the present embodiment, since the propeller 20 is mechanically locked by the locking device 100, even if the air cooling generated by the rotation of the propeller 20 is stopped, it is difficult for the temperature of the motor 61 to become too high.

[0105] According to the present embodiment, the pressing unit 120 holds the locking pin 101 at the locking position P11 by mechanical energy when the solenoid coil 111 is not energized. Therefore, when the propeller 20 is locked, the power consumed by the solenoid coil 111 can be reduced. For example, in a propeller 20 in which the locked state continues for a long time among a plurality of propellers 20, the effect of reducing the power consumption of the solenoid coil 111 becomes higher. In addition, since the propeller 20 is locked by mechanical energy, even if the air cooling generated by the rotation of the propeller 20 stops, it is difficult to cause the temperature of the motor device 60 to rise.

[0106] According to the present embodiment, the plunger 112 overcomes the mechanical pressing force F12 and moves the locking pin 101 to the unlocking position P12 by energizing the solenoid coil 111. In this structure, the propeller 20 can be unlocked by the electrical pressing force F11 generated by energizing the solenoid coil 111. Therefore, in the locking device 100, the propeller 20 can be locked and unlocked by utilizing both mechanical energy and electrical energy.

[0107] Moreover, a plurality of parallel paths 130a, 130b and other current-carrying paths are connected to the solenoid coil 111. In this structure, even if an abnormality occurs in one current-carrying path, the solenoid coil 111 can be energized via the remaining current-carrying paths. Therefore, it is possible to resolve the situation where the propeller 20 cannot be unlocked due to the inability to energize the solenoid coil 111. Therefore, it is possible to avoid a reduction in the safety of the eVTOL 10 due to the inability to unlock the propeller 20. For example, in a situation where the propeller 20 cannot be unlocked, the thrust or lift of the eVTOL 10 may be insufficient, so that the propeller 20 cannot be driven to rotate.

[0108] According to the present embodiment, the plunger 112 keeps the locking pin 101 at the unlocked position P12 by continuing to energize the solenoid coil 111. In this structure, it is difficult for the locking pin 101 to move from the unlocked position P12 to the locked position P11 unintentionally. For example, even if external disturbances such as noise are applied to the signal current Is flowing through the solenoid coil 111, it is difficult for the signal current Is to become zero unintentionally. Therefore, it is possible to suppress the situation where the signal current Is becomes zero unintentionally and the propeller 20 is locked. Therefore, it is possible to suppress the situation where the propeller 20 is locked unintentionally and the safety of the eVTOL 10 is reduced.

[0109] According to the present embodiment, the motor control unit 82 can move the lock pin 101 to the lock position P11 and the unlock position P12 by controlling the energization of the solenoid coil 111. In this structure, since the pilot and the like do not need to manually operate the steps for locking the propeller 20, the operational burden when operating the eVTOL 10 can be reduced. In addition, the motor control unit 82 can move the lock pin 101 to the unlock position P12 by controlling the energization of the solenoid coil 111. In this structure, since the pilot and the like do not need to perform manual operations for unlocking the propeller 20, the operational burden when operating the eVTOL 10 can be reduced.

[0110] According to the present embodiment, the motor control unit 82 performs processing for moving the locking pin 101 to the locking position P11 when the propeller rotation number is less than the threshold value. In this structure, the locking pin 101 can be hooked on the shaft groove 55 when the rotation of the propeller 20 is sufficiently slow. Therefore, it is possible to suppress the state in which the locking pin 101 is not hooked on the shaft groove 55 from continuing for a long time, the deformation of the locking pin 101, etc. Therefore, it is possible to shorten the time required for locking the propeller 20, and suppress the occurrence of abnormalities in the locking pin 101, etc.

[0111] According to the present embodiment, the motor control unit 82 determines whether the propeller 20 is rotating when the process for moving the locking pin 101 to the locking position P11 is performed. In this structure, the locking of the propeller 20 is confirmed by determining whether the propeller 20 is rotating. Therefore, it can be confirmed that the propeller 20 can be normally locked by the locking device 100.

[0112] <Second embodiment> In the first embodiment, the propeller 20 is locked when the solenoid coil 111 is not energized. In contrast, in the second embodiment, the propeller 20 is unlocked when the solenoid coil 111 is not energized. The structure, function, and effect not particularly described in the second embodiment are the same as those in the first embodiment. In the second embodiment, the description will be centered on the points that are different from the first embodiment.

[0113] like Fig.12 As shown, the propulsion device 15 includes a locking device 200. The locking device 200 corresponds to the locking device 100 of the first embodiment described above, and can lock the propeller 20 similarly to the locking device 100.

[0114] The locking device 200 has components or parts corresponding to the locking device 100. The locking device 200 has a locking pin 201, a solenoid 210, a pressing force transmission part 215, and a pressing unit 220. The locking pin 201 is equivalent to a limiting member. The locking pin 201 can be moved to a locking position P21 and an unlocking position P22. When the locking pin 201 is in the locking position P21, the rotation of the propeller 20 is restricted by hooking on the shaft groove 55. The locking position P21 is equivalent to the limiting position, and the unlocking position P22 is equivalent to the allowing position. The locking pin 201 has a pin base 202 and a pin part 203.

[0115] The pressing unit 220 can unlock the propeller 20 by mechanical energy. The pressing unit 220 can move the locking pin 201 from the locked position P21 to the unlocked position P22 by mechanical energy. The pressing unit 220 has a pressing member 221 and a pressing support portion 222. Contrary to the pressing member 121 of the first embodiment, the pressing member 221 is in an elastically deformed state when the locking pin 201 is located at the locked position P21. The pressing member 221 applies force to the locking pin 201 from the locked position P21 toward the unlocked position P22 by a mechanical pressing force F22 generated by the elastic deformation of the pressing member 221. The mechanical pressing force F22 acts in a direction opposite to the mechanical pressing force F12 of the first embodiment. The mechanical pressing force F22 is a force generated by the mechanical energy generated by the pressing member 221.

[0116] The solenoid 210 can lock the propeller 20 by electrical energy. The solenoid 210 can move the lock pin 201 from the unlock position P22 to the lock position P21 by electrical energy.

[0117] The solenoid 210 has solenoid coils 211A, 211B and a plunger 212. The plunger 212 applies force to the lock pin 201 from the unlocked position P22 toward the locked position P21 by an electrical pressing force F21 generated when the solenoid coils 211A, 211B are energized. The electrical pressing force F21 is a force generated by electrical energy generated when the solenoid coils 211A, 211B are energized. The electrical pressing force F21 is greater than the mechanical pressing force F22.

[0118] The solenoid 210 drives the lock pin 201 to move from the unlock position P22 to the lock position P21 as the solenoid coils 211A and 211B are energized. The solenoid coils 211A and 211B correspond to the energizing section, and the solenoid 210 corresponds to the energizing driving section.

[0119] In the first embodiment, the energized drive unit has one energized unit, whereas in the present embodiment, the energized drive unit has a plurality of energized units. In the present embodiment, the solenoid 210 is equivalent to the energized drive unit, and the solenoid coils 211A and 211B are equivalent to the energized units. In the solenoid 210, the first solenoid coil 211A and the second solenoid coil 211B are arranged along the plunger 212. The first solenoid coil 211A and the second solenoid coil 211B are independently energized.

[0120] In the solenoid 210, a first electrical pressing force F21A is generated as the first solenoid coil 211A is energized. In addition, a second electrical pressing force F21B is generated as the second solenoid coil 211B is energized. The first electrical pressing force F21A and the second electrical pressing force F21B are respectively smaller than the mechanical pressing force F22. The electrical pressing force F21 includes the first electrical pressing force F21A and the second electrical pressing force F21B. For example, the electrical pressing force F21 is the sum of the first electrical pressing force F21A and the second electrical pressing force F21B. The first electrical pressing force F21A and the second electrical pressing force F21B are equivalent to separate limiting forces.

[0121] A plurality of current-carrying paths that can be energized are connected to the solenoid 210. The plurality of current-carrying paths include a first coil path 231 and a second coil path 232. The first coil path 231 electrically connects the motor control unit 82 to the first solenoid coil 211A. The second coil path 232 electrically connects the motor control unit 82 to the second solenoid coil 211B. The coil paths 231 and 232 are formed by electrical wiring such as communication lines.

[0122] like Fig.13 As shown, the motor control unit 82 controls the energization of the first solenoid coil 211A so that the first signal current Is1 flows through the first coil path 231. The first solenoid coil 211A generates a first electrical pressing force F21A by flowing the first signal current Is1. The motor control unit 82 controls the energization of the second solenoid coil 211B so that the second signal current Is2 flows through the second coil path 232. The second solenoid coil 211B generates a second electrical pressing force F21B by flowing the second signal current Is2.

[0123] The pressing force transmission part 215 transmits the pressing forces F21 and F22 to the lock pin 201. The pressing force transmission part 215 includes a transmission plate part 216 and a transmission shaft part 217.

[0124] Next, the operation of the locking device 200 will be described.

[0125] like Fig.12 As shown, when the solenoid coils 211A and 211B are not energized, the locking device 200 is in an unlocked state. When the solenoid coils 211A and 211B are not energized, no electrical pressing force F21 is generated in the solenoid 210. That is, the plunger 212 does not apply force to the locking pin 201 toward the locked position P21. In this case, the pressing unit 220 holds the locking pin 201 in the unlocked position P22 by the mechanical pressing force F22. The mechanical pressing force F22 is a force that can hold the locking pin 201 in the unlocked position P22. The mechanical pressing force F22 is equivalent to the mechanical permission force, and the pressing unit 220 is equivalent to the mechanical permission part.

[0126] like Fig.13 As shown, the locking device 200 is transferred to the locked state when the solenoid coils 211A and 211B are energized. When the solenoid coils 211A and 211B are energized, the solenoid 210 generates an electrical pressing force F21. That is, the plunger 212 overcomes the mechanical pressing force F22 generated by the pressing unit 220 to move the locking pin 201 from the unlocking position P22 to the locking position P21. The plunger 212 keeps the locking pin 201 in the locking position P21 by continuing to energize the solenoid coils 211A and 211B. The plunger 212 is equivalent to the energization limiting unit.

[0127] In the locking device 200, even if only one of the first solenoid coil 211A and the second solenoid coil 211B is energized, the state does not shift to the locked state. For example, when only the first solenoid coil 211A is energized, the solenoid 210 generates the first electrical pressing force F21A. However, the first electrical pressing force F21A is smaller than the mechanical pressing force F22. Therefore, the plunger 212 does not overcome the mechanical pressing force F22 and move the locking pin 201 to the locked position P21 only by the first electrical pressing force F21A.

[0128] According to the present embodiment, the solenoid 210 keeps the locking pin 201 at the locking position P21 by continuously energizing the solenoid coils 211A and 211B. In this structure, by managing the energization of the solenoid coils 211A and 211B, the locking of the propeller 20 can be managed. Therefore, it is difficult to produce a situation where the propeller 20 is accidentally locked by the locking pin 201. Therefore, it is possible to prevent the propeller 20 from being accidentally locked and reducing the safety of the eVTOL 10.

[0129] According to the present embodiment, the plunger 212 overcomes the mechanical pressing force F22 generated by the pressing unit 220 and moves the locking pin 201 from the unlocked position P22 to the locked position P21 as the power is supplied to the plurality of solenoid coils 211A and 211B. In this structure, if the power supplied to the solenoid coils 211A and 211B is accidentally cut off, the locking pin 201 is easily returned to the unlocked position P22 due to the mechanical pressing force F22. For example, it is possible to avoid the situation where the propeller 20 cannot be unlocked when the power supplied to the solenoid coils 211A and 211B is accidentally lost. Therefore, it is possible to suppress the safety of the eVTOL 10 from being reduced due to the inability to unlock the propeller 20.

[0130] In addition, in this structure, if the electrical pressing force F21 generated by energizing the solenoid coils 211A and 211B is greater than the mechanical pressing force F22, the propeller 20 can be locked. Therefore, compared with a structure in which the propeller 20 is locked by driving control of the motor 61, for example, the power consumption required to lock the propeller 20 can be reduced. Therefore, energy saving of the eVTOL 10 can be achieved.

[0131] According to the present embodiment, the first electrical pressing force F21A generated by energizing the first solenoid coil 211A is smaller than the mechanical pressing force F22 generated by the pressing unit 220. Similarly, the second electrical pressing force F21B generated by energizing the second solenoid coil 211B is smaller than the mechanical pressing force F22. In these structures, even if only one of the first solenoid coil 211A and the second solenoid coil 211B is energized, the propeller 20 will not be locked. Therefore, even if external disturbances such as noise are applied to the solenoid coils 211A and 211B, it is difficult to generate a situation where both the solenoid coils 211A and 211B are excited and the electrical pressing force F21 is greater than the mechanical pressing force F22. For example, even if the first solenoid coil 211A is excited due to external disturbances, if the second solenoid coil 211B is not excited, the electrical pressing force F21 including only the first electrical pressing force F21A will not be greater than the mechanical pressing force F22. Therefore, the propeller 20 can be prevented from being unintentionally locked by the solenoid coils 211A and 211B.

[0132] <Third Embodiment> In the third embodiment, a plurality of locking angles are provided at which the propeller 20 can be locked. The structure, function, and effect not particularly described in the third embodiment are the same as those in the first embodiment. The third embodiment will be described mainly around the differences from the first embodiment.

[0133] In the first embodiment described above, one limiting member is provided. In contrast, in the present embodiment, a plurality of limiting members are provided. The plurality of limiting members are located at different positions in at least one of the circumferential direction CD and the axial direction AD. Fig.14 As shown, as a limiting member, the first locking pin 301A and the second locking pin 301B are arranged in the circumferential direction CD. The first locking pin 301A and the second locking pin 301B can lock the propeller 20 at different locking angles from each other. The first locking pin 301A and the second locking pin 301B are arranged in the circumferential direction CD. The second locking pin 301B is provided at a position different from the first locking pin 301A in the circumferential direction CD. The first locking pin 301A is equivalent to the first limiting member, and the second locking pin 301B is equivalent to the second limiting member.

[0134] The propulsion device 15 includes a first locking device 300A and a second locking device 300B. The locking devices 300A and 300B correspond to the locking device 100 of the first embodiment described above, and can lock the propeller 20 similarly to the locking device 100 .

[0135] The locking devices 300A and 300B have components or parts corresponding to the locking device 100. The first locking device 300A has a first solenoid 310A and a first pressing unit 320A in addition to the first locking pin 301A. The first locking pin 301A can be moved to a first locking position P31A and a first unlocking position P32A. When the first locking pin 301A is located at the first locking position P31A, the rotation of the propeller 20 is restricted by hooking on the first shaft groove 55A. When the first locking pin 301A is located at the first locking position P31A, a part of the first locking pin 301A is hooked on the first shaft groove 55A. The first locking position P31A is equivalent to the restriction position, and the first unlocking position P32A is equivalent to the permission position.

[0136] The first solenoid 310A has a first solenoid coil 311A ​​and a first plunger 312A. The first plunger 312A generates a force that applies force to the first locking pin 301A as the first solenoid coil 311A ​​is energized. The first solenoid coil 311A ​​is energized to move the first locking pin 301A from one of the first locking position P31A and the first unlocking position P32A to the other. The first solenoid 310A is equivalent to an energizing drive unit, sometimes referred to as a first energizing drive unit. The first solenoid coil 311A ​​is equivalent to an energizing unit and a first energizing unit.

[0137] The first locking device 300A is a structure that controls the energization of the first solenoid coil 311A ​​to displace the first locking pin 301A. The first locking device 300A may be any one of a type that overcomes mechanical energy and unlocks the propeller 20 by electrical energy and a type that overcomes mechanical energy and locks the propeller 20 by electrical energy. As a type that overcomes mechanical energy and unlocks the propeller 20 by electrical energy, there is the locking device 100 of the first embodiment described above. As a type that overcomes mechanical energy and locks the propeller 20 by electrical energy, there is the locking device 200 of the second embodiment described above.

[0138] The second locking device 300B includes a solenoid 310B and a pressing unit 320B in addition to the second locking pin 301B. The second locking pin 301B can be moved to a second locking position P31B and a second unlocking position P32B. When the second locking pin 301B is located at the second locking position P31B, the rotation of the propeller 20 is restricted by hooking the second shaft groove 55B. A part of the second locking pin 301B is hooked on the second shaft groove 55B. The second locking position P31B is equivalent to the restriction position, and the second unlocking position P32B is equivalent to the permission position.

[0139] The second solenoid 310B has a second solenoid coil 311B and a second plunger 312B. The second plunger 312B generates a force that applies force to the second locking pin 301B as the second solenoid coil 311B is energized. The second solenoid coil 311B is energized to move the second locking pin 301B from one of the second locking position P31B and the first unlocking position P32A to the other. The second solenoid 310B is equivalent to an energizing drive unit, sometimes referred to as a second energizing drive unit. The second solenoid coil 311B is equivalent to an energizing unit and a second energizing unit.

[0140] The second locking device 300B is a structure that controls the power supply to the second solenoid coil 311B to displace the second locking pin 301B. Similar to the first locking device 300A, the second locking device 300B may be a type that overcomes mechanical energy and unlocks the propeller 20 by electrical energy or a type that overcomes mechanical energy and locks the propeller 20 by electrical energy.

[0141] The first shaft groove 55A and the second shaft groove 55B are provided in the EPU shaft 51. The first shaft groove 55A and the second shaft groove 55B are provided at different positions in at least the axial direction AD in the circumferential direction CD and the axial direction AD. Fig.14 As shown, the first shaft groove 55A and the second shaft groove 55B are located at different positions in the circumferential direction CD and the axial direction AD. By locating the first shaft groove 55A and the second shaft groove 55B at positions separated in the axial direction AD, it is possible to avoid the second locking pin 301B being hooked on the first shaft groove 55A and the first locking pin 301A being hooked on the second shaft groove 55B. The first shaft groove 55A is equivalent to a receiving portion, sometimes referred to as a first receiving portion. The second shaft groove 55B is equivalent to a receiving portion, sometimes referred to as a second receiving portion.

[0142] The first locking device 300A and the second locking device 300B can lock the propeller 20 at different locking angles. The first locking device 300A can lock the propeller 20 at a first locking angle. The second locking device 300B can lock the propeller 20 at a second locking angle. The first locking angle and the second locking angle differ by 90 degrees in the circumferential direction CD, for example.

[0143] exist Fig.14 In the figure, the solenoid coils 311A ​​and 311B are shown as EP, the plungers 312A and 312B are shown as PL, and the pressing units 320A and 320B are shown as Mac. In addition, the motor control unit 82 is shown as MCU.

[0144] The motor control unit 82 selects one of the first locking angle and the second locking angle as the locking angle for locking the propeller 20 in the propulsion control process. When the first locking angle is selected, the motor control unit 82 controls the energization of the first solenoid coil 311A ​​to transfer the first locking device 300A to the locked state. When the second locking angle is selected, the motor control unit 82 controls the energization of the second solenoid coil 311B to transfer the second locking device 300B to the locked state.

[0145] According to the present embodiment, in the first solenoid 310A, the first solenoid coil 311A ​​is energized in order to move the first locking pin 301A from one of the first locking position P31A and the first unlocking position P32A to the other. In the second solenoid 310B, the second solenoid coil 311B is energized in order to move the second locking pin 301B from one of the second locking position P31B and the second unlocking position P32B to the other. Therefore, by selectively switching the energized object to the first solenoid coil 311A ​​and the second solenoid coil 311B, the locking angle of the propeller 20 can be changed. Therefore, by changing the locking angle of the propeller 20 according to the flight state of the eVTOL 10, etc., the energy saving of the eVTOL 10 can be achieved.

[0146] <Fourth embodiment> In the fourth embodiment, the restricting member such as the lock pin 101 is configured to facilitate unlocking of the propeller 20. The configuration, operation, and effects not specifically described in the fourth embodiment are the same as those in the first embodiment. The fourth embodiment will be described with the focus on the differences from the first embodiment.

[0147] The lock pin 101 is formed into a shape that is easy to move from the lock position P11 to the unlock position P12. That is, as the lock pin 101 moves to the unlock position P12, the lock pin 101 and the shaft groove 55 are easily released from the hook. In the lock pin 101, the pin portion 103 has a shape that tapers at the front end. In the pin portion 103, for example, the width dimension in the radial direction RD becomes smaller as the position is farther away from the pin base 102. In the pin portion 103, the width dimension of the front end portion is the smallest.

[0148] like Fig.15As shown, the pin portion 103 has a tapered surface 103a. The tapered surface 103a is included in the outer surface of the pin portion 103. A pair of tapered surfaces 103a are arranged in a manner of being arranged across the front end portion of the pin portion 103. The pair of tapered surfaces 103a are arranged, for example, along the radial direction RD. The tapered surface 103a is inclined in a tapered shape relative to the center line of the pin portion 103. The tapered surface 103a is inclined relative to the inner wall surface of the shaft groove 55. Therefore, when the pin portion 103 enters the shaft groove 55, a partial gap is easily generated between the tapered surface 103a and the inner wall surface of the shaft groove 55.

[0149] When the locking pin 101 is in the locked position P11, the pin portion 103 is easily pulled out of the shaft groove 55 when the motor control unit 82 performs the release promotion process. For example, when the motor control unit 82 swings the propeller 20 and the EPU shaft 51 in the circumferential direction CD, the tapered surface 103a is easily moved in a sliding manner along the inner wall surface of the shaft groove 55. Therefore, the pin portion 103 is easily pulled out of the shaft groove 55, and the state in which the locking pin 101 is hooked with the shaft groove 55 is easily released. The tapered surface 103a promotes the release of the state in which the locking pin 101 is hooked with the shaft groove 55. The tapered surface 103a is equivalent to the release promotion unit.

[0150] According to the present embodiment, in the locking pin 101, the tapered surface 103a promotes the release of the state where the locking pin 101 is hooked with the shaft groove 55. In this structure, the tapered surface 103a can suppress the state where the locking pin 101 cannot be released from the shaft groove 55. Therefore, the tapered surface 103a can eliminate the situation where the locking of the propeller 20 is unintentionally maintained.

[0151] <Fifth embodiment> In the fifth embodiment, the locking pin 101 and other restricting members are configured to facilitate forced unlocking of the propeller 20. The configuration, function, and effect not specifically described in the fifth embodiment are the same as those in the first embodiment. The fifth embodiment will be described with the focus on the differences from the first embodiment.

[0152] The locking pin 101 is configured to be easily deformed locally. When the motor control unit 82 performs forced release processing, when a strong rotational force is generated in the propeller 20 to the extent that the locking pin 101 is deformed, the locking of the propeller 20 is easily forcedly released by the local deformation of the locking pin 101.

[0153] like Fig.16As shown, the locking pin 101 has a fragile portion 104. The fragile portion 104 is a partially fragile portion of the locking pin 101. The fragile portion 104 is a portion that is easily deformed due to lower strength than other portions of the locking pin 101. The fragile portion 104 is provided, for example, at a boundary between the pin base 102 and the pin portion 103. The fragile portion 104 extends along the boundary between the pin base 102 and the pin portion 103. In the locking pin 101, the fragile portion 104 is easily deformed by applying an external force to the pin portion 103. For example, the pin portion 103 is easily detached from the pin base 102 by the deformation of the fragile portion 104.

[0154] When the motor control unit 82 performs the forced release process, a rotational force is applied to the EPU shaft 51 in a state where the pin portion 103 is hooked in the shaft groove 55. In this case, the rotational force of the EPU shaft 51 overcomes the strength of the fragile portion 104 and deforms the fragile portion 104. Then, as the fragile portion 104 deforms, the rotational force rotates the EPU shaft 51 due to the detachment of the pin portion 103 from the pin base 102, etc. In this way, since the locking pin 101 is easily deformed at the fragile portion 104, even if the locking pin 101 does not move to the unlocking position P12, it is easy to forcefully release the lock of the propeller 20. In other words, the fragile portion 104 promotes the release of the state where the locking pin 101 is hooked in the shaft groove 55. The fragile portion 104 is equivalent to the release promotion portion.

[0155] According to the present embodiment, in the locking pin 101, the release of the state where the locking pin 101 is hooked with the shaft groove 55 is facilitated by the fragile portion 104. In this structure, the state where the locking pin 101 and the shaft groove 55 cannot be released can be suppressed by the fragile portion 104. Therefore, the situation where the locking of the propeller 20 is unintentionally maintained can be eliminated by the fragile portion 104.

[0156] <Sixth embodiment> In the sixth embodiment, for each of the forward rotation and reverse rotation of the propeller 20, it is determined whether the locking of the propeller 20 is completed. The structure, function, and effect not specifically described in the sixth embodiment are the same as those in the first embodiment. In the sixth embodiment, the description will be centered on the points different from the first embodiment.

[0157] In the present embodiment, the propeller 20 can perform forward rotation and reverse rotation. The forward rotation of the propeller 20 is the rotation of the propeller 20 in the forward direction. For example, the forward direction for the propeller 20 is the direction in which thrust is generated in the eVTOL 10 as the propeller 20 rotates in the circumferential direction of the propeller axis. The reverse rotation of the propeller 20 is the rotation of the propeller 20 in the reverse direction. The reverse rotation of the propeller 20 is the rotation of the propeller 20 in the direction opposite to the forward rotation. The reverse direction for the propeller 20 is the direction opposite to the forward direction in the circumferential direction of the propeller axis.

[0158] The propeller 20 rotates in the same direction as the direction in which the motor 61 rotates. For example, when the motor 61 rotates forward, the propeller 20 also rotates forward. When the motor 61 rotates reversely, the propeller 20 also rotates reversely. The forward rotation of the motor 61 is the forward rotation of the motor rotor 64. The reverse rotation of the motor 61 is the reverse rotation of the motor rotor 64. The motor control unit 82 can change the rotation direction of the motor 61 and the propeller 20 by changing the direction of power supply to the motor stator 63, etc.

[0159] The motor control unit 82 performs the locking process in the same manner as in the first embodiment described above. Fig.17 The locking process is described with reference to the flowchart of FIG.

[0160] The motor control unit 82 Fig.17 In step S401 shown, it is determined whether there is a locking instruction. For example, the motor control unit 82 determines whether it is in a state where a locking instruction is output to the locking device 100. As a state where a locking instruction is output to the locking device 100, there is a state where the processing of steps S201 to S203 in the first embodiment described above is executed. For example, when the motor control unit 82 executes the locking instruction processing, it is determined that it is in a state where a locking instruction is output to the locking device 100. When a locking instruction is output to the locking device 100, the motor control unit determines that there is a locking instruction.

[0161] In the eVTOL 10, a locking command is outputted while the propeller 20 is rotating normally. For example, in response to a change in the flight state of the eVTOL 10, when the propeller 20 that is rotating normally stops, the motor control unit 82 decelerates the normal rotation of the propeller 20 by performing the process of step S202 of the first embodiment. If the locking command is outputted while the propeller 20 is rotating normally, the locking device 100 drives the locking pin 101 to move from the unlocked position P12 to the locked position P11 in response to the normal rotation of the propeller 20.

[0162] When there is a locking instruction, the motor control unit 82 proceeds to step S402 and determines whether the locking standby is over. The locking standby is a standby for ensuring the time for the locking device 100 to lock the propeller 20. For example, for the positive rotation of the propeller 20, the motor control unit 82 determines whether the standby time has reached a reference time. The standby time is the elapsed time from the output of the locking instruction to the locking device 100. The reference time is a time of a predetermined length and is stored in the memory 82b, for example. For example, the reference time is set to a length longer than the time required for the shaft groove 55 to reach the locking pin 101 as the propeller 20 rotates. When the standby time reaches the reference time, the motor control unit 82 determines that the locking standby for the positive rotation of the propeller 20 is over, and proceeds to step S403.

[0163] In step S403, the motor control unit 82 determines whether the locking of the propeller 20 is completed, similarly to step S206 of the first embodiment. In response to the positive rotation of the propeller 20, the motor control unit 82 determines whether the locking pin 101 has moved to the locking position P11. When the shaft groove 55 reaches the relative position of the pin portion 103 with the positive rotation of the propeller 20, the pin portion 103 enters the shaft groove 55 by using the mechanical pressing force F12, and the locking pin 101 moves to the locking position P11. When the locking pin 101 moves to the locking position P11, the motor control unit 82 determines that the locking is completed by using the positive rotation of the propeller 20. The function of executing the process of step S403 in the motor control unit 82 is equivalent to a one-side judgment unit.

[0164] In addition to determining whether the locking pin 101 is located at the locking position P11, the motor control unit 82 can also determine whether the rotation of the propeller 20 has stopped. When the rotation of the propeller 20 has stopped and the locking pin 101 is located at the locking position P11, the motor control unit 82 determines that the locking of the propeller 20 has been completed. In this way, it is possible to suppress erroneous determination of whether the locking of the propeller 20 has been completed.

[0165] When the locking of the forward rotation of the propeller 20 is completed, the motor control unit 82 proceeds to step S404. In step S404, the motor control unit 82 performs the locking completion process in the same manner as step S207 of the first embodiment.

[0166] When the locking of the propeller 20 for the positive rotation is not completed, the motor control unit 82 proceeds to step S405. As a case where the locking of the propeller 20 is not completed, there is a case where the positive rotation of the propeller 20 stops in a state where the shaft groove 55 has not reached the relative position of the pin portion 103. In this case, it can be considered that foreign matter is bitten into the propeller shaft 23, an abnormality occurs due to the slow positive rotation of the propeller 20, etc. In addition, as a case where the locking of the propeller 20 is not completed, there is a case where the locking device 100 cannot operate normally even if the shaft groove 55 reaches the relative position of the pin portion 103.

[0167] The motor control unit 82 performs a reverse rotation process in step S405. The reverse rotation process is a process for causing the propeller 20 to reversely rotate. In the reverse rotation process, the motor 61 is energized in such a manner that the propeller 20 reversely rotates. The motor control unit 82 reversely rotates the propeller 20 so that the pin portion 103 reaches the shaft groove 55 in the opposite direction of the circumferential direction of the propeller shaft 23. Even when the reverse rotation process is performed, the locking instruction process continues to be executed. When the pin portion 103 reaches the shaft groove 55, the motor control unit 82 slowly reversely rotates the propeller 20 by a mechanical pressing force F12 so that the pin portion 103 enters the shaft groove 55. The function of executing the process of step S405 in the motor control unit 82 is equivalent to the other rotating unit.

[0168] In step S406, the motor control unit 82 determines whether the locking standby is completed, similarly to the above step S402. For example, for the reverse rotation of the propeller 20, the motor control unit 82 determines whether the standby time has reached the reference time. The reference time in steps S403 and S406 can be the same length of time or different lengths of time. When the standby time reaches the reference time, it is determined that the locking standby for the reverse rotation of the propeller 20 is completed, and the process proceeds to step S407.

[0169] In step S407, the motor control unit 82 determines whether the locking of the propeller 20 is completed, similarly to the above-mentioned step S403. In response to the reverse rotation of the propeller 20, the motor control unit 82 determines whether the locking pin 101 has moved to the locking position P11. When the shaft groove 55 reaches the relative position of the pin portion 103 as the propeller 20 rotates in reverse, the pin portion 103 enters the shaft groove 55 by using the mechanical pressing force F12, and the locking pin 101 moves to the locking position P11. When the locking pin 101 moves to the locking position P11, the motor control unit 82 determines that the locking is completed by using the reverse rotation of the propeller 20. The function of executing the process of step S407 in the motor control unit 82 is equivalent to the other judgment unit.

[0170] When the locking of the reverse rotation of the propeller 20 is completed, the motor control unit 82 proceeds to step S404 and performs a locking completion process.

[0171] If the locking of the reverse rotation of the propeller 20 is not completed, the motor control unit 82 proceeds to step S408. As a case where the locking of the propeller 20 is not completed, there is a case where the reverse rotation of the propeller 20 is stopped in a state where the shaft groove 55 has not reached the relative position of the pin portion 103. In this case, it can be considered that foreign matter is bitten into the propeller shaft 23, an abnormality occurs due to the slow reverse rotation of the transmission device 20, etc.

[0172] In step S408, the motor control unit 82 performs a locking abnormality process similar to step S208 of the first embodiment. In the locking abnormality process, a process of notifying that the locking of the propeller 20 has not been completed is performed for both the forward rotation and the reverse rotation of the propeller 20. In addition, when the locking of the propeller 20 has not been completed, the motor control unit 82 may perform the processes of steps S402 to S407 at least once more.

[0173] According to the present embodiment, the propeller 20 is reversely rotated when the locking pin 101 has not moved to the locking position P11 for the forward rotation of the propeller 20. In this structure, even if the locking pin 101 has not moved to the locking position P11 during the forward rotation of the propeller 20, the locking pin 101 can be moved to the locking position P11 for the reverse rotation of the propeller 20. Therefore, the probability that the propeller 20 can be locked by the locking pin 101 can be increased.

[0174] According to the present embodiment, a determination is made as to whether the locking pin 101 has moved to the locking position P11 for the reverse rotation of the propeller 20. In this structure, when the locking pin 101 has not moved to the locking position P11, the reason can be inferred. For example, when the propeller 20 is not locked during the forward rotation of the propeller 20, and when the propeller 20 is locked during the reverse rotation of the propeller 20, it can be inferred that an abnormality has occurred in the forward rotation of the propeller 20. In addition, when the propeller 20 is not locked for both the forward rotation and the reverse rotation of the propeller 20, it can be inferred that an abnormality has occurred in the locking device 100. In this way, if the reason why the propeller 20 is not locked is inferred, the safety of the eVTOL 10 can be improved compared to the case where the flight of the eVTOL 10 is continued in an unknown state.

[0175] <Other embodiments> The disclosure of this specification is not limited to the illustrated embodiments. The present disclosure includes the illustrated embodiments and the variations made by those skilled in the art based thereon. For example, the present disclosure is not limited to the combination of components and elements shown in the embodiments, and various variations can be made to implement it. The present disclosure can be implemented in various combinations. The present disclosure may have additional parts that can be added to the embodiments. The present disclosure includes a structure in which components and elements of the embodiments are omitted. The present disclosure includes the replacement or combination of components and elements between one embodiment and another. The technical scope of the present disclosure is not limited to the description of the embodiments. The technical scope of the present disclosure should be understood to be represented by the description of the claims, and also includes all variations in the meaning and scope equivalent to the description of the claims.

[0176] In each of the above-mentioned embodiments, a plurality of receiving portions may be provided for one limiting member. For example, in the above-mentioned first embodiment, a plurality of shaft grooves 55 may be provided with respect to one locking pin 101. For example, a structure is formed in which a plurality of shaft grooves 55 are arranged in the circumferential direction CD. In this structure, the propeller 20 is locked by hooking a locking pin 101 on any one of the plurality of shaft grooves 55. Therefore, the time required to lock the propeller 20 is easily shortened. As a structure in which a plurality of shaft grooves 55 are arranged in the circumferential direction CD, there is a structure in which two shaft grooves 55 are arranged at intervals of 180 degrees in the circumferential direction CD, and the like.

[0177] In the above embodiments, as long as the receiving portion rotates together with the rotor, it may be provided at any position of the propulsion device 15. For example, in the above first embodiment, the shaft groove 55 may be provided in the propeller head 22, the propeller shaft 23, the EPU shaft 51, or the motor shaft 65.

[0178] In the above-mentioned embodiments, as long as the receiving part and the limiting member can be hooked with each other, they can be formed in any shape. For example, in the above-mentioned first embodiment, as long as the shaft groove 55 is hooked on the limiting member such as the locking pin 101, it is not necessary to have a groove shape, and it can be any one of a convex part and a concave part. As long as the locking pin 101 is hooked on the receiving part such as the shaft groove 55, it is not necessary to have a convex part, and it can have a concave part.

[0179] In each of the above-mentioned embodiments, in the propeller 20, the plurality of blades 21 may also be relatively displaced in the circumferential direction CD. For example, the propeller 20 is configured to include a plurality of propeller parts. The plurality of propeller parts include a first propeller part and a second propeller part. The first propeller part and the second propeller part each have a plurality of blades 21. The propeller 20 is capable of being transferred to a first state and a second state. The first state is a state when the propeller 20 is not locked and rotates. In the first state, the blades 21 of the first propeller part and the blades 21 of the second propeller part are located at positions separated from each other in the circumferential direction CD. The second state is a state when the propeller 20 is locked. In the second state, the blades 21 of the first propeller part and the blades 21 of the second propeller part are located at positions that are not separated in the circumferential direction CD but overlap with each other. For example, in the second state, all the blades 21 are in a state extending along the roll axis.

[0180] The propulsion device 15 has a locking device for locking the first propeller part and a locking device for locking the second propeller part as the locking device 100. The locking device for the first propeller part and the locking device for the second propeller part can lock the first propeller part and the second propeller part separately. By operating the locking device for the first propeller part and the locking device for the second propeller part separately, the propeller 20 can be kept in the second state.

[0181] In each of the above-mentioned embodiments, the locking angle of the propeller 20 may also be changed. As a structure in which the locking angle of the propeller 20 can be changed, there is a structure in which the locking angle of the propeller 20 can be changed in stages, as in the above-mentioned third embodiment. As such a structure, there is a structure in which the locking device 100 has a plurality of locking pins 101. For example, the locking device 100 may also have three or more locking pins 101 for one propeller 20.

[0182] In each of the above-mentioned embodiments, the propulsion device 15 may have an electrical locking mechanism for electrically locking the propeller 20 in addition to the locking device 100 for mechanically locking the propeller 20. As the electrical locking mechanism, there is a structure in which only a specific phase among a plurality of phases of the motor 61 is continuously energized. The electrical locking mechanism may also continuously change the locking angle of the propeller 20. For example, in the case where it is desired to lock the propeller 20 at a locking angle that cannot be achieved by the locking device 100, the propeller 20 may also be locked by the electrical locking mechanism.

[0183] In each of the above-mentioned embodiments, the locking angle of the propeller 20 may also be changed according to the flight state, the weather state, etc. As the weather state, there are the direction and strength of the wind, etc. For example, when the locking angle appropriate for the flight state or the weather state is a locking angle that cannot be achieved by the locking device 100, the motor control unit 82 may also lock the propeller 20 by the electrical locking mechanism. For example, at the locking angle that can be achieved by the locking device 100, it is preferred that the propeller 20 be locked by the electrical locking mechanism when the resistance of the propeller 20 to the flight of the eVTOL 10 becomes large.

[0184] In the eVTOL 10, in addition to the locking angle of the propeller 20, the pitch angle of the propeller 20 and the pitch of the propeller 20 can also be changed according to the flight state, the weather state, etc. For example, in a structure provided with a pitch controller, the driving of the pitch controller is controlled according to the flight state or the weather state. The pitch controller can change the pitch of the propeller 20 by changing the angle of the blade. For example, when the eVTOL 10 is descending or turning, when the crosswind relative to the eVTOL 10 is strong, at least one of the locking angle, pitch angle and pitch of the propeller 20 can also be adjusted. In this case, the eVTOL 10 can fly in a desired manner with the resistance of the propeller 20 as little as possible.

[0185] In each of the above-mentioned embodiments, the judgment of whether the locking pin 101 has moved to the locking position P11 may also be performed by first performing either the forward rotation or the reverse rotation of the propeller 20. That is, after determining whether the propeller 20 is locked for one of the forward rotation and the reverse rotation of the propeller 20, the judgment of whether the propeller 20 is locked for the other may be performed. For example, after determining whether the propeller 20 is locked for the reverse rotation of the propeller 20, the judgment of whether the propeller 20 is locked for the forward rotation of the propeller 20 may be performed. Specifically, for the reverse rotation of the propeller 20, when the locking pin 101 has not moved to the locking position P11, the motor control unit 82 may also cause the propeller 20 to perform the forward rotation.

[0186] In the above embodiments, the rotation sensor 52 may detect any rotation as long as the propulsion control device such as the motor control unit 82 can obtain the number of propeller rotations. For example, the rotation sensor 52 may directly detect the rotation of the propeller 20 or the rotation of the motor shaft 65 .

[0187] In each of the above-mentioned embodiments, as long as the energizing drive unit can perform at least one of locking and unlocking the propeller 20 by energizing the energizing unit, it may not be the solenoid 110 or the like. For example, the energizing drive unit may also be an electric motor or the like. In a structure in which the energizing drive unit is an electric motor, the motor coil of the electric motor is equivalent to the energizing unit, and the motor shaft of the electric motor is equivalent to the energizing permission unit and the energizing restriction unit.

[0188] In each of the above-mentioned embodiments, as long as the mechanical restriction portion and the mechanical permission portion can perform at least one of locking and unlocking the propeller 20 by mechanical energy, there is no need to have elastic components such as springs. For example, the mechanical restriction portion and the mechanical permission portion may also have a hydraulic device or the like. For example, in the above-mentioned first embodiment, in a structure in which the pressing unit 120 as the mechanical restriction portion has a hydraulic device, the pressing unit 120 can move the locking pin 101 to the locking position P11 by hydraulic pressure.

[0189] In the above-mentioned embodiments, one energizing section may be connected to one energizing path or to a plurality of energizing paths. For example, in the above-mentioned first embodiment, only one of the first parallel path 130 a and the second parallel path 130 b may be connected to one solenoid coil 111 .

[0190] In the above-mentioned embodiments, one energizing drive unit may include one energizing unit or a plurality of energizing units. For example, in the above-mentioned second embodiment, one solenoid 210 may include only one of the first solenoid coil 211A and the second solenoid coil 211B.

[0191] In the above-mentioned embodiments, the locking device 100 may also be controlled by the flight control device 40. For example, at least one of the flight control device 40 and the motor control unit 82 may also perform a propulsion control process. In this structure, at least one of the flight control device 40 and the motor control unit 82 is equivalent to a propulsion control device.

[0192] In each of the above-mentioned embodiments, in the eVTOL 10, the method of locking the propeller 20 may be the same or different in the plurality of propulsion devices 15. For example, in the eVTOL 10, the plurality of propulsion devices 15 may include a propulsion device 15 having any one of the locking devices 100, 200, 300A, and 300B of the first to third embodiments.

[0193] In each of the above-mentioned embodiments, the propulsion device 15 may include at least one propeller 20 and at least one EPU 50. For example, in the propulsion device 15, one propeller 20 may be driven by at least one EPU 50. In addition, one EPU 50 may drive a plurality of propellers 20. In addition, an EPU 50 that does not include a propeller 20 is sometimes referred to as a propulsion device 15.

[0194] In each of the above-mentioned embodiments, the eVTOL 10 may not be a tilt-rotor aircraft. That is, in the eVTOL 10, the propeller 20 may not be tilted. For example, in the eVTOL 10, the plurality of propellers 20 may include a propeller 20 for lifting and a propeller 20 for cruising. In the eVTOL 10, for example, the propeller 20 for lifting is driven when ascending, and the propeller 20 for cruising is driven when moving forward.

[0195] In the above-mentioned embodiments, the flying object equipped with the propulsion device 15 may not be a vertical take-off and landing machine. For example, the flying object may be a rotary wing aircraft or a fixed wing aircraft. In addition, the flying object may also be an unmanned aerial vehicle without a person on board.

[0196] In each of the above embodiments, the flight control device 40 is provided by a control system including at least one computer. The control system includes at least one processor as hardware. If the above processor is referred to as a hardware processor, the hardware processor can be provided by the following (i), (ii) or (iii).

[0197] (i) A hardware processor is sometimes a hardware logic circuit. In this case, the computer is provided by a digital circuit including a plurality of programmed logic units. The logic units are, for example, gate circuits. The digital circuit sometimes includes a memory for storing at least one of a program and data. The computer is sometimes provided by an analog circuit. The computer is sometimes provided by a combination of digital circuits and analog circuits.

[0198] (ii) Hardware processors are sometimes at least one processor core that executes programs stored in at least one memory. In this case, a computer is provided by at least one memory and at least one processor core. A processor core is, for example, called a CPU. A memory is also called a storage medium. A memory is a non-temporary and physical storage medium that non-temporarily stores "at least one of a program and data" that can be read by a processor.

[0199] (iii) A hardware processor may be a combination of (i) and (ii) above. (i) and (ii) may be configured on different chips or on a shared chip.

[0200] That is, at least one of the means and functions provided by the flight control device 40 can be provided by hardware only, software only, or a combination thereof.

[0201] Disclosure of technical ideas This specification discloses multiple technical ideas recorded in the multiple items listed below. Some items are sometimes recorded by selectively citing multiple dependent forms of previous items in subsequent items. In addition, some items are sometimes recorded by citing multiple dependent forms of items of other multiple dependent forms (a multipledependent form referring to another multiple dependent form). These items recorded in multiple dependent forms define multiple technical ideas.

[0202] Technical Thought 1 A propulsion device (15) is used to rotate a rotary wing (20) by means of an electric motor (61) in order to propel a flying object (10). The propulsion device comprises: a limiting member (101, 201, 301A, 301B) movable to a limiting position (P11, P21, P31A, P31B) where the limiting member is hooked on a receiving portion (55, 55A, 55B) that rotates together with the rotating wing and thereby limits the rotation of the rotating wing, and a allowing position (P11, P21, P31A, P31B) where the limiting member is not hooked on the receiving portion and thereby allows the rotation of the rotating wing; and The energized driving unit (110, 210, 310A, 310B) has an energized energized portion (111, 211A, 211B, 311A, 311B), and drives the limiting member to move from one of the limiting position and the allowing position to the other by energizing the energized portion.

[0203] Technical Thought 2 The propulsion device as described in technical concept 1, wherein: A mechanical limiting portion (120) is provided, which holds the limiting member at the limiting position by mechanical energy when no power is supplied to the power supply portion.

[0204] Technical Thought 3 A propulsion device as described in technical idea 2, wherein: The power-on drive unit includes a power-on permission unit (112), and when power is supplied to the power-on permission unit, the mechanical restriction unit overcomes the mechanical restriction force (F12) that holds the restriction member at the restriction position and moves the restriction member from the restriction position to the permission position. A plurality of current-carrying paths (130a, 130b) for energizing the current-carrying permission portion to move the current-carrying permission portion to the permission position are connected to the current-carrying portion.

[0205] Technical Thought 4 A propulsion device as described in technical concept 3, wherein: The energization allowing portion holds the restriction member at the allowing position by continuing to energize the energization portion.

[0206] Technical Thought 5 A propulsion device as described in any one of technical ideas 1 to 4, wherein: The energizing drive unit includes a energizing limiting unit (212) which maintains the limiting member at the limiting position by continuing to energize the energizing unit.

[0207] Technical Thought 6 A propulsion device as described in technical idea 5, wherein: The invention comprises a mechanical allowing part (220) which, when the power supply part is not energized, maintains the limiting member at the allowing position by mechanical energy. The energizing driving unit includes a plurality of energizing units. As the current limiting section supplies current to the plurality of current-carrying parts, the mechanical allowing section overcomes the mechanical allowing force (F22) that holds the limiting member at the allowing position and moves the limiting member from the allowing position to the limiting position.

[0208] Technical Thought 7 A propulsion device as described in technical idea 6, wherein: In a state where the one energizing portion is energized, a single restricting force (F21A, F21B) of the energizing restricting portion for moving the restricting member from the allowing position to the restricting position is smaller than the mechanical allowing force.

[0209] Technical Thought 8 A propulsion device as described in any one of technical ideas 1 to 7, wherein: The restricting member includes a release promoting portion (103a, 104) for promoting the release of a state in which the hook portion is hooked on the receiving portion.

[0210] Technical Thought 9 The propulsion device as described in any one of technical ideas 1 to 8, wherein the propulsion device comprises: a first limiting member (310A) as the above-mentioned limiting member; and a second limiting member (310B) as the limiting member, the second limiting member limiting the rotation of the rotary wing at a position different from that of the first limiting member in the rotation direction (CD) of the rotary wing, The above-mentioned energizing driving unit has: a first conducting portion (311A) as the conducting portion, the first conducting portion being energized in order to move the first restricting member from one of the restricting position and the allowing position to the other; and The second conducting portion (311B) as the conducting portion is energized to move the second restricting member from one of the restricting position and the allowing position to the other.

[0211] Technical Thought 10 The propulsion device as described in any one of technical ideas 1 to 9, wherein the propulsion device comprises: a restriction execution unit (S203) for executing restriction processing for moving the restriction member to the restriction position by controlling energization of the energizing unit; and A permission executing unit (S301) executes a permission process for moving the restriction member to the permission position by controlling energization of the energizing unit.

[0212] Technical Thought 11 A propulsion device as described in technical idea 10, wherein: The restriction execution unit performs the restriction process when the number of rotations of the rotor blade is smaller than a threshold value.

[0213] Technical Thought 12 A propulsion device as described in technical idea 10 or 11, wherein: A rotation determination unit (S206) is provided for determining whether the rotor is rotating when the restriction execution unit has performed the restriction processing.

[0214] Technical Thought 13 The propulsion device as described in any one of technical ideas 1 to 12, wherein the propulsion device comprises: a judgment unit (S403) for judging whether the limiting member has moved to the limiting position for one of the forward rotation and the reverse rotation of the rotary wing; and The other rotating unit (S405) causes the rotor blade to perform the other of a forward rotation and a reverse rotation when the one determining unit determines that the limiting member has not moved to the limiting position.

[0215] Technical Thought 14 A propulsion device as described in technical idea 13, wherein: The method further comprises another determining unit (S407) for determining whether the limiting member has moved from the allowing position to the limiting position in response to the rotation of the rotary blade by the other rotating unit.

[0216] Technical Thought 15 A propulsion control device (82) controls the rotation of a rotary wing (20) via an electric motor (61) in order to propel a flying object (10), the propulsion control device comprising: a restriction execution unit (S203) for performing restriction processing by controlling the energization of the energizing unit (111, 211A, 211B, 311A, 311B), wherein the restriction processing is for moving the restriction member (101, 201, 301A, 301B) to a restriction position (P11, P21, P31A, P31B) for restricting the rotation of the rotary wing by hooking on a receiving portion (55, 55A, 55B) that rotates together with the rotary wing; and The permission execution unit (S301) performs permission processing by controlling the power supply of the power supply unit, and the permission processing is used to move the limiting member to the permission position (P12, P22, P32A, P32B) that allows the rotation of the rotating wing without being hooked on the supporting part.

[0217] Technical Thought 16 A propulsion control program controls the rotation of a rotary wing (20) via an electric motor (61) in order to propel an aircraft (10). The propulsion control program causes at least one processor (82a) to function as a restriction execution unit (S203) and a permission execution unit (S301). The restriction execution unit performs restriction processing by controlling the energization of the energizing unit (111, 211A, 211B, 311A, 311B), and the restriction processing is used to move the restriction member (101, 201, 301A, 301B) to a restriction position (P11, P21, P31A, P31B) that restricts the rotation of the rotary wing by hooking on a receiving part (55, 55A, 55B) that rotates together with the rotary wing, The permission execution unit performs a permission process by controlling the energization of the energizing unit, and the permission process is for moving the restriction member to a permission position (P12, P22, P32A, P32B) where the restriction member is not hooked on the receiving portion and the rotation of the rotary blade is permitted.

Claims

1. A propulsion device, wherein the propulsion device (15) rotates a rotary wing (20) by means of an electric motor (61) in order to propel a flying object (10), the propulsion device comprising: a limiting member (101, 201, 301A, 301B) movable to a limiting position (P11, P21, P31A, P31B) where the rotation of the rotary wing is limited by being hooked on a receiving portion (55, 55A, 55B) that rotates together with the rotary wing, and a allowing position (P11, P21, P31A, P31B) where the rotation of the rotary wing is allowed without being hooked on the receiving portion; and An energized drive unit (110, 210, 310A, 310B) includes an energized portion (111, 211A, 211B, 311A, 311B) that drives the limiting member to move from one of the limiting position and the allowing position to the other by energizing the energized portion.

2. The propulsion device according to claim 1, characterized in that A mechanical restriction portion (120) is provided for holding the restriction member at the restriction position by mechanical energy when no current is supplied to the energizing portion.

3. The propulsion device according to claim 2, characterized in that: The energizing drive unit includes an energizing permission unit (112), wherein as the energizing unit is energized, the mechanical limiting unit overcomes the mechanical limiting force (F12) that holds the limiting member at the limiting position and moves the limiting member from the limiting position to the allowing position. A plurality of current-carrying paths (130a, 130b) for energizing the current-carrying permission portion to move to the permission position are connected to the current-carrying portion.

4. The propulsion device according to claim 3, characterized in that: The energization allowing portion holds the restricting member at the allowing position by continuing to energize the energization portion.

5. The propulsion device according to any one of claims 1 to 4, characterized in that The energizing drive unit includes a energizing limiting unit (212) for maintaining the limiting member at the limiting position by continuing to energize the energizing unit.

6. The propulsion device according to claim 5, characterized in that A mechanical allowing portion (220) is provided for holding the limiting member at the allowing position by mechanical energy when no power is supplied to the power supply portion. The energizing driving unit includes a plurality of energizing units. The energization restricting section causes the mechanical allowing section to overcome the mechanical allowing force (F22) that holds the restricting member at the allowing position and move the restricting member from the allowing position to the restricting position as energization is applied to the plurality of energizing sections.

7. The propulsion device according to claim 6, characterized in that In a state where the one energizing portion is energized, a single restricting force (F21A, F21B) of the energizing restricting portion for moving the restricting member from the allowing position to the restricting position is smaller than the mechanical allowing force.

8. The propulsion device according to any one of claims 1 to 4, characterized in that The restricting member includes a release promoting portion (103a, 104) for promoting the release of a state in which the hook portion is hooked on the receiving portion.

9. The propulsion device according to any one of claims 1 to 4, characterized in that: The propulsion device comprises: a first limiting member (310A) as the limiting member; and a second limiting member (310B) as the limiting member, the second limiting member limiting the rotation of the rotary wing at a position different from that of the first limiting member in the rotation direction (CD) of the rotary wing, The energizing driving unit comprises: a first conducting portion (311A) as the conducting portion, the first conducting portion being energized in order to move the first restricting member from one of the restricting position and the allowing position to the other; and A second conducting portion (311B) as the conducting portion is energized to move the second restricting member from one of the restricting position and the allowing position to the other.

10. The propulsion device according to any one of claims 1 to 4, characterized in that a restriction execution unit (S203) for executing restriction processing for moving the restriction member to the restriction position by controlling energization of the energizing unit; as well as A permission executing unit (S301) executes a permission process for moving the restriction member to the permission position by controlling energization of the energizing unit.

11. The propulsion device according to claim 10, characterized in that The restriction execution unit performs the restriction process when the number of rotations of the rotor blade is smaller than a threshold value.

12. The propulsion device according to claim 10, characterized in that A rotation determination unit (S206) is provided for determining whether the rotor is rotating when the restriction execution unit has performed the restriction processing.

13. The propulsion device according to any one of claims 1 to 4, characterized in that a judgment unit (S403) for judging whether the limiting member has moved to the limiting position for one of the forward rotation and the reverse rotation of the rotary wing; as well as The other rotating unit (S405) causes the rotor to perform the other of a forward rotation and a reverse rotation when the one determining unit determines that the limiting member has not moved to the limiting position.

14. The propulsion device according to claim 13, characterized in that The method further comprises a second determining unit (S407) for determining whether the restriction member has moved from the permission position to the restriction position in response to the rotation of the rotary blade by the second rotating unit.

15. A propulsion control device, the propulsion control device (82) controlling the rotation of a rotary wing (20) via an electric motor (61) in order to propel an aircraft (10), the propulsion control device comprising: a restriction execution unit (S203) for performing restriction processing by controlling the energization of the energizing unit (111, 211A, 211B, 311A, 311B), the restriction processing being used to move the restriction member (101, 201, 301A, 301B) to a restriction position (P11, P21, P31A, P31B) for restricting the rotation of the rotary wing by hooking on a receiving portion (55, 55A, 55B) that rotates together with the rotary wing; and A permission execution unit (S301) performs permission processing by controlling the energization of the energization unit, wherein the permission processing is used to move the limiting member to a permission position (P12, P22, P32A, P32B) where the rotation of the rotary wing is allowed without being hooked on the receiving part.

16. A propulsion control program for controlling the rotation of a rotary wing (20) via an electric motor (61) in order to propel an aircraft (10), The advancement control program causes at least one processor (82a) to function as a restriction execution unit (S203) and a permission execution unit (S301), The restriction execution unit performs restriction processing by controlling the energization of the energizing unit (111, 211A, 211B, 311A, 311B), wherein the restriction processing is used to move the restriction member (101, 201, 301A, 301B) to a restriction position (P11, P21, P31A, P31B) where the restriction member (101, 201, 301A, 301B) is hooked on a receiving portion (55, 55A, 55B) that rotates together with the rotary wing to restrict the rotation of the rotary wing, The permission execution unit performs a permission process by controlling the energization of the energizing unit, the permission process for moving the restricting member to a permission position (P12, P22, P32A, P32B) where the restricting member is not hooked on the receiving portion and the rotation of the rotary blade is permitted.

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