Flying object and flying object system

Abstract

To provide a technique for automating charging of a battery mounted to a flying object with a simple structure.SOLUTION: A flying object 100 comprises a drive unit 4, a battery 5, a body 1, a leg 7, and an annular power reception coil 8. The drive unit 4 rotates a rotary vane 42 about a rotation axis Jr. The battery 5 can perform charging / discharging to supply power to the drive unit 4. The body 1 stores the battery 5. The leg 7 supports the body 1 during landing. The power reception coil 8 is electrically connected to the battery 5. The leg 7 includes a landing part 72 that comes into contact with a landing surface during the landing. During the landing, the center axis of the power reception coil 8 extends in parallel with the normal direction of the landing surface. The power reception coil 8 is disposed in the landing part 72.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, aircraft capable of takeoff and landing, flying, and hovering by driving rotors with electricity are known. For example, a multicopter levitates by using power supplied from a ground station through a power supply wire (see JP 2016-210229 A).

[0003] However, if power is supplied via a wire as in JP 2016-210229 A, the multicopter can only fly within the range of the length of the power supply wire, and the range of movement is limited. In contrast, if a battery is installed in the multicopter, it is not necessary to supply power via a wire from a ground station, and the range of movement of the multicopter can be expanded. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-210229 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the onboard battery needs to be charged or replaced as the amount of stored power decreases. Also, since manual charging or replacing of the battery is time-consuming, it is desirable to automate it. However, when charging the battery automatically through a wired connection to an external power source, the device for the wired connection and charging tends to become complicated and large. Similarly, when replacing the battery automatically, the device for replacing the battery tends to become complicated and large.

[0006] An object of the present invention is to automate the charging of batteries installed in an aircraft with a simple configuration. [Means for solving the problem]

[0007] An exemplary flying object of the present invention includes a drive unit, a battery, a main body unit, legs, and an annular receiving coil. The drive unit rotates rotors around a rotation axis. The battery is capable of charging and discharging to supply power to the drive unit. The main body unit houses the battery. The legs support the main body unit during landing. The receiving coil is electrically connected to the battery. The legs have a landing unit that contacts a landing surface during landing. During landing, the central axis of the receiving coil extends parallel to the normal direction of the landing surface. The receiving coil is disposed in the landing unit.

[0008] An exemplary flying object system of the present invention includes the flying object described above and a power transmitting device. The power transmitting device has a power transmitting coil. The power transmitting coil is capable of transmitting power to the power receiving coil of the flying object in a non-contact manner. Effect of the Invention

[0009] According to the exemplary flying object and flying object system of the present invention, charging of the battery installed in the flying object can be automated with a simple configuration. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic perspective view showing a configuration example of an aircraft system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example configuration of an aircraft system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Exemplary embodiments are described below with reference to the drawings.

[0012] In this specification, the direction Z shown in each figure is referred to as the "vertical direction". In addition, in the vertical direction Z, the upper side of the paper is referred to as the "upper Zu" and the lower side of the paper is referred to as the "lower Zd". When the flying object 100 has landed on a landing surface fh that is parallel to the horizontal plane, the vertical direction Z is parallel to the vertical direction, so the upper Zu is vertically upward and the lower Zd is vertically downward. In addition, in each figure, the direction around a specific axis that is parallel to the vertical direction Z, such as the central axis Jc and the rotation axis Jr, is referred to as the "circumferential direction".

[0013] In addition, in the positional relationship between any one of a direction, a line, and a plane and any other, "parallel" includes not only a state in which the two do not intersect at all no matter how far they are extended, but also a state in which they are substantially parallel. Furthermore, "perpendicular" and "orthogonal" each include not only a state in which the two intersect at 90 degrees, but also a state in which they are substantially perpendicular and a state in which they are substantially orthogonal, respectively. In other words, "parallel," "perpendicular," and "orthogonal" each include a state in which there is an angle deviation in the positional relationship between the two to an extent that does not deviate from the gist of the present invention.

[0014] Note that these are names used merely for the purpose of explanation, and are not intended to limit the actual positional relationships, directions, names, and the like.

[0015] <1. Embodiment> FIG. 1 is a schematic perspective view showing a configuration example of an aircraft system 500 according to an embodiment. FIG. 2 is a block diagram showing a configuration example of the aircraft system 500. As shown in FIG. 1 and FIG. 2, the aircraft system 500 includes an aircraft 100 and a power transmitting device 200. The power transmitting device 200 has a power transmitting coil 201 capable of transmitting power contactlessly to a power receiving coil 8 of the aircraft 100, which will be described later. In addition, the power transmitting device 200 is supplied with power from an external power source 300. The power source 300 may be a DC power source or an AC power source supplied from a commercial power grid or the like. According to the aircraft system 500, as will be described later, charging of a battery 5 mounted on the aircraft 100, which will be described later, can be automated with a simple configuration. In addition, the power receiving efficiency of the aircraft 100 by contactless power supply can be improved.

[0016] <1-1. Power transmission device 200> In this embodiment, the power transmitting device 200 is placed on a horizontal ground or floor surface, but may be installed on the upper surface of a predetermined object. A landing surface fh on which the flying object 100 can take off and land is placed on the power transmitting device 200. In this embodiment, the landing surface fh is parallel to the horizontal plane, and the upper surface of the power transmitting device 200 serves as the landing surface fh.

[0017] 1, the power transmitting coil 201 is annular about an axis (not shown) parallel to the vertical direction Z, and has a circular ring shape in this embodiment. However, the present invention is not limited to this example, and the annular power transmitting coil 201 may have, for example, an elliptical shape or an n-sided shape (n is a multiple of 3 or more) when viewed from the vertical direction Z.

[0018] The power transmitting coil 201 is disposed at a distance Zd below the landing surface fh of the power transmitting device 200. In this embodiment, the power transmitting coil 201 is built into the main body of the power transmitting device 200. However, this is not limiting, and at least a part of the power transmitting coil 201 may be exposed from the main body of the power transmitting device 200.

[0019] As shown in FIG. 2, the power transmitting device 200 further includes a control unit 202. The control unit 202 controls each component of the power transmitting device 200. The control unit 202 includes a power transmitting power source unit 2021, a power transmitting communication unit 2022, and a power transmitting control unit 2023. The power transmitting power source unit 2021 outputs power supplied from the power source 300 to the power transmitting coil 201 based on the control of the power transmitting control unit 2023. The power transmitting communication unit 2022 includes, for example, an infrared sensor and receives a communication signal such as infrared light output from a power receiving communication unit 62 (described later) disposed in the flying object 100. The power receiving communication unit 62 of the flying object 100 may also receive a communication signal output from the power transmitting communication unit 2022. The power transmitting control unit 2023 controls the non-contact power supply to the flying object 100 by the power transmitting coil 201 based on the communication signal transmitted and received between the power transmitting communication unit 2022 and the power receiving communication unit 62.

[0020] <1-2.100 Flying Objects> Next, a configuration example of the flying object 100 will be described with reference to Figures 1 and 2. The flying object 100 is capable of takeoff, landing, and flight while holding a load T.

[0021] The flying object 100 includes a main body 1, a luggage compartment 21, a door 22, an arm 3, a drive unit 4, a battery 5, a control unit 6, legs 7, and a power receiving coil 8. In the following description, unless otherwise specified, the relative positional relationship of each component of the flying object 100 is based on a state in which the flying object 100 has landed on a horizontal landing surface fh.

[0022] <1-2-1.Main body 1> The main body 1 is the torso of the flying object 100, and houses the control unit 6, the battery 5, etc. As described above, the flying object 100 includes the main body 1. A space for holding the transported object T is provided below the main body 1 at a position Zd. Preferably, the space for holding the transported object T is disposed above a position Zu above the lower end of a landing section 72 of the leg 7, which will be described later. This prevents the transported object T from coming into contact with the landing surface fh when the flying object 100 lands. Therefore, even when the transported object T is being held, the flying object 100 can land safely and stably on the landing surface fh.

[0023] <1-2-2. Luggage compartment 21 and door 22> For example, the luggage compartment 21 is disposed on the lower Zd side of the main body 1. As described above, the aircraft 100 is provided with the luggage compartment 21. The luggage compartment 21 is capable of accommodating the transported object T. In this embodiment, the internal space of the luggage compartment 21 is the above-mentioned space for holding the transported object T. The luggage compartment 21 is preferably disposed above Zu above the landing portion 72 of the leg 7, and more preferably disposed above Zu above the lower end of the landing portion 72. In this way, when the aircraft 100 lands, the luggage compartment 21 does not come into contact with the landing surface fh. Therefore, the aircraft 100 can land on the landing surface fh in a safe and stable state.

[0024] In addition, an openable and closable door section 22 is disposed on the lower surface of the luggage compartment section 21. As described above, the flying object 100 is provided with the door section 22. The transported object T can pass through the door section 22 in the open state. Preferably, the door section 22 is located above the lower end Zu of the landing section 72 regardless of whether it is open or closed. For example, the door section 22 is located above the lower end Zu of the landing section 72 of the leg section 7 even in the open state. In this way, the flying object 100 can open the door section 22 in the landed state and lower the transported object T by gravity. Therefore, damage to the transported object T when lowering the transported object T can be reduced or prevented. On the other hand, in a configuration in which at least the lower part of the door section 22 in the open state is located below the lower end Zd of the landing section 72, it is necessary to open the door section 22 in a state away from the landing surface fh of the destination at an upper Zu (i.e., in a hovering state) and drop the transported object T. Therefore, there is a risk of damage to the transported object T due to falling. However, this example does not exclude a configuration in which at least a portion of the door portion 22 is located at the same height as the lower end of the landing portion 72 or at a position Zd below the landing portion 72.

[0025] The door section 22 may be a single-leaf door or a double-leaf door. The door section 22 may be a hinged door type, a sliding door type, or a folding door type. In particular, in the sliding door type, the door section 22 can be opened and closed by sliding in a direction intersecting the vertical direction Z. In this way, compared to a hinged door type that opens outward, for example, even if the door section 22 is brought close to the landing section 72 in the vertical direction Z, the door section 22 in the open state does not come into contact with the landing surface fh. Therefore, the flying object 100 can unload the transported object T in a landed state. Therefore, the flying object 100 can be made smaller, particularly in size in the vertical direction Z.

[0026] Furthermore, the above examples do not exclude a configuration in which the flying object 100 does not include the luggage compartment 21 and the door 22. For example, the space for holding the transported object T may 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 means of, for example, gripping, is disposed on the lower part of the main body 1.

[0027] <1-2-3. Arm 3> The arms 3 extend from the outer surface of the main body 1 in a direction intersecting the up-down direction Z (for example, a direction parallel to a horizontal plane), and are arranged in multiple numbers along the outer surface of the main body 1. Each arm 3 connects a drive unit 4 to the main body 1. For example, a drive unit 4 is arranged at the tip of each arm 3 extending from the main body 1. Note that, although the number of arms 3 and the number of drive units 4 are four in this embodiment, they are not limited to this example and may be a multiple other than four.

[0028] <1-2-4. Drive unit 4> The driving unit 4 rotates the rotor 42 around the rotation axis Jr. As described above, the flying object 100 includes the driving unit 4. Each driving unit 4 has a motor 41 and a rotor 42. The motor 41 is built into a motor housing (reference number omitted) connected to the tip of the arm 3. The rotor 42 is fixed to a shaft (reference number omitted) of the motor 41 extending along a rotation axis Jr parallel to the vertical direction Z, and can rotate around the rotation axis Jr. The motor 41 rotates the shaft to rotate the rotor 42 around the rotation axis Jr. As the rotor 42 rotates, the flying object 100 obtains buoyancy from the driving unit 4 and a propulsive force in a direction perpendicular to the vertical direction Z. The rotation axis Jr is not limited to the above example, and may extend in a direction other than the vertical direction Z. For example, the rotation axis Jr may extend in a direction diagonally intersecting the vertical direction Z or in a direction perpendicular to the vertical direction Z. Furthermore, the rotation axes Jr of the rotors 42 may extend in different directions.

[0029] 2, 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.

[0030] <1-2-5. Battery 5> The battery 5 is a charging / discharging device disposed in the main body 1, and in this embodiment is a lithium ion battery. However, this is not limited to the example, and the battery 5 may be a secondary battery other than a lithium ion battery. As described above, the aircraft 100 is equipped with the battery 5. The chargeable / dischargeable battery 5 is electrically connected to the drive unit 4 and supplies power to the drive unit 4 (particularly the motor 41). In this embodiment, the aircraft 100 has a single battery 5. However, this is not limited to the example, and the aircraft 100 may have multiple batteries 5. Furthermore, an individual battery 5 may be disposed for each drive unit 4.

[0031] <1-2-6. Control unit 6> The control unit 6 controls each component of the flying object 100, for example, the drive unit 4 and the battery 5. As described above, the flying object 100 includes the control unit 6. The control unit 6 also controls the opening and closing of the door unit 22. In detail, the control unit 6 opens the door unit 22 when loading and storing the transported object T in the luggage compartment 21, closes the door unit 22 when holding the transported object T in the luggage compartment 21, and opens the door unit 22 when unloading the transported object T from the luggage compartment 21. When the door unit 22 is closed, the transported object T can be stored and held inside the luggage compartment 21. On the other hand, when the door unit 22 is open, the transported object T can be loaded and unloaded from the luggage compartment 21. Therefore, for example, the flying object 100 flies with the transported object T held in the luggage compartment 21 by the control unit 6 closing the door unit 22, and when the flying object 100 arrives at the destination, the control unit 6 opens the door unit 22 to allow the transported object T to be removed from the luggage compartment 21.

[0032] 2, the control unit 6 includes a power reception control unit 61, a power reception communication unit 62, and a battery control unit 63. The power reception control unit 61 controls power supply by non-contact power supply. The power reception communication unit 62 communicates with the power transmission communication unit 2022. The battery control unit 63 controls the battery 5.

[0033] The power receiving communication unit 62 may communicate with the power transmitting communication unit 2022 constantly or at predetermined intervals. The power receiving communication unit 62 has a light source that emits infrared light for communication, and emits infrared light. The power receiving communication unit 62 also 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 transmits a power supply start request signal and a power supply stop request signal to the power transmitting device 200 based on the control of the power receiving control unit 61. The power transmitting device 200 controls the supply of electricity to the power transmitting coil 201 in response to receiving these signals.

[0034] The power receiving communication unit 62 may receive power receiving state information indicating the state of power reception by the power receiving coil 8 from the power transmitting communication unit 2022. The power transmitting communication unit 2022 and the power receiving communication unit 62 are not limited to a system using infrared light, and may adopt other wireless communication systems or the like. The flying object 100 performs hovering, horizontal movement, rotational movement, and the like 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 state of power reception by the power receiving coil 8, thereby causing the flying object 100 to move.

[0035] The battery control unit 63 outputs the power supplied from the power receiving coil 8 to the battery 5 under the control of the power receiving control unit 61. The battery control unit 63 also controls the start and stop of charging the battery 5.

[0036] At least a part of the power supplied from the power receiving coil 8 may be output directly to the drive unit 4, as indicated by the dashed line in Fig. 2. In this case, the control unit 6 determines and controls whether to supply power from the battery 5 to the drive unit 4 or from the power receiving coil 8 to the drive unit 4. For example, when driving the drive unit 4 in a state where contactless power supply is possible, the control unit 6 may output a part of the power supplied from the power receiving coil 8 to the drive unit 4 and output the remaining part to the battery 5. Furthermore, when the charging rate of the battery 5 is equal to or higher than a predetermined threshold value in a state where contactless power supply is possible, the control unit 6 may output the power supplied from the power receiving coil 8 to the drive unit 4.

[0037] <1-2-7. Leg 7> The legs 7 are disposed on the lower Zd side of the main body 1 and are connected to the main body 1. The legs 7 support the main body 1 when the flying body 100 lands. As described above, the flying body 100 includes the legs 7. The legs 7 include a connection portion 71 and a landing portion 72.

[0038] The connecting portion 71 extends at least downward Zd from the lower portion of the main body portion 1 and is connected to the landing portion 72. The number of the connecting portions 71 is preferably a plurality, more preferably 3 or more. However, this example does not exclude a configuration in which the connecting portion 71 is singular.

[0039] The landing section 72 comes into contact with the landing surface fh when the flying body 100 lands. As described above, the leg 7 has the landing section 72. The landing section 72 is annular about a central axis Jc parallel to the vertical direction Z, and is annular in this embodiment. However, this is not limited to the example, and the annular landing section 72 may be, for example, elliptical or n-sided (n is 3 or more) when viewed from the vertical direction Z.

[0040] In this embodiment, the landing portion 72 holds the power receiving coil 8. Preferably, when viewed from the up-down direction Z, the landing portion 72 has an annular shape that follows the power receiving coil 8 and surrounds the luggage compartment 21. This makes it easy to load and unload the transported object T into and from the luggage compartment 21. In particular, the transported object T can be unloaded from the luggage compartment 21 without hitting the landing portion 72.

[0041] Three or more protrusions 721 that protrude downward Zd are disposed on the underside of the landing section 72. That is, the landing section 72 has three or more protrusions 721. The three or more protrusions 721 are arranged in a circumferential direction about the central axis Jc. In this way, when the flying object 100 lands, the three or more protrusions 721 come into contact with the landing surface fh, allowing the flying object 100 to rest stably on the landing surface fh.

[0042] <1-2-8. Receiving coil 8> The power receiving coil 8 is a coil for contactless power supply. As described above, the flying object 100 is equipped 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 about a central axis Jc parallel to the vertical direction Z. When the flying object 100 lands, the central axis Jc of the power receiving coil 8 extends parallel to the normal direction of the landing surface fh.

[0043] In this way, the central axis Jc of the power receiving coil 8 is parallel to the central axis of the power transmitting coil 201 built in, for example, directly below the landing surface fh. Therefore, the magnetic field or electric field formed by the power transmitting coil 201 on the landing surface fh side can efficiently act on the power receiving coil 8 of the flying object 100. Therefore, the battery 5 can be charged by non-contact power supply between the power transmitting coil 201 and the power receiving coil 8. Therefore, charging of the battery 5 mounted on the flying object 100 can be automated with a simple configuration. Also, the power receiving efficiency of the power receiving coil 8 by non-contact power supply from the power transmitting coil 201 can be improved. In other words, the power supply efficiency of the flying object 100 by non-contact power supply can be improved, and the battery 5 can be efficiently charged.

[0044] Furthermore, the power receiving coil 8 is disposed on the landing section 72. This makes it possible to further reduce the distance between the power receiving coil 8 and the power transmitting coil 201 disposed directly below the landing surface fh when the flying object 100 lands. This further improves the efficiency of power reception by the power receiving coil 8 via contactless power transfer, enabling the battery 5 to be charged more efficiently. Also, there is no need to secure a space for arranging the power receiving coil 8 separate from the landing section 72. This makes it possible to reduce the size and weight of the flying object 100.

[0045] In addition, in this embodiment, the power receiving coil 8 has a circular ring shape when viewed from the vertical direction Z. In this way, the power receiving coil 8 can be created by winding a conductive wire to form a circular ring shape. Therefore, the power receiving coil 8 can be easily created. However, without being limited to this example, the ring-shaped landing portion 72 may have, for example, an elliptical shape or an n-sided shape (n is a multiple of 3 or more) when viewed from the vertical direction Z. Note that, in this embodiment, the power receiving coil 8 has a ring shape that is the same as that of the power transmitting coil 201 and the landing portion 72. However, without being limited to this example, the power receiving coil 8 may have a ring shape that is different from that of at least one of the power transmitting coil 201 and the landing portion 72. In addition, the number of the power receiving coils 8 is singular in this embodiment, but may be multiple. For example, multiple power receiving coils 8 may be arranged concentrically in the landing portion 72.

[0046] Preferably, the power receiving coil 8 is built into the landing portion 72. For example, the power receiving coil 8 is formed integrally with the landing portion 72 by insert molding or the like. This allows the power receiving coil 8 to be easily disposed on the landing portion 72. However, the means for disposing the power receiving coil 8 on the landing portion 72 is not limited to this example. For example, a part or the entirety of the power receiving coil 8 may be exposed from the landing portion 72. For example, the landing portion 72 itself may be the power receiving coil 8 itself. In this case, the protrusion 721 is disposed on the underside of the power receiving coil 8.

[0047] When a magnetic field generated by current flowing through the power transmitting coil 201 acts on the power receiving coil 8, a current flows through the power receiving coil 8. This allows power to be supplied from the power receiving coil 8 to the battery 5, and the battery 5 can be charged. Therefore, by bringing the flying object 100 close to the power transmitting coil 201 of the power transmitting device 200, non-contact power supply can be performed by the power receiving coil 8 and the power transmitting coil 201 without connecting the battery 5 to an external power source or the like. In addition, since non-contact power supply can be performed by the power receiving coil 8 and the power transmitting coil 201, the structure of the flying object 100 and the structure of the power transmitting device 200 can be simplified. Therefore, charging of the battery 5 can be automated with a simple structure and control.

[0048] Also, for example, in a configuration in which the battery 5 of the flying object 100 and an external power source are connected by wire, the terminals connecting the battery 5 and the external power source may be exposed to the outside. Therefore, if the external power source is installed outdoors, the terminals may get wet with rain, which may cause problems in charging the battery 5. In contrast, in the case of non-contact power supply, since it is not necessary to connect the battery 5 to an external power source by wire, it is not necessary to expose the terminals to the outside. Therefore, even if the power transmission device 200 is installed outdoors, the battery 5 can be charged suitably. Furthermore, since the charging of the battery 5 can be automated, the battery 5 can be charged even in places where it is difficult for people to enter, as long as the flying object 100 can move.

[0049] For example, the flying object 100 can charge the battery 5 by overlapping at least a part of the power receiving coil 8 with the power transmitting coil 201 when viewed from the vertical direction Z while hovering at a position away from the upper surface of the power transmitting device 200 on the upward Zu side. This makes it possible to easily charge the battery 5 even when the transported load T mounted in a space Zd below the main body 1 is lowered from the space to the downward Zd by gravity. Note that the flying object 100 can also charge the battery 5 while landing on the landing surface fh of the power transmitting device 200.

[0050] In this embodiment, the power receiving coil 8 and the power transmitting coil 201 are coils for non-contact power supply by the magnetic resonance method. When non-contact power supply by the magnetic resonance method is used, if the power receiving coil 8 is brought close to the power transmitting coil 201, a current can be generated in the power receiving coil 8 regardless of the relative attitude between the power receiving coil 8 and the power transmitting coil 201. Therefore, the battery 5 can be easily charged regardless of the attitude of the flying object 100 with respect to the power transmitting device 200 and the attitude of the power receiving coil 8 with respect to the flying object 100. As a result, even if the accuracy of the position control of the flying object 100 is relatively low, the battery 5 can be easily charged by simply bringing the flying object 100 close to the power transmitting device 200. Therefore, automatic charging of the battery 5 can be realized by simpler control of the flying object 100.

[0051] However, without being limited to this example, the power receiving coil 8 and the power transmitting coil 201 may be coils for non-contact power supply other than the magnetic resonance type. The power receiving coil 8 and the power transmitting coil 201 may be, for example, coils for non-contact power supply using an electromagnetic induction type, or may be coils for non-contact power supply using a radio wave reception type. Note that in the magnetic resonance type, power can be supplied even if the positions of the power receiving coil 8 and the power transmitting coil 201 are misaligned. 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 flying object 100 does not necessarily have to land within the outer edge of the power transmitting coil 201.

[0052] Moreover, the outer diameter of the power receiving coil 8 as viewed in the vertical direction Z is preferably equal to or smaller than the inner diameter of the power transmitting coil 201 as viewed in the vertical direction Z, and more preferably smaller than the inner diameter. In this way, when the flying object 100 is brought close to the power transmitting device 200, the power receiving coil 8 can be easily placed in the magnetic field generated by the power transmitting coil 201, and a current can be easily generated in the power receiving coil 8. Also, it is easy to arrange the entire power receiving coil 8 inside the inner edge of the power transmitting coil 201 as viewed in the vertical direction Z. Therefore, the power receiving efficiency of the power receiving coil 8 by non-contact power supply can be further improved. However, this example does not exclude a configuration in which the outer diameter of the power receiving coil 8 as viewed in the vertical direction Z is greater than or equal to the inner diameter of the power transmitting coil 201 as viewed in the vertical direction Z.

[0053] <1-2-9. Switching circuit Sw> In addition, as shown in FIG. 2, the flying object 100 may further include a switching circuit Sw. The switching circuit Sw is provided between two wires that respectively connect two terminals of the battery 5 and two terminals of the motor 41. The switching circuit Sw is ON / OFF controlled by the control unit 6. When the switching circuit Sw is ON, it connects the two wires. As a result, when the switching circuit Sw is ON, it connects the terminals of the motor 41 to each other and shorts them out. Therefore, by turning the switching circuit Sw ON, it is possible to prevent the motor 41 from rotating. As a result, when the motor 41 is stopped and the battery 5 is charged, it is possible to prevent the motor 41 from malfunctioning due to the magnetic field generated by the power transmission coil 201. However, this example does not exclude a configuration in which the flying object 100 does not include the switching circuit Sw.

[0054] <2.Other> The embodiments of the present invention have been described above. Note that the scope of the present invention is not limited to the above-described embodiments. The present invention can be implemented by adding various modifications to the above-described embodiments without departing from the spirit of the invention. Furthermore, the matters described in the above-described embodiments can be appropriately combined in any manner as long as no contradiction occurs.

[0055] <3. Summary> The embodiments described thus far will be summarized below.

[0056] For example, the air vehicles disclosed herein may be A drive unit that rotates the rotor around a rotation axis; A chargeable and dischargeable battery that supplies power to the driving unit; A main body that houses the battery; legs for supporting the main body during landing; an annular receiving coil electrically connected to the battery; Equipped with 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 a normal direction of the landing surface, The power receiving coil is configured to be placed on the landing portion (first configuration).

[0057] In addition, the flying object of the first configuration is The power receiving coil may be configured to have a circular ring shape (second configuration).

[0058] In addition, the aircraft of the first or second configuration is A flying object capable of taking off, landing and flying while holding a load, The space for holding the transported object may be configured to be located above a lower end of the landing portion (third configuration).

[0059] In addition, an aircraft having any one of the first to third configurations, A luggage compartment section that is disposed above the landing section and is capable of accommodating the transported object; an openable / closable door portion through which the transported object can pass and which is disposed on a lower surface of the luggage compartment; A control unit that controls opening and closing of the door unit; The fourth configuration may further include the above.

[0060] In addition, the fourth configuration of the flying object is The door portion may be configured to be located above a lower end of the landing portion regardless of whether the door portion is open or closed (fifth configuration).

[0061] In addition, the aircraft of the fourth or fifth configuration is The door portion may be configured to be openable and closable by sliding in a direction intersecting the up-down direction (sixth configuration).

[0062] In addition, an aircraft having any of the fourth to sixth configurations, The receiving coil is disposed on the landing portion, When viewed from the top-bottom direction, the landing portion may be configured to be annular along the power receiving coil and surround the luggage compartment (seventh configuration).

[0063] In addition, an aircraft having any one of the first to seventh configurations, The landing portion may have a lower surface on which three or more protrusions protruding downward are disposed (eighth configuration).

[0064] The air vehicle system disclosed in the present specification further comprises: An aircraft having any one of the first to eighth configurations; a power transmitting device having a power transmitting coil capable of transmitting power to the power receiving coil of the flying object in a non-contact manner; The ninth configuration is as follows: [Industrial Applicability]

[0065] The present invention is useful for an aircraft that receives power through a wireless power supply and a system including the same. [Explanation of symbols]

[0066] 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 source, 1 Main body unit, 21 Luggage compartment unit, 22 Door unit, 3 Arm, 4 Drive unit, 41 Motor, 42 Rotor, 43 Motor control unit control unit, 5... battery, 6... control unit, 61... power receiving control unit, 62... power receiving communication unit, 63... battery control unit, 7... legs, 71... connection unit, 72... landing unit, 721... protrusion, 8... power receiving coil, Sw... switching circuit, Jc... central axis, Jr... rotation axis, T... transported object, fh... landing surface, Z... up / down direction, Zu... upward, Zd... downward

Claims

1. A drive unit that rotates the rotor around a rotation axis; A chargeable and dischargeable battery that supplies power to the driving unit; A main body that houses the battery; legs for supporting the main body during landing; an annular receiving coil electrically connected to the battery; Equipped with 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 a normal direction of the landing surface, The receiving coil is placed on the landing section, the flying object.

2. The air vehicle of claim 1 , wherein the receiving coil is toroidal.

3. A flying object capable of taking off, landing and flying while holding a load, The flying body according to claim 1 , wherein the space for holding the transported object is disposed above a lower end of the landing section.

4. A luggage compartment section that is disposed above the landing section and is capable of accommodating the transported object; an openable / closable door portion through which the transported object can pass and which is disposed on a lower surface of the luggage compartment; A control unit that controls opening and closing of the door unit; The air vehicle of claim 1 , further comprising:

5. The flying vehicle according to claim 4 , wherein the door section is positioned above a lower end of the landing section regardless of whether the door section is open or closed.

6. The flying object according to claim 4 , wherein the door portion can be opened and closed by sliding in a direction intersecting with the up-down direction.

7. The receiving coil is disposed on the landing portion, The flying object according to claim 4 , wherein, when viewed from above and below, the landing section is annular along the receiving coil and surrounds the luggage compartment.

8. The flying vehicle according to claim 1 , wherein the underside of the landing section has three or more protrusions protruding downward.

9. The flying object according to any one of claims 1 to 8, a power transmitting device having a power transmitting coil capable of transmitting power to the power receiving coil of the flying object in a non-contact manner; An aircraft system comprising:

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