Aircraft and aircraft system

Abstract

The invention provides an aircraft and an aircraft system. The aircraft comprises a driving part, a battery, a main body part, a leg part and an annular power receiving coil. The drive unit rotates the rotating blade about the rotating shaft. The battery supplies power to the drive unit and is chargeable and dischargeable. The main body part accommodates a battery. The leg part supports the main body part during landing. The power receiving coil is electrically connected with the battery. The leg portion has a landing portion that comes into contact with the landing surface during landing. During landing, the central axis of the power receiving coil extends parallel to the normal direction of the landing surface. The power receiving coil is disposed on the landing part.

Description

Technical Field

[0001] The present invention relates to an aircraft and an aircraft system. Background Art

[0002] In the past, there is a known aircraft that can take off / land, fly, and hover by driving rotating blades with electricity. For example, a multi-rotor helicopter floats using electricity supplied from a ground station through a power supply cable (see Japanese Patent Publication No. 2016-210229).

[0003] However, if power is supplied by wire as in Japanese Patent Publication No. 2016-210229, the multi-rotor helicopter can only fly within the length of the power supply cable, and the range of movement is limited. In contrast, if a battery is installed in the multi-rotor helicopter, power can be supplied from a ground station without wire, thereby expanding the range of movement of the multi-rotor helicopter.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2016-210229 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, the battery needs to be charged or replaced as the storage capacity decreases. In addition, if the battery is charged or replaced manually, it is very laborious, so automation is desired. However, in the case of automatically charging the battery through a wired connection with an external power source, the device for wired connection and charging tends to be complicated and large. Similarly, in the case of automatic battery replacement, the device for replacing the battery tends to be complicated and large.

[0009] An object of the present invention is to automate the charging of a battery mounted on an aircraft with a simple structure.

[0010] Solutions to Solve Problems

[0011] An exemplary aircraft of the present invention comprises a driving unit, a battery, a main body, a leg, and a ring-shaped power receiving coil. The driving unit rotates the rotating blades around a rotating shaft. The battery supplies power to the driving unit and is capable of charging and discharging. The main body accommodates the battery. The leg supports the main body during landing. The power receiving coil is electrically connected to the battery. The leg has a landing portion that contacts a landing surface during landing. During landing, the central axis of the power receiving coil extends parallel to the normal direction of the landing surface. The power receiving coil is arranged on the landing portion.

[0012] An exemplary aircraft system of the present invention includes the aircraft and a power transmission device. The power transmission device includes a power transmission coil. The power transmission coil can transmit power to the power receiving coil of the aircraft in a non-contact manner.

[0013] Effects of the Invention

[0014] According to the exemplary aircraft and aircraft system of the present invention, it is possible to automate the charging of a battery mounted on the aircraft with a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic perspective view showing a configuration example of an aircraft system according to an embodiment.

[0016] Figure 2 It is a block diagram showing a structural example of an aircraft system.

[0017] In the figure:

[0018] 500—aircraft system, 100—aircraft, 200—power transmission device, 201—power transmission coil, 202—control unit, 2021—power transmission power supply unit, 2022—power transmission communication unit, 2023—power transmission control unit, 300—power supply, 1—main body, 21—cargo compartment, 22—door, 3—arm, 4—driving unit, 41—motor, 42—rotating blades, 43—motor control unit, 5—battery, 6—control unit, 61—power receiving control unit, 62—power receiving communication unit, 63—battery control unit, 7—leg, 71—connecting unit, 72—landing unit, 721—protrusion, 8—power receiving coil, Sw—switch circuit, Jc—center axis, Jr—rotation axis, T—conveyed object, fh—landing surface, Z—up and down directions, Zu—above, Zd—below. DETAILED DESCRIPTION

[0019] Hereinafter, exemplary embodiments will be described with reference to the accompanying drawings.

[0020] In addition, in this specification, the direction Z appropriately shown in each figure is referred to as the "upper and lower directions". In addition, the upper side of the paper in the upper and lower directions Z is referred to as the "upper Zu", and the lower side of the paper is referred to as the "lower Zd". In a state where the aircraft 100 lands on a landing surface fh parallel to the horizontal plane, the upper and lower directions Z are parallel to the vertical direction, the upper Zu is the vertical upper direction, and the lower Zd is the vertical lower direction. In addition, in each figure, the direction around a predetermined axis parallel to the upper and lower directions Z, such as the central axis Jc and the rotation axis Jr, is referred to as the "circumferential direction".

[0021] In addition, in the positional relationship between any one of the orientations, lines and planes and any other one, "parallel" includes not only a state where the two do not intersect at all no matter where they extend, but also a state where they are substantially parallel. In addition, "perpendicular" and "orthogonal" include not only a state where the two intersect each other at 90 degrees, but also a state where they are substantially perpendicular and a state where they are substantially orthogonal. That is, "parallel", "perpendicular" and "orthogonal" include a state where the positional relationship between the two has an angular deviation to a degree that does not deviate from the main purpose of the present invention.

[0022] In addition, these names are used only for explanation and are not intended to limit actual positional relationships, directions, names, etc.

[0023] <1. Implementation Method>

[0024] Figure 1 It is a schematic perspective view showing a configuration example of an aircraft system 500 according to the embodiment. Figure 2 is a block diagram showing an example of the structure of the aircraft system 500. Figure 1 and Figure 2 As shown, the aircraft system 500 includes an aircraft 100 and a power transmission device 200. The power transmission device 200 includes a power transmission coil 201 capable of transmitting power to a power receiving coil 8 (described later) of the aircraft 100 in a non-contact manner. In addition, power is supplied to the power transmission device 200 from an external power supply 300. The power supply 300 may be a DC power supply or an AC power supply supplied from a commercial power grid or the like. As described later, according to the aircraft system 500, the charging of a battery 5 (described later) mounted on the aircraft 100 can be automated with a simple structure. In addition, the power receiving efficiency of the aircraft 100 based on the non-contact power transmission can be improved.

[0025] <1-1. Power Transmission Device 200 >

[0026] In this embodiment, the power transmission device 200 is arranged on a horizontal ground or floor surface, but can also be arranged on the upper surface of a predetermined object. The power transmission device 200 is provided with a landing surface fh for the aircraft 100 to take off / land. In this embodiment, the landing surface fh is parallel to the horizontal plane, and the upper surface of the power transmission device 200 is the landing surface fh.

[0027] like Figure 1 As shown, the power transmission coil 201 is annular centered on an axis (not shown) parallel to the vertical direction Z, and in this embodiment is a circular ring shape. However, this example is not limited to this example, and the annular power transmission coil 201 may also be, for example, an elliptical shape or an n-sided shape (n is a plurality of three or more) when viewed from the vertical direction Z.

[0028] The power transmission coil 201 is arranged away from the landing surface fh of the power transmission device 200 toward the downward direction Zd. In this embodiment, the power transmission coil 201 is built into the body of the power transmission device 200. However, the present invention is not limited to this example, and at least a part of the power transmission coil 201 may be exposed from the body of the power transmission device 200.

[0029] like Figure 2 As shown, the power transmission device 200 further includes a control unit 202. The control unit 202 controls the components of the power transmission device 200. The control unit 202 includes a power transmission power supply unit 2021, a power transmission communication unit 2022, and a power transmission control unit 2023. The power transmission power supply unit 2021 outputs the power supplied from the power supply 300 to the power transmission coil 201 based on the control of the power transmission control unit 2023. The power transmission communication unit 2022 includes, for example, an infrared sensor, etc., and receives a communication signal such as infrared light output from a power receiving communication unit 62 described later and arranged in the aircraft 100. In addition, the power receiving communication unit 62 of the aircraft 100 can also receive the communication signal output from the power transmission communication unit 2022. The power transmission control unit 2023 controls the non-contact power transmission from the power transmission coil 201 to the aircraft 100 based on the communication signal sent / received between the power transmission communication unit 2022 and the power receiving communication unit 62.

[0030] <1-2. Aircraft 100>

[0031] Next, refer to Figure 1 and Figure 2 , a configuration example of the aircraft 100 will be described. The aircraft 100 can take off and land while holding the object T to be transported, and can fly.

[0032] The aircraft 100 includes a main body 1, a cargo hold 21, a door 22, an arm 3, a drive unit 4, a battery 5, a control unit 6, a leg 7, and a power receiving coil 8. In the following description, unless otherwise specified, the relative positional relationship of each component of the aircraft 100 is based on the state in which the aircraft 100 lands on the horizontal landing surface fh.

[0033] <1-2-1. Main body 1>

[0034] The main body 1 is the main body of the aircraft 100, and houses the control unit 6 and the battery 5. As described above, the aircraft 100 includes the main body 1. A space for holding the transported object T is secured at a position Zd below the main body 1. Preferably, the space for holding the transported object T is disposed at a position Zu above the lower end of the landing portion 72 of the leg 7 to be described later. In this way, when the aircraft 10 lands, the transported object T can be prevented from contacting the landing surface fh. Therefore, even when the transported object T is held, the aircraft 100 can land on the landing surface fh in a safe and stable state.

[0035] <1-2-2. Cargo Hold Section 21 and Door Section 22>

[0036] For example, a cargo hold portion 21 is disposed on the lower Zd side of the main body portion 1. As described above, the aircraft 100 includes the cargo hold portion 21. The cargo hold portion 21 can accommodate the transported objects T. In the present embodiment, the internal space of the cargo hold portion 21 is the above-mentioned space for holding the transported objects T. The cargo hold portion 21 is preferably disposed at Zu above the landing portion 72 of the leg portion 7, and more preferably at Zu above the lower end of the landing portion 72. In this way, when the aircraft 100 lands, the cargo hold portion 21 will not contact the landing surface fh. Therefore, the aircraft 100 can land on the landing surface fh in a safe and stable state.

[0037] In addition, a door portion 22 that can be opened and closed is arranged on the lower surface of the cargo hold portion 21. As described above, the aircraft 100 is provided with the door portion 22. The transported object T can pass through the door portion 22 in an open state. Preferably, the door portion 22 is located above Zu than the lower end of the landing portion 72 regardless of the open or closed state. For example, even if the door portion 22 is in an open state, it is arranged above Zu than the lower end of the landing portion 72 of the leg portion 7. In this way, the aircraft 100 can open the door portion 22 in the landed state and unload the transported object T by gravity. Therefore, when unloading the transported object T, damage to the transported object T can be reduced or prevented. On the other hand, in a structure in which at least the lower portion of the door portion 22 in the open state is located below Zd than the lower end of the landing portion 72, it is necessary to open the door portion 22 in a state separated from the landing surface fh of the destination toward the upper Zu (i.e., in a hovering state) to allow the transported object T to fall. Therefore, there is a possibility that the transported object T may fall and be damaged. However, this example does not exclude a configuration in which at least a portion of the door 22 is located at the same height as the lower end of the landing portion 72 or is located below the landing portion 72 .

[0038] In addition, the door portion 22 can be a single door or a double door. The door portion 22 can be a hinged door type, a sliding door type, or a folding door type. In particular, in the sliding door type, the door portion 22 can be opened and closed by sliding in a direction intersecting the up-down direction Z. In this way, compared to, for example, a hinged door type that opens outward, even if the door portion 22 is brought close to the landing portion 72 in the up-down direction Z, the door portion 22 in the opened state will not contact the landing surface fh. Therefore, the aircraft 100 can unload the transported object T in the landed state. Therefore, the aircraft 100 can be miniaturized, and in particular, the size in the up-down direction Z can be reduced.

[0039] In addition, the above example does not exclude the structure that the aircraft 100 does not have the cargo hold 21 and the door 22. For example, the space for holding the transported object T may also be an open space on the lower Zd side of the main body 1. In this case, a mechanism for stably holding the transported object T by a method such as gripping is arranged at the lower part of the main body 1.

[0040] <1-2-3. Arm 3>

[0041] The arms 3 extend from the outer side of the main body 1 in a direction intersecting the up-down direction Z (for example, a direction parallel to the horizontal plane), and a plurality of arms 3 are arranged along the outer side of the main body 1. Each arm 3 connects the drive unit 4 to the main body 1. For example, the drive unit 4 is arranged at the front end of each arm 3 extending from the main body 1. In addition, in the present embodiment, the number of arms 3 and the number of drive units 4 are four, but they are not limited to this example, and may be a plurality other than four.

[0042] <1-2-4. Driving unit 4>

[0043] The driving unit 4 rotates the rotating blades 42 around the rotation axis Jr. As described above, the aircraft 100 includes the driving unit 4. Each driving unit 4 has a motor 41 and a rotating blade 42. The motor 41 is built into a motor housing (symbol omitted) connected to the front end of the arm 3. The rotating blade 42 is fixed to the shaft (symbol omitted) of the motor 41 extending along the rotation axis Jr parallel to the up-down direction Z, and can rotate around the rotation axis Jr. The motor 41 rotates the rotating blade 42 around the rotation axis Jr by rotating the shaft. By rotating the rotating blade 42, the aircraft 100 obtains buoyancy from the driving unit 4 and obtains a propulsion force in a direction orthogonal to the up-down direction Z. In addition, the rotation axis Jr is not limited to the above example, and may extend in a direction other than the up-down direction Z. For example, the rotation axis Jr may also extend in a direction obliquely intersecting or orthogonal to the up-down direction Z. In addition, the rotation axes Jr of each rotating blade 42 may also extend in different directions.

[0044] In addition, if Figure 2 As shown, each drive unit 4 further includes a motor control unit 43. The motor control unit 43 outputs the power supplied from the battery 5 to the motor 41 based on the information output from the control unit 6.

[0045] <1-2-5. Battery 5>

[0046] The battery 5 is a charging and discharging device disposed in the main body 1, and in the present embodiment, the battery 5 is a lithium-ion battery. However, this example is not limited thereto, and the battery 5 may also be a secondary battery other than a lithium-ion battery. As described above, the aircraft 100 is provided with a battery 5. The battery 5 capable of charging and discharging is electrically connected to the drive unit 4, and supplies power to the drive unit 4 (particularly the motor 41). In addition, in the present embodiment, the aircraft 100 has a single battery 5. However, this example is not limited thereto, and the aircraft 100 may also have a plurality of batteries 5. Furthermore, a separate battery 5 may also be configured for each drive unit 4.

[0047] <1-2-6. Control unit 6>

[0048] The control unit 6 controls various components of the aircraft 100, such as the driving unit 4 and the battery 5. As described above, the aircraft 100 includes the control unit 6. In addition, the control unit 6 controls the opening and closing of the door portion 22. In detail, the control unit 6 opens the door portion 22 when the transported object T is loaded into the cargo hold portion 21 and stored, closes the door portion 22 when the transported object T is held in the cargo hold portion 21, and opens the door portion 22 when the transported object T is unloaded from the cargo hold portion 21. When the door portion 22 is closed, the transported object T can be stored and held inside the cargo hold portion 21. On the other hand, when the door portion 22 is open, the transported object T can be loaded into and unloaded from the cargo hold portion 21. Therefore, for example, the aircraft 100 can fly with the object T held in the cargo hold 21 by closing the door 22 through the control unit 6 , and when arriving at the destination, the object T can be unloaded from the cargo hold 21 by opening the door 22 through the control unit 6 .

[0049] In addition, if Figure 2 As shown, the control unit 6 includes a power receiving control unit 61, a power receiving communication unit 62, and a battery control unit 63. The power receiving control unit 61 controls power supply by contactless power supply. The power receiving communication unit 62 communicates with the power transmitting communication unit 2022. The battery control unit 63 controls the battery 5.

[0050] The power receiving communication unit 62 can communicate with the power transmitting communication unit 2022 all the time or at predetermined intervals. The power receiving communication unit 62 has a light source that emits infrared light for communication, and emits infrared light. In addition, the power receiving communication unit 62 has a light receiving sensor that receives the infrared light emitted by the power transmitting communication unit 2022. For example, the power receiving communication unit 62 sends a signal of a power supply start request and a signal of a power supply stop request to the power transmitting device 200 based on the control of the power receiving control unit 61. The power transmitting device 200 controls the power supply to the power transmitting coil 201 based on the reception of these signals.

[0051] In addition, the power receiving communication unit 62 may also receive power receiving state information indicating the power receiving state of the power receiving coil 8 from the power transmitting communication unit 2022. In addition, the power transmitting communication unit 2022 and the power receiving communication unit 62 are not limited to the method using infrared light, and other wireless communication methods may also be used. The aircraft 100 performs hovering, horizontal movement, rotational movement, etc. based on the power receiving state information received by the power receiving communication unit 62. That is, the motor control unit 43 controls the motor 41 based on the power receiving state information indicating the power receiving state of the power receiving coil 8, thereby moving the aircraft 100.

[0052] The battery control unit 63 outputs the electric power supplied from the power receiving coil 8 to the battery 5 based on the control of the power receiving control unit 61. In addition, the battery control unit 63 controls the start and stop of charging of the battery 5.

[0053] In addition, if Figure 2 As shown by the single-dot chain line, at least a part of the power supplied from the power receiving coil 8 may be directly output to the drive unit 4. In this case, the control unit 6 determines whether the power is supplied from the battery 5 to the drive unit 4 or from the power receiving coil 8 to the drive unit 4, and performs control. For example, the control unit 6 may output a part of the power supplied from the power receiving coil 8 to the drive unit 4 and the remaining part to the battery 5 when the drive unit 4 is driven in a state where non-contact power supply is possible. In addition, the control unit 6 may output the power supplied from the power receiving coil 8 to the drive unit 4 when the charging rate of the battery 5 is above a predetermined threshold value in a state where non-contact power supply is possible.

[0054] <1-2-7. Leg 7>

[0055] The leg 7 is disposed on the lower side Zd of the main body 1 and connected to the main body 1. The leg 7 supports the main body 1 when the aircraft 100 lands. As described above, the aircraft 100 includes the leg 7. The leg 7 includes a connecting portion 71 and a landing portion 72.

[0056] The connection part 71 extends at least downward Zd from the lower part of the main body 1 and is connected to the landing part 72. The number of the connection parts 71 is preferably plural, more preferably three or more. However, this example does not exclude a single connection part 71.

[0057] The landing portion 72 contacts the landing surface fh when the aircraft 100 lands. As described above, the leg 7 has the landing portion 72. The landing portion 72 is annular with the central axis Jc parallel to the vertical direction Z as the center, and is annular in the present embodiment. However, this example is not limited thereto, and the annular landing portion 72 may also be, for example, an elliptical shape or an n-sided shape (n is a plurality of three or more) when viewed from the vertical direction Z.

[0058] In the present embodiment, the landing portion 72 holds the power receiving coil 8. Preferably, the landing portion 72 is annular along the power receiving coil 8 when viewed from the up-down direction Z, and surrounds the cargo hold 21. In this way, the transported object T can be easily loaded and unloaded from the cargo hold 21. In particular, the transported object T can be unloaded from the cargo hold 21 without hitting the landing portion 72.

[0059] The lower surface of the landing portion 72 is provided with three or more protrusions 721 protruding downward Zd. That is, the landing portion 72 has three or more protrusions 721. The three or more protrusions 721 are arranged in a circumferential direction around the central axis Jc. In this way, when the aircraft 100 lands, the three or more protrusions 721 contact the landing surface fh, so that the aircraft 100 can be placed on the landing surface fh in a stable state.

[0060] <1-2-8. Power receiving coil 8>

[0061] The power receiving coil 8 is a coil for contactless power supply. As described above, the aircraft 100 is provided with the power receiving coil 8. The power receiving coil 8 is electrically connected to the battery 5. The power receiving coil 8 is annular centered on the central axis Jc parallel to the vertical direction Z. When the aircraft 100 lands, the central axis Jc of the power receiving coil 8 extends parallel to the normal direction of the landing surface fh.

[0062] Thus, the central axis Jc of the power receiving coil 8 is parallel to the central axis of the power transmission coil 201 built in, for example, just below the landing surface fh. Therefore, the magnetic field or electric field formed by the power transmission coil 201 on the landing surface fh side can act efficiently on the power receiving coil 8 of the aircraft 100. Therefore, the battery 5 can be charged by the contactless power supply between the power transmission coil 201 and the power receiving coil 8. Therefore, the charging of the battery 5 mounted on the aircraft 100 can be automated with a simple structure. In addition, the power receiving efficiency of the power receiving coil 8 based on the contactless power supply from the power transmission coil 201 can be improved. That is, the power supply efficiency of the aircraft 100 based on the contactless power supply can be improved, and the battery 5 can be charged efficiently.

[0063] Furthermore, the power receiving coil 8 is arranged on the landing portion 72. In this way, when the aircraft 100 lands, the distance between the power receiving coil 8 and the power transmission coil 201 arranged just below the landing surface fh can be further reduced. Therefore, the power receiving efficiency of the power receiving coil 8 based on non-contact power transmission can be further improved, and the battery 5 can be charged more efficiently. In addition, it is not necessary to separately ensure the arrangement space of the power receiving coil 8 outside the landing portion 72. Therefore, the aircraft 100 can be miniaturized and lightweight.

[0064] In addition, in the present embodiment, the power receiving coil 8 is in a toroidal shape when viewed from the up-down direction Z. In this way, the power receiving coil 8 can be manufactured by winding a conductive wire to form a toroidal shape. Therefore, the power receiving coil 8 can be easily manufactured. However, it is not limited to this example, and the annular landing portion 72 may be, for example, an elliptical shape or an n-sided shape (n is a plurality of three or more) when viewed from the up-down direction Z. In addition, in the present embodiment, the power receiving coil 8 is in a toroidal shape having the same shape as the power transmitting coil 201 and the landing portion 72. However, it is not limited to this example, and the power receiving coil 8 may also be in a toroidal shape having a shape different from at least one of the power transmitting coil 201 and the landing portion 72. In addition, in the present embodiment, the number of the power receiving coil 8 is single, but it may be multiple. For example, in the landing portion 72, a plurality of power receiving coils 8 may be arranged in concentric circles.

[0065] Preferably, the receiving coil 8 is built into the landing portion 72. For example, the receiving coil 8 is formed integrally with the landing portion 72 by insert molding or the like. In this way, the receiving coil 8 can be easily arranged on the landing portion 72. However, the arrangement method of the receiving coil 8 relative to the landing portion 72 is not limited to this example. For example, a part or the entirety of the receiving coil 8 may be exposed from the landing portion 72. For example, the landing portion 72 itself may be the receiving coil 8 itself. In this case, the protrusion 721 is arranged on the lower surface of the receiving coil 8.

[0066] When the magnetic field generated by the current flowing through the power transmission coil 201 acts on the power receiving coil 8, the current flows through the power receiving coil 8. As a result, power can be supplied from the power receiving coil 8 to the battery 5, and the battery 5 can be charged. Therefore, by bringing the aircraft 100 close to the power transmission coil 20 of the power transmission device 200, it is possible to perform contactless power supply through the power receiving coil 8 and the power transmission coil 201 without connecting the battery 5 to an external power source or the like. In addition, since contactless power supply can be performed through the power receiving coil 8 and the power transmission coil 201, the structure of the aircraft 100 and the structure of the power transmission device 200 can be simplified. Therefore, the charging of the battery 5 can be automated through a simple structure and control.

[0067] In addition, for example, in a structure in which the battery 5 of the aircraft 100 is connected to an external power source by wire, the terminal connecting the battery 5 and the external power source is sometimes exposed to the outside. Therefore, when the external power source is set outdoors, the terminal may be wetted by rain, etc., which may cause a problem in charging the battery 5. In contrast, in contactless power supply, it is not necessary to connect the battery 5 to the external power source by wire, so it is not necessary to expose the terminal to the outside. Therefore, even if the power transmission device 200 is set outdoors, the battery 5 can be charged appropriately. In addition, by automating the charging of the battery 5, the battery 5 can be charged even in a place that is difficult for people to enter, as long as it is a place where the aircraft 100 can move.

[0068] For example, when the aircraft 100 is hovering at a position separated from the upper surface of the power transmission device 200 toward the upper Zu side, at least a portion of the power receiving coil 8 overlaps with the power transmission coil 201 when viewed from the up-down direction Z, so that the battery 5 can be charged. As a result, even if the object T carried in the space Zd below the main body 1 is unloaded from the space to the lower Zd due to gravity, the battery 5 can be easily charged. In addition, the aircraft 100 can also charge the battery 5 in the state of landing on the landing surface fh of the power transmission device 200.

[0069] In the present embodiment, the power receiving coil 8 and the power transmitting coil 201 are coils for contactless power supply based on the magnetic field resonance method. In the case of contactless power supply based on the magnetic field resonance method, if the power receiving coil 8 is brought close to the power transmitting coil 201, the power receiving coil 8 can generate current regardless of the relative posture of the power receiving coil 8 and the power transmitting coil 201. Therefore, regardless of the posture of the aircraft 100 relative to the power transmitting device 200 and the posture of the power receiving coil 8 relative to the aircraft 100, the battery 5 can be easily charged. Therefore, even in the case where the accuracy of the position control of the aircraft 100 is relatively low, the battery 5 can be easily charged just by bringing the aircraft 100 close to the power transmitting device 200. Therefore, the automatic charging of the battery 5 can be realized by simpler control of the aircraft 100.

[0070] However, this example is not limiting, and the power receiving coil 8 and the power transmitting coil 201 may also be coils for contactless power supply other than the magnetic field resonance method. For example, the power receiving coil 8 and the power transmitting coil 201 may also be coils for contactless power supply of the electromagnetic induction method, or coils for contactless power supply of the radio wave reception method. In addition, in the magnetic field resonance method, power can be supplied even if the positions of the power receiving coil 8 and the power transmitting coil 201 are offset from each other. Therefore, power can be supplied even if the power receiving coil 8 is located outside the outer edge of the power transmitting coil 201. The aircraft 100 does not need to land inside the outer edge of the power transmitting coil 201.

[0071] In addition, the outer diameter of the power receiving coil 8 as viewed from the up-down direction Z is preferably less than the inner diameter of the power transmitting coil 201 as viewed from the up-down direction Z, and more preferably smaller than the inner diameter. In this way, when the aircraft 100 is brought close to the power transmitting device 200, it is easy for the power receiving coil 8 to enter the magnetic field generated by the power transmitting coil 201, and it is easy for the power receiving coil 8 to generate current. In addition, when viewed from the up-down direction Z, it is easy to arrange the entire power receiving coil 8 on the inner side of the inner edge of the power transmitting coil 201. Therefore, the power receiving efficiency of the power receiving coil 8 based on contactless power transmission can be further improved. However, this example does not exclude a structure in which the outer diameter of the power receiving coil 8 as viewed from the up-down direction Z is larger than the inner diameter of the power transmitting coil 201 as viewed from the up-down direction Z.

[0072] <1-2-9. Switching circuit Sw>

[0073] In addition, if Figure 2 As shown, the aircraft 100 may also include a switching circuit Sw. The switching circuit Sw is provided between two wirings that respectively connect the two terminals of the battery 5 and the two terminals of the motor 41. The switching circuit Sw is controlled by the control unit 6 to be turned on / off (ON / OFF). The switching circuit Sw connects the two wirings to each other in the ON state. Thus, the switching circuit Sw connects the terminals of the motor 41 to each other and short-circuits them in the ON state. Therefore, by turning the switching circuit Sw to the ON state, the motor 41 can be prevented from rotating. Thus, when the motor 41 is stopped and the battery 5 is charged, it is possible to suppress malfunction of the motor 41 due to the magnetic field generated by the power transmission coil 201. However, this example does not exclude a structure in which the aircraft 100 does not include the switching circuit Sw.

[0074] <2. Others>

[0075] The above describes the embodiments of the present invention. In addition, the scope of the present invention is not limited to the above embodiments. The present invention can be implemented by applying various changes to the above embodiments without departing from the scope of the main purpose of the invention. In addition, the matters described in the above embodiments can also be appropriately and arbitrarily combined within the scope that no contradiction occurs.

[0076] <3. Conclusion>

[0077] The embodiments described so far will be summarized below.

[0078] For example, the aircraft disclosed in this specification is configured to include:

[0079] A driving unit that causes the rotary blades to rotate about the rotary shaft;

[0080] a battery that supplies power to the driving unit and is capable of being charged and discharged;

[0081] A main body, which accommodates the battery;

[0082] a leg portion that supports the main body portion during landing; and

[0083] The annular power receiving coil is electrically connected to the battery.

[0084] The leg has a landing portion that contacts the landing surface during landing.

[0085] When landing, the central axis of the power receiving coil extends parallel to the normal direction of the landing surface.

[0086] The power receiving coil is disposed on the landing portion (first structure).

[0087] In addition, the aircraft of the first structure can also be configured as follows:

[0088] The power receiving coil is in a ring shape (second structure).

[0089] In addition, the aircraft of the first or second structure may also be configured as follows:

[0090] The above-mentioned aircraft is an aircraft that can take off / land and fly while holding the object to be transported.

[0091] The space for holding the conveyed object is arranged above the lower end of the landing portion (third structure).

[0092] In addition, the aircraft of any one of the first to third structures may be configured to further include:

[0093] A cargo hold portion, which is disposed above the landing portion and is capable of storing objects to be transported;

[0094] an openable and closable door portion through which the transported objects can pass and which is disposed on a lower surface of the cargo hold portion; and

[0095] A control unit controls the opening and closing of the door unit (fourth structure).

[0096] In addition, the aircraft of the fourth structure can also be constructed as follows:

[0097] The door portion is located above the lower end of the landing portion regardless of the open or closed state (fifth configuration).

[0098] In addition, the aircraft of the fourth or fifth structure may also be constructed as follows:

[0099] The door portion can be opened and closed by sliding in a direction intersecting the up-down direction (sixth configuration).

[0100] The aircraft of any one of the fourth to sixth structures may also be configured as follows:

[0101] The power receiving coil is arranged on the landing portion.

[0102] When viewed from the top and bottom direction, the landing portion is in a ring shape along the power receiving coil and surrounds the cargo hold portion (seventh configuration).

[0103] The aircraft of any one of the first to seventh structures may also be constructed as follows:

[0104] Three or more protrusions protruding downward are arranged on the lower surface of the landing portion (eighth configuration).

[0105] In addition, the aircraft system disclosed in this specification is configured to include:

[0106] An aircraft having any one of the first to eighth structures; and

[0107] A power transmission device includes a power transmission coil capable of transmitting power to the power receiving coil of the aircraft in a non-contact manner (ninth configuration).

[0108] Availability in production

[0109] The present invention can be used for an aircraft that receives electric power through contactless power supply and a system including the aircraft.

Claims

1. An aircraft, characterized in that: have: A driving unit that causes the rotary blades to rotate about the rotary shaft; a battery that supplies power to the driving unit and is capable of being charged and discharged; A main body portion, which accommodates the battery; a leg portion that supports the main body portion when landing; and a ring-shaped power receiving coil, which is electrically connected to the battery, The leg has a landing portion that contacts a landing surface during landing. When landing, the central axis of the power receiving coil extends parallel to the normal direction of the landing surface. The power receiving coil is disposed on the landing portion.

2. The aircraft according to claim 1, characterized in that The power receiving coil is in a ring shape.

3. The aircraft according to claim 1, characterized in that: The aircraft is an aircraft that can take off / land and fly while holding a transported object. The space for holding the conveyed object is arranged above the lower end of the landing portion.

4. The aircraft according to claim 1, characterized in that: Also available: a cargo hold portion, which is disposed above the landing portion and is capable of storing objects to be transported; an openable and closable door portion through which the transported object can pass and which is disposed on a lower surface of the cargo hold portion; and A control unit controls the opening and closing of the door unit.

5. The aircraft according to claim 4, characterized in that The door portion is located above the lower end of the landing portion regardless of the open or closed state.

6. The aircraft according to claim 4, characterized in that The door portion can be opened and closed by sliding in a direction intersecting the up-down direction.

7. The aircraft according to claim 4, characterized in that: The power receiving coil is arranged on the landing portion. When viewed from the top and bottom direction, the landing portion is in a ring shape along the power receiving coil and surrounds the cargo hold portion.

8. The aircraft according to claim 1, characterized in that: Three or more protrusions protruding downward are arranged on the lower surface of the landing portion.

9. An aircraft system, characterized in that: have: The aircraft according to any one of claims 1 to 8; and A power transmission device includes a power transmission coil capable of transmitting power to the power receiving coil of the aircraft in a contactless manner.

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