Moving body, wireless power transmission device, and wireless power supply device

Abstract

To provide a moving body that is able to reduce the possibility of damage.SOLUTION: According to an embodiment, a movable body, which is a movable body capable of flying, includes a main body, a power receiving unit, and a connection unit. The body includes a horizontal plane rotor. The power receiving unit includes a power receiving coil. The connection unit connects the main body and the power receiving unit. When the moving body lands on a wireless power transmission device including a power transmission unit, the power receiving coil receives power from a power transmission coil included in the power transmission unit. A bottom surface of the power receiving unit comes into contact with an upper surface of the power transmission unit before the moving body descends with respect to the wireless power transmission device and lands. The connection unit includes a first elastic body that absorbs an impact caused by contact between the power receiving unit and the power transmission unit, by extending / shortening in length.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] FIELD Embodiments of the present invention relate to a mobile object, a wireless power transmitting device, and a wireless power feeding system. [Background technology]

[0002] Electromagnetic induction wireless charging devices (chargers) are widely used to charge electronic devices such as smartphones. A wireless charging device has a built-in power transmitting coil. A smartphone has a thin housing, and a power receiving coil is built in close to one surface of the housing. In this case, the smartphone is placed on the wireless charging device so that the surface close to the power receiving coil is in contact with the wireless charging device. This shortens the power transmission and reception distance, and power is transmitted from the wireless charging device (power transmitting coil) to the smartphone (power receiving coil).

[0003] In recent years, mobile objects that fly with multiple rotors (e.g., rotors or propellers) have come into use. Mobile objects that fly with multiple rotors are also called drones or multicopter drones. In drones, the direction of flight is controlled by controlling the rotation speed of each of the multiple rotors.

[0004] Drones are equipped with batteries as their power source. To enable drones to travel long distances, charging ports are installed at relay points and destinations along the flight path. Drones that land at the ports can be supplied with power, for example, wirelessly. To reduce the effort required for power supply, wireless power supply systems have been developed that can supply power to drones wirelessly.

[0005] A wireless power supply system is composed of, for example, a power transmission unit installed in a port and a power receiving unit equipped in a drone. When the drone lands on the port (for example, on top of a wireless power transmission device), the power transmission unit supplies power to the power receiving unit. This allows the supplied power to be used to charge a battery installed in the drone. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-202734 Summary of the Invention [Problem to be solved by the invention]

[0007] Similar to charging a smartphone, when power is supplied between the power receiving unit and the power transmitting unit in close proximity, the power receiving unit and the power transmitting unit may come into contact and be subjected to an impact while the drone is attempting to land on the port, which could damage the power receiving unit and the power transmitting unit.

[0008] The problem to be solved by the present invention is to provide a mobile object, a wireless power transmitting device, and a wireless power feeding system that can reduce the possibility of damage due to contact. [Means for solving the problem]

[0009] According to an embodiment, the mobile object is a flying mobile object and includes a main body, a power receiving unit, and a connection unit. The main body includes horizontal rotors. The power receiving unit includes a power receiving coil. The connection unit connects the main body and the power receiving unit. When the mobile object lands on a wireless power transmitting device including a power transmitting unit, the power receiving coil receives power from a power transmitting coil included in the power transmitting unit. As the mobile object descends toward the wireless power transmitting device and lands, the bottom surface of the power receiving unit comes into contact with the top surface of the power transmitting unit. The connection unit includes a first elastic body that expands and contracts in length to absorb impact caused by contact between the power receiving unit and the power transmitting unit. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 10 is a cross-sectional view showing the configuration of a wireless power feeding system according to a comparative example in a state where a moving object has landed on a wireless power transmitting device. [Figure 2]1 is a cross-sectional view illustrating an example of the configuration of a wireless power feeding system including a moving object and a wireless power transmitting device according to an embodiment, in a state in which the moving object is descending toward the wireless power transmitting device. [Figure 3] FIG. 2 is a plan view showing a configuration example of a moving object included in the wireless power supply system according to the embodiment. [Figure 4] FIG. 1 is a plan view showing an example of the configuration of a wireless power transmitting device included in a wireless power feeding system according to an embodiment. [Figure 5] 1 is a cross-sectional view showing an example in which a descending moving body comes into contact with a rim of a wireless power transmitting device in a wireless power feeding system including the moving body and the wireless power transmitting device according to an embodiment. [Figure 6] 1 is a cross-sectional view showing an example of the configuration of a wireless power feeding system according to an embodiment in a state where a moving object has landed on a wireless power transmitting device. [Figure 7] 4A and 4B are diagrams showing examples of landing positions when a moving object approaches in a first direction and lands on a wireless power transmitting device in the wireless power feeding system according to the embodiment; [Figure 8] 10 is a diagram showing an example of a landing position when a moving object approaches in a second direction and lands on a wireless power transmitting device in the wireless power feeding system according to the embodiment. FIG. [Figure 9] 3 is a cross-sectional view showing an example of the configuration of a power receiving unit and a connection unit of a moving object included in the wireless power feeding system according to the embodiment. FIG. [Figure 10] 10A and 10B are diagrams showing an example in which a connection portion contracts due to at least one of bending caused by descent and contact with a wireless power transmitting device in a moving object included in a wireless power feeding system according to an embodiment. [Figure 11] FIG. 1 is a block diagram showing an example of the configuration for power supply in a wireless power transmitting device and a moving object included in a wireless power supply system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described with reference to the drawings.

[0012] (Comparative Example) First, with reference to FIG. 1, a configuration of a wireless power feeding system including a moving object and a wireless power transmitting device according to a comparative example will be described.

[0013] 1 is a cross-sectional view showing the configuration of a wireless power feeding system including a mobile object and a wireless power transmitting device according to a comparative example, with the mobile object having landed on the wireless power transmitting device. The wireless power feeding system 1C is a system for wirelessly supplying power from a wireless power transmitting device 3C to a mobile object 2C. The wireless power feeding system 1C includes a mobile object 2C and a wireless power transmitting device 3C. Here, the case is shown in which the center of the wireless power transmitting device 3C in the horizontal direction (X direction) and depth direction (Y direction) coincides with the center of the mobile object 2C in the horizontal direction and depth direction. A center line 5C indicates the center of the wireless power transmitting device 3C in the X direction.

[0014] Moving body 2C includes drone main body 21C and power receiving unit 22C. Drone main body 21C includes battery 211C, body 212C, and legs 213C and 214C. Body 212C and legs 213C and 214C are made of materials that are relatively susceptible to deformation. Heavy objects such as battery 211 are mounted in the center of drone main body 21C. Power receiving unit 22C includes power receiving coil 222C and magnetic sheet 223C.

[0015] Wireless power transmitting device 3C includes landing surface 311C and power transmitting unit 32C. Landing surface 311C is a horizontal surface on which legs 214C of moving object 2C are placed when moving object 2C lands on wireless power transmitting device 3C. Power transmitting unit 32C includes power transmitting coil 321C and magnetic sheet 322C.

[0016] The wireless power feeding system 1C of the comparative example is configured so that when a moving object 2C lands on a wireless power transmitting device 3C, a power transmitting unit 32C of the wireless power transmitting device 3C and a power receiving unit 22C of the moving object 2C come into direct contact with each other. This allows the power transmitting unit 32C to supply power to the power receiving unit 22C.

[0017] However, while the moving object 2C is descending toward the wireless power transmitting device 3C to land on the wireless power transmitting device 3C, the power receiving unit 22C and the power transmitting unit 32C come into contact (collide), and a force is applied, which may cause damage, etc. This is because, for example, the center of the descending moving object 2C bends downward due to the influence of heavy objects such as the mounted battery 211C. If the moving object 2C repeatedly (frequently) lands on the wireless power transmitting device 3C to charge, the possibility of damage, etc. becomes even higher.

[0018] One possible way to reduce the possibility of breakage is to increase the strength by thickening the contact portions of power receiving unit 22C and power transmitting unit 32C. However, if the contact portions are thickened, the distance between power transmitting coil 321C and power receiving coil 222C increases, which reduces the power supply efficiency.

[0019] (Embodiment) In contrast, the wireless power feeding system according to the embodiment is configured to reduce the possibility of damage due to contact without reducing the power feeding efficiency.

[0020] 2 is a cross-sectional view showing an example of the configuration of a wireless power feeding system including a mobile object and a wireless power transmitting device according to an embodiment, in a state where the mobile object is descending toward the wireless power transmitting device. The wireless power feeding system 1 is a system for wirelessly feeding power from a wireless power transmitting device 3 to a mobile object 2. The wireless power feeding system 1 includes the mobile object 2 and the wireless power transmitting device 3. Here, a case is illustrated in which the center of the wireless power transmitting device 3 in the horizontal direction (X direction) and depth direction (Y direction) coincides with the center of the mobile object 2 in the horizontal direction and depth direction. A center line 5 indicates the center of the wireless power transmitting device 3 in the horizontal direction.

[0021] (Mobile object 2) The moving object 2 is a moving object capable of flying using horizontal rotors 210. The moving object 2 is, for example, a multicopter drone having a plurality of rotors 210 (for example, rotors or propellers). Hereinafter, the moving object 2 to which the wireless power transmitting device 3 transmits (supplies) power is also referred to as a drone 2.

[0022] The drone 2 includes, for example, a drone body 21, a power receiving unit 22, and a connection unit 23.

[0023] The drone body 21 is mainly made of a non-metallic material, such as carbon, plastic, glass fiber, or a mixture of carbon and plastic. However, some parts of the drone body 21 (such as joints and screws) may be made of a metallic material.

[0024] The drone body 21 includes a rotor 210, a battery 211, a fuselage 212, legs 213 and 214, a control device 215, and a motor 216. The rotor 210 driven by the motor 216 is provided at each of the four corners of the drone body 21.

[0025] The battery 211 is a storage battery (rechargeable battery) that stores power. The storage battery is a secondary battery such as a lithium ion battery. The power stored in the battery 211 is used to drive the drone 2. The battery 211 is mounted, for example, in the center of the drone 2 in the horizontal and depth directions, corresponding to the drone main body 21.

[0026] The airframe 212 is, for example, a frame that holds the rotor 210, the battery 211, the control device 215, and the motor 216. The airframe 212 includes, for example, a plurality of members that make up the frame, and these members arrange the rotor 210, the battery 211, the control device 215, and the motor 216 inside the drone body 21. The arrangement of the battery 211 and the control device 215 shown in FIG. 2 is one example, and the mounted items such as the battery 211 and the control device 215 are arranged in any position (for example, evenly on both sides) that allows the drone 2 to be balanced during flight.

[0027] The leg 213 is a leg in the vertical direction (i.e., the vertical direction of the drone 2) that connects the body 212 and the leg 214. For example, the upper end of the leg 213 is joined to the body 212, and the lower end of the leg 213 is joined to the leg 214.

[0028] The legs 214 are located at the vertically lowest part (i.e., the bottom surface) of the drone 2. The legs 214 are members that come into contact with (fit into) a charging position on the wireless power transmitting device 3 when the drone 2 descends toward the wireless power transmitting device 3. The legs 214 are also called skids. The legs 214 are configured to be parallel (or approximately parallel) to the XY plane when the drone 2 lands on the wireless power transmitting device 3. Furthermore, the legs 214 are located below the power receiving unit 22, for example.

[0029] The airframe 212 and the legs 213 and 214 are also referred to as the frame of the drone body 21. The members that make up the airframe 212 and the legs 213 and 214 are, for example, cylindrical. The interiors of these members are, for example, hollow. This allows the frame to be lightweight. Note that the interiors of these members do not have to be hollow. The airframe 212 and the legs 213 and 214 are made of a non-metallic material. This non-metallic material is, for example, carbon, plastic, glass fiber, or a mixture of carbon and plastic. Note that a metal material may be included in part of the airframe 212 and the legs 213 and 214.

[0030] The legs 213 and 214 may incorporate elastic bodies (hereinafter also referred to as leg elastic bodies) that absorb shock by expanding or contracting in length. The leg elastic bodies are, for example, springs with a spiral structure or leaf springs. Note that, in consideration of stability, particularly during landing, it is desirable to provide the leg elastic bodies in positions closer to the lower ends of the legs 213 and / or 214. The leg elastic bodies may also be provided at the portion connecting the legs 213 and the fuselage 212. Note that when the leg elastic bodies are provided in positions away from the power receiving coil 222 (power transmitting coil 321), eddy currents generated by the alternating magnetic field are thought to be small, and therefore leg elastic bodies made of a magnetic metal may be used. The magnetic metal is, for example, iron or stainless steel.

[0031] The control device 215 is a control circuit (IC) that controls the driving of the motor 216 and the movement of the drone 2. The control device 215 may be realized as a computer including a processor, a memory, and the like.

[0032] Fig. 3 is a plan view showing an example configuration of drone 2. As shown in Fig. 3, for example, rotors 210 are provided at the four corners of body 212. Furthermore, legs 214 connected to body 212 via legs 213 have, for example, a non-circular ring shape when viewed from above. The shape of leg 214 does not have to be a non-circular ring shape, and may be any shape that allows landing on wireless power transmitting device 3 (more specifically, landing surface 311).

[0033] Return to Figure 2.

[0034] A power receiving unit 22 and a connection unit 23 are mounted inside the drone body 21 (i.e., inside the frame consisting of the fuselage unit 212 and the legs 213 and 214).

[0035] The power receiving unit 22 is a unit that receives power transmitted by the wireless power transmitting device 3. The power receiving unit 22 includes, for example, a support plate 221, a power receiving coil 222, a magnetic sheet 223, and a power receiving circuit 224.

[0036] The support plate 221 is, for example, a plate-shaped member made of resin. The power receiving coil 222 and the magnetic sheet 223 are, for example, incorporated into the support plate 221 and arranged so as to overlap each other. The power receiving coil 222 is, for example, arranged lower than the magnetic sheet 223 in the vertical direction of the drone 2.

[0037] When the drone 2 lands on the wireless power transmitting device 3, the power receiving coil 222 receives power from the wireless power transmitting device 3 (more specifically, the power transmitting coil 321 included in the power transmitting unit 32) by magnetic field coupling (electromagnetic induction). The power receiving coil 222 is connected to the power receiving circuit 224 via wiring. The power receiving coil 222 transmits the received power to the power receiving circuit 224.

[0038] The magnetic sheet 223 is a member for improving the coupling coefficient between the power receiving coil 222 and the power transmitting coil 321 of the wireless power transmitting device 3, thereby improving the power supply efficiency. The magnetic sheet 223 is made of, for example, ferrite.

[0039] The power receiving circuit 224 is a circuit that receives power wirelessly from the wireless power transmitting device 3 via the power receiving coil 222. The power receiving circuit 224 is disposed, for example, on the upper surface of the support plate 221. The power receiving circuit 224 receives power from the power receiving coil 222 and supplies the received power to an electric device (load). The electric device is a device that uses the power received by the power receiving circuit 224. The electric device is, for example, at least one of the battery 211 and a device that consumes power. The device that consumes power includes, for example, the control device 215 and the motor 216.

[0040] In this way, the power receiving unit 22 functions as a wireless power receiving device that receives power transmitted by the wireless power transmitting device 3. The bottom surface of the power receiving unit 22 comes into contact with the top surface of the power transmitting unit 32 while the drone 2 descends toward the wireless power transmitting device 3 and lands.

[0041] The connection part 23 is a member that connects (couples) the drone main body 21 and the power receiving part 22. In the example shown in Fig. 2, the connection part 23 connects the drone main body 21, which is located above, to the power receiving part 22, which is located below, in the vertical direction of the drone 2.

[0042] The connection portion 23 includes, for example, a support plate 231 , a stud 232 , a connection portion elastic body 233 , a bolt 234 , and a coupling portion 235 .

[0043] The support plate 231 is a plate-like member that is connected to any location (for example, the center) of the drone body 21 via a connecting portion 235.

[0044] The studs 232 are members that connect the support plate 231 and the power receiving unit 22 (more specifically, the support plate 221 of the power receiving unit 22). The studs 232 are provided, for example, along the vertical direction of the drone 2. To connect the support plate 231 and the power receiving unit 22, for example, a stud 232 is provided at each of the four corners of the support plate 231, but any number of studs 232 may be provided in the connection unit 23, not limited to four studs 232. The upper portions of the studs 232 pass through the support plate 231 loosely, and the lower ends are fixed to the power receiving unit 22. A bolt 234 is attached to the upper end of the stud 232. The lower ends of the studs 232 and the power receiving unit 22 are connected, for example, by a bolt. The support plate 231, the studs 232, and the bolts 234 are made of, for example, resin.

[0045] The connection elastic body 233 is a buffer elastic body that absorbs impacts caused by contact between the power receiving unit 22 and the power transmitting unit 32 by expanding and contracting in length (for example, expanding and contracting in the vertical direction of the drone 2). The connection elastic body 233 is formed, for example, from a non-metallic material. Specifically, the connection elastic body 233 is, for example, rubber (a rubber cushion), a spring (for example, a resin spring), or a sponge. Forming the connection elastic body 233 from a non-metallic material can prevent overheating due to eddy currents caused by the alternating magnetic field generated in the power receiving coil 222 (power transmitting coil 321). The connection elastic body 233 is wound around a portion of the stud 232. Specifically, for example, the connection elastic body 233 is provided so that the portion of the stud 232, excluding an upper portion corresponding to the thickness of the support plate 231, is wound from the outside. The connection elastic body 233 is formed, for example, in a cylindrical shape having a hole for winding around a portion of the stud 232.

[0046] The length of the connection elastic body 233 expands or contracts in accordance with at least one of the acceleration of the descent of the drone 2 and the magnitude of the impact (force) caused by contact between the power receiving unit 22 of the drone 2 and the power transmitting unit 32 of the wireless power transmitting device 3. The outer diameter (width) of the head of the bolt 234 (or the washer provided between the bolt 234 and the stud 232) is larger than the diameter of the hole (opening) in the support plate 231 through which the stud 232 passes loosely. In addition, the outer diameter of the cylindrical connection elastic body 233 is larger than the diameter of this hole in the support plate 231.

[0047] Therefore, the connection part 23 has a buffer mechanism in which the connection part elastic body 233 expands and contracts, and the stud 232 moves in the up and down direction (i.e., the vertical direction of the drone 2) relative to the support plate 231. Specifically, the stud 232 can move so as to protrude from the support plate 231 in accordance with the expansion and contraction of the connection part elastic body 233, with the position at which the support plate 231 and the bolt 234 (or washer) come into contact as the lower limit. This buffer mechanism can reduce the possibility of damage to the connection part 23 caused by force being applied when the power receiving unit 22 and the power transmitting unit 32 come into contact with each other.

[0048] The material and configuration of the connecting elastic body 233 can be selected as follows.

[0049] First, if the acceleration of the drone 2 during flight is high, deformation during flight may cause the power receiving unit 22 to move during flight. In other words, the position of the power receiving unit 22 on the drone 2 may fluctuate. This type of event is particularly likely to occur when the weight of the power receiving unit 22 is heavy. In this case, it is possible to select a material with a relatively small amount of deformation as the connection elastic body 233. An example of a material with a relatively small amount of deformation is a rubber cushion made of vibration-damping rubber. For example, vibration-damping rubber represented by the product name Hanenite (registered trademark) has a specific gravity of 0.3 and contains air bubbles, making it lightweight and advantageous in that it has little effect on the weight of the drone 2.

[0050] An example of use for drone 2, which has a total weight of approximately 5 kg, is to use low-elasticity vibration-damping rubber made of Hanenite GP-35LE (hardness A33, rebound elasticity 2%, specific gravity 1.26) in a perforated cylindrical shape (outer diameter 15 mm, length 20 mm, hole diameter 8 mm) on studs 232 provided in four locations.

[0051] It is highly likely that a thick spring made of a metal material with low magnetic properties can also be used as the elastic connection body 233 in the same way, since it generates less eddy current.

[0052] On the other hand, if the acceleration of the drone 2 during flight is not very large, a sponge-shaped resin material or rubber material that is relatively inexpensive and has a relatively large deformation amount may be used.

[0053] In the drone 2 shown in the embodiment, an example is shown in which the impact caused by contact between the power receiving unit 22 and the power transmitting unit 32 is absorbed by the connection elastic bodies 233 that are wound around each of the four studs 232, but if there is a possibility of a larger impact, the number of locations where the studs 232 and connection elastic bodies 233 are provided may be increased.

[0054] Furthermore, in the drone 2 descending toward the wireless power transmitting device 3, at least a portion of the range of the battery 211 in the horizontal and depth directions of the drone 2 is located within the range of the connection part 23 in the horizontal and depth directions of the drone 2. In other words, at least a portion of the range obtained by projecting the battery 211 onto a horizontal plane (here, the XY plane) of the drone 2 is located within the range obtained by projecting the connection part 23 onto the horizontal plane of the drone 2. When a heavy battery 211 is mounted, for example, the deflection of the airframe part 212 becomes large. Therefore, by configuring the battery 211 so that at least a portion of the range in the horizontal plane is located within the range in the horizontal plane of the connection part 23, the influence of the deflection caused by the battery 211 can be reduced.

[0055] Furthermore, the center point of the range of drone 2 in the horizontal and depth directions of drone 2 (or the center of gravity of drone 2) is located within the range of connection part 23 in the horizontal and depth directions of drone 2. In other words, the center point of the range obtained by projecting drone 2 onto a horizontal plane (XY plane) is located within the range obtained by projecting connection part 23 onto a horizontal plane. At the center point of drone 2, for example, deflection of body part 212 becomes large. Therefore, by configuring the center point of the range of drone 2 in the horizontal plane to be located within the range of connection part 23 in the horizontal plane, the effect of deflection at the center point of drone 2 can be reduced.

[0056] (Wireless power transmission device 3) The wireless power transmission device 3 is a device that wirelessly transmits power to the drone 2. The wireless power transmission device 3 is installed, for example, at ports provided at each of the relay points and destination points on the flight path of the drone 2. The wireless power transmission device 3 can transmit power to the drone 2 that has landed at the port.

[0057] The wireless power transmitting device 3 includes, for example, a base part 31, a power transmitting part 32, a housing 33, inner rims 34-1 and 34-2, outer rims 35-1 and 35-2, and a power transmitting circuit 36.

[0058] The base 31 is, for example, a horizontal, plate-like base located at the bottom of the wireless power transmitting device 3 in the vertical direction (Z direction). A portion of the upper surface of the base 31 is used as a landing surface 311 on which the drone 2 can land. More specifically, the upper surface of the base 31 includes the horizontal landing surface 311 on which the legs 214 of the drone 2 are placed when the drone 2 lands on the wireless power transmitting device 3. In other words, the landing surface 311 provides a surface on which the drone 2 lands for charging. When the legs 214 of the drone 2 are placed on the landing surface 311, the positions of the power receiving coil 222 of the drone 2 and the power transmitting coil 321 of the wireless power transmitting device 3 on the horizontal plane (for example, the positions of the power receiving coil 222 and the power transmitting coil 321 projected onto the XY plane) are generally opposite to each other. In addition, in the area excluding the landing surface 311 from the upper surface of the base portion 31, a housing 33, a plurality of inner rims 34-1 and 34-2, and a plurality of outer rims 35-1 and 35-2 are arranged.

[0059] The housing 33 has a shape (more specifically, a size and height) such that, when the drone 2 lands on the wireless power transmitting device 3, the bottom surface of the power receiving unit 22 of the drone 2 faces the top surface of the housing 33 (the top surface of the power transmitting unit 32) within a specific distance. The housing 33 is fixed, for example, to the center of the base 31. At least a portion of the top surface of the housing 33 is formed by the power transmitting unit 32. Specifically, the power transmitting unit 32 may be incorporated into the top surface of the housing 33 as shown in FIG. 2 or may be fixed onto the housing 33. The specific distance corresponds to a distance over which the power transmitting unit 32 can supply power to the power receiving unit 22. The housing 33 may have a shape such that, when the drone 2 lands on the wireless power transmitting device 3, the bottom surface of the power receiving unit 22 of the drone 2 comes into contact with the top surface of the housing 33 (the top surface of the power transmitting unit 32).

[0060] The base 31 and the housing 33 (more specifically, the portion of the housing 33 excluding the power transmission unit 32) are made of, for example, a non-metallic material. This non-metallic material is, for example, carbon, plastic, a mixture of carbon and plastic, glass, a mixture of glass fiber and plastic, or fiber-reinforced plastic (FRP). The base 31 and the housing 33 are made of, for example, a plate-like member of a generally uniform thickness. Furthermore, each of the base 31 and the housing 33 may be a three-dimensional, integrated structure. Alternatively, the entire base 31 and the housing 33 may be a three-dimensional, integrated structure.

[0061] The power transmitting unit 32 is a unit that transmits power to the drone 2. The power transmitting unit 32 includes, for example, a power transmitting coil 321, a magnetic material sheet 322, and a power transmitting unit elastic body 323. The power transmitting unit elastic body 323, the power transmitting coil 321, and the magnetic material sheet 322 are, for example, arranged so as to overlap each other. The power transmitting unit elastic body 323 is, for example, arranged above the power transmitting coil 321 in the Z direction of the wireless power transmitting device 3. The power transmitting coil 321 is, for example, arranged above the magnetic material sheet 322 in the Z direction of the wireless power transmitting device 3.

[0062] The power transmitting unit elastic body 323 is a shock-absorbing elastic body that absorbs impacts caused by contact between the power transmitting unit 32 and the power receiving unit 22 of the drone 2. The power transmitting unit elastic body 323 constitutes at least a portion of the top surface of the power transmitting unit 32 (i.e., the top surface of the housing 33) that may come into contact with the bottom surface of the power receiving unit 22. The area of ​​the portion of the top surface of the power transmitting unit 32 that may come into contact with the bottom surface of the power receiving unit 22 is also referred to as the contact area between the power transmitting unit 32 and the power receiving unit 22.

[0063] The material and configuration of the power transmitting elastic body 323 can be selected as follows.

[0064] First, by using a material for the power transmitting unit elastic body 323 that is sufficiently thin relative to the area of ​​the power transmitting coil 321 and the power receiving coil 222, there is an advantage in that the distance between the power transmitting coil 321 and the power receiving coil 222 can be further shortened. Furthermore, a material is selected that has sufficient thickness and vibration damping performance, generates little eddy current, and is highly durable, depending on the weight of the drone 2 and the contact area between the power transmitting unit 32 and the power receiving unit 22. Specifically, the power transmitting unit elastic body 323 is, for example, a silicone sheet or a thin sponge. For example, in a drone 2 with a total weight of approximately 5 kg, a 1 mm silicone sheet can be used as the power transmitting unit elastic body 323.

[0065] Depending on the weight of the drone 2 and the contact area between the power transmitting unit 32 and the power receiving unit 22, if the resin that holds the power transmitting coil 321 and the power receiving coil 222 (for example, the resin of the housing 33 and the support plate 221) can sufficiently withstand impact, the power transmitting unit elastic body 323 may not be provided. For example, in the case of a lightweight drone 2, using polycarbonate resin as the resin that holds the power transmitting coil 321 and the power receiving coil 222 may make it possible to avoid providing the power transmitting unit elastic body 323.

[0066] When the drone 2 lands on the wireless power transmitting device 3, the power transmitting coil 321 transmits (transmits) power to the drone 2 (more specifically, the power receiving coil 222 included in the power receiving unit 22) by magnetic field coupling. The power transmitting coil 321 is connected to the power transmitting circuit 36 ​​via wiring. When the drone 2 descends from above the housing 33, the housing 33 enters inside the legs 214 of the drone 2, and the legs 214 are placed on the landing surface 311, the power transmitting coil 321 can transmit power to the drone 2 via the power receiving coil 222. The number of turns of the power transmitting coil 321 and the power receiving coil 222 is determined based on, for example, the thickness of the winding used in each coil, the relationship between the voltage (potential) of power transmission and the voltage of power reception, etc. The number of turns may be determined so that the power transmitting coil 321 and the power receiving coil 222 function as a transformer.

[0067] The magnetic sheet 322 is a member for improving the coupling coefficient between the power transmitting coil 321 and the power receiving coil 222 of the drone 2, thereby improving the power supply efficiency. The magnetic sheet 322 is made of, for example, ferrite.

[0068] The power transmitting circuit 36 ​​supplies an alternating current to the power transmitting coil 321. This generates an alternating magnetic field in the power transmitting coil 321. The power transmitting circuit 36 ​​is disposed below the power transmitting unit 32, for example.

[0069] The inner rims 34-1 and 34-2 and the outer rims 35-1 and 35-2 are members having a guidance mechanism that, when the legs 214 of the drone 2 come into contact with them, guides the legs 214 above the landing surface 311 and places them correctly on the landing surface 311. The positions, heights, and shapes of the inner rims 34-1 and 34-2 and the outer rims 35-1 and 35-2 are designed to realize this guidance mechanism. The heights of the inner rims 34-1 and 34-2 and the outer rims 35-1 and 35-2 may be greater than the vertical height of the housing 33 (i.e., the height of the power transmission unit 32), for example.

[0070] Specifically, in a cross-sectional view, the pair of inner rim 34-1 and outer rim 35-1 has a V-shaped structure with the landing surface 311 sandwiched between the bottom. In the cross-sectional view, the pair of inner rim 34-1 and outer rim 35-1 forms a V-shaped structure, and the distance between the opposing slopes decreases from top to bottom. When the legs 214 of the drone 2 come into contact with either rim of the pair of inner rim 34-1 and outer rim 35-1, the legs 214 are guided above the landing surface 311 and placed on the landing surface 311.

[0071] In addition, in a cross-sectional view, the pair of the inner rim 34-2 and the outer rim 35-2 has a V-shaped structure with the landing surface 311 sandwiched between the bottom. In a cross-sectional view, the pair of the inner rim 34-2 and the outer rim 35-2 forms a V-shaped structure and the distance between the opposing slopes decreases from top to bottom. When the legs 214 of the drone 2 come into contact with either rim of the pair of the inner rim 34-2 and the outer rim 35-2, the legs 214 are guided above the landing surface 311 and placed on the landing surface 311.

[0072] 2 shows two pairs of inner rims and outer rims, the wireless power transmitting device 3 may be provided with one pair of inner rims and outer rims, or three or more pairs of inner rims and outer rims. Hereinafter, any one of the one or more inner rims provided on the wireless power transmitting device 3 will be referred to as the inner rim 34. Any one of the one or more outer rims provided on the wireless power transmitting device 3 will be referred to as the outer rim 35. The inner rim 34 and the outer rim 35 are a pair of rims.

[0073] In this structure of the pair of inner rim 34 and outer rim 35, the inner shape of the landing surface 311 is generally similar to the shape of the legs 214, so that the legs 214 touch down on the landing surface 311 in a specific orientation by self-alignment. Therefore, the pair of inner rim 34 and outer rim 35 makes it easy for the drone 2 to land on the wireless power transmission device 3. Note that "the inner shape of the landing surface 311 is generally similar to the shape of the legs 214" means that the shape of the legs 214 does not have to be completely similar to the shape of the inner surface of the landing surface 311 that contacts the bottom of the V-shaped structure formed by the pair of inner rim 34 and outer rim 35, as long as it is similar enough to allow the legs 214 to touch down in a specific orientation. Furthermore, "self-alignment" means that when the drone 2 descends to the wireless power transmission device 3, the drone 2 is guided so that the inner shape of the legs 214 and the inner shape of the landing surface 311 are oriented in the same direction, even if there is a slight horizontal positional misalignment, angular misalignment, or both. Due to the self-alignment, misalignment or angular misalignment does not or is unlikely to occur between the landing surface 311 and the legs 214. Therefore, the legs 214 are properly placed on the landing surface 311 (i.e., the position for charging).

[0074] The inner rim 34 is, for example, a triangular prism with a triangular side surface (i.e., a vertical cross section). The inner rim 34 may also be a quadrangular prism with a trapezoidal side surface. The inner rim 34 is disposed on the inner periphery of the landing surface 311. Specifically, the inner rim 34 is fixed on the base 31 and contacts the landing surface 311 on the housing 33 side. The back surface 34b of the inner rim 34 may be a vertical surface or may be an inclined surface. The front surface 34a of the inner rim 34 faces the front surface 35a of the outer rim 35 that forms a pair with it, across the landing surface 311. The front surface 34a has an inclination, for example, that approaches the landing surface 311 as it goes from top to bottom, and contacts the landing surface 311 at the bottom.

[0075] The outer rim 35 is, for example, a triangular prism with triangular sides. The outer rim 35 may also be a quadrangular prism with trapezoidal sides. The outer rim 35 is disposed on the outer periphery of the landing surface 311. Specifically, the outer rim 35 is fixed onto the base 31. The back surface 35b of the outer rim 35 may be a vertical surface or an inclined surface. The front surface 35a of the outer rim 35 faces the front surface 34a of the paired inner rim 34, across the landing surface 311. For example, the front surface 35a has an inclination that approaches the landing surface 311 as it goes from top to bottom, and contacts the landing surface 311 at the bottom.

[0076] The inner rim 34 and the outer rim 35 are made of, for example, a non-metallic material (e.g., carbon, plastic, a mixture of carbon and plastic, glass, a mixture of glass fiber and plastic, FRP, etc.). The inner rim 34 and the outer rim 35 may be made of a plate-like member of a generally uniform thickness, or may have a three-dimensional, integrated structure. Alternatively, the base 31, the housing 33 (more specifically, the portion of the housing 33 excluding the power transmission unit 32), and the inner rim 34 and the outer rim 35 may all be three-dimensional, integrated structures.

[0077] FIG. 4 is a plan view showing an example of the configuration of the wireless power transmitting device 3. As shown in FIG.

[0078] As shown in FIG. 4 , a landing surface 311 is provided on a portion of the upper surface of the base portion 31. The landing surface 311 is, for example, a non-circular ring. More specifically, the inner and outer shapes of the landing surface 311 are non-circular rings. The inner shape of the landing surface 311 is, for example, a rectangle. The outer shape of the landing surface 311 is a rectangle with a ratio of short sides to long sides that is approximately equal to that of the inner shape. The inner and outer shapes of the landing surface 311 may be any shape that allows the legs 214 of the drone 2 to be placed thereon, and are not limited to a rectangle, but may also be an ellipse, a square, a triangle, a pentagon, or the like. Furthermore, the sides and corners of the inner and outer shapes of the landing surface 311 may be rounded.

[0079] Furthermore, the inner shape of the landing surface 311 is generally similar to the inner shape of the leg 214. When the leg 214 is placed on the landing surface 311, the width of the inner shape of the leg 214 in direction A is generally the same as the width of the inner shape of the landing surface 311 in direction A. The direction A is parallel to the landing surface 311 (i.e., the XY plane). Note that the direction A shown in FIG. 4 is an example, and the direction A is any direction parallel to the landing surface 311.

[0080] A housing 33 and one or more pairs of an inner rim 34 and an outer rim 35 are arranged on the area excluding the landing surface 311 from the upper surface of the base portion 31.

[0081] The power transmitting unit 32, which includes a power transmitting coil 321 and a power transmitting unit elastic body 323, is mounted on the top surface of the housing 33. The power transmitting unit elastic body 323 has a size (area) that includes at least a portion that may come into contact with the bottom surface of the power receiving unit 22 when the drone 2 descends.

[0082] The one or more pairs of inner rims 34 and outer rims 35 are, for example, four pairs, each consisting of inner rims 34-1, 34-2, 34-3, and 34-4 and outer rims 35-1, 35-2, 35-3, and 35-4. The inner rim 34 and outer rim 35 of each pair face each other across the landing surface 311. The inner rim 34 is disposed inside the landing surface 311. The outer rim 35 is disposed outside the landing surface 311.

[0083] FIG. 5 is a cross-sectional view showing an example in which the descending drone 2 comes into contact with the inner rim 34 and the outer rim 35 of the wireless power transmitting device 3.

[0084] In the example shown in Figure 5, the leg 214 of the drone 2 is guided above the landing surface 311 (to the left in Figure 5) when, for example, a portion of the leg 214 contacts the front surface 35a-1 of the outer rim 35-1 and another portion of the leg 214 contacts the front surface 34a-2 of the inner rim 34-2.

[0085] Similarly, although not shown, the leg 214 is guided above the landing surface 311 (to the right in FIG. 5) when, for example, a portion of the leg 214 contacts the front surface 34a-1 of the inner rim 34-1 and another portion of the leg 214 contacts the front surface 35a-2 of the outer rim 35-2.

[0086] In some cases, the guidance by the inner rim 34 and the outer rim 35 is repeated between guiding the drone 2 to the left and guiding it to the right until the drone 2 lands on the wireless power transmitting device 3. With this guidance mechanism, the inner rim 34 and the outer rim 35 can guide the legs 214 of the drone 2 above the landing surface 311 and place them correctly on the landing surface 311. In other words, the drone 2 can land on the wireless power transmitting device 3.

[0087] Note that the drone 2 landing on the wireless power transmission device 3 means that the drone 2 descends from above the wireless power transmission device 3 by autonomous driving or by being controlled by a pilot, and stops at a charging position (i.e., the legs 214 of the drone 2 are on the landing surface 311). The charging position is a position where the drone 2 descends from above the wireless power transmission device 3, the power transmission unit 32 enters inside the legs 214 of the drone 2, and the legs 214 of the drone 2 are placed on the landing surface 311. The legs 214 are self-aligned and placed on the landing surface 311 in a specific orientation by a pair of inner rim 34 and outer rim 35 facing each other across the landing surface 311. Note that the drone 2 may be placed on the landing surface 311 by a person or a machine.

[0088] 6 is a cross-sectional view showing an example of the configuration of the wireless power feeding system 1 in a state where the drone 2 has landed on the wireless power transmitting device 3. Here, a case is illustrated in which the center of the wireless power transmitting device 3 in the horizontal direction (X direction) and the depth direction (Y direction) coincides with the center of the moving object 2 in the horizontal direction and the depth direction. In this case, the leg 214 is placed in the center of the landing surface 311 in the cross-sectional view shown in FIG. 6. More specifically, the leg 214 is placed on the landing surface 311 at a position equidistant from the inner rim 34 and the outer rim 35 that face each other across the leg 214, for example.

[0089] When the drone 2 lands on the landing surface 311 (i.e., the charging position), the entire power receiving coil 222 of the drone 2 faces the power transmitting coil 321 of the wireless power transmitting device 3. The gap g (distance g) between the inner rim 34 and the outer rim 35 on the landing surface 311 is configured to be narrower than twice the allowable range p of misalignment between the opposing power receiving coil 222 and power transmitting coil 321. This allows the positional relationship between the power receiving coil 222 and power transmitting coil 321 when the drone 2 lands on the landing surface 311 to fall within the allowable range p of misalignment. In other words, if the allowable range p of misalignment is greater than g / 2, the positional relationship between the power receiving coil 222 and power transmitting coil 321 when the drone 2 lands on the landing surface 311 will fall within the allowable range p of misalignment. The allowable range p is determined, for example, with respect to at least one of the horizontal direction and the depth direction. Note that Figure 6 shows an example in which the horizontal and depth center of the wireless power transmitting device 3 coincides with the horizontal and depth center of the moving object 2, and there is no positional misalignment between the power receiving coil 222 and the power transmitting coil 321.

[0090] The outer periphery of the power transmitting coil 321 has a shape that faces the entire power receiving coil 222 when the drone 2 lands on the wireless power transmitting device 3 while being shifted from the outer rim 35 to the inner rim 34 by half the gap g relative to the center of the gap g on the landing surface 311 between the inner rim 34 and the outer rim 35. When the power transmitting coil 321 faces the entire power receiving coil 222, it can efficiently transmit power to the power receiving coil 222. When the drone 2 lands on the landing surface 311, the entire power receiving coil 222 faces (directly faces) the power transmitting coil 321, and therefore the power transmitting coil 321 and the power receiving coil 222 are coupled with a high coupling coefficient.

[0091] Furthermore, the size of the power transmitting unit elastic body 323 is made larger than the shape shifted outward by a distance of half the gap g from the bottom surface of the power receiving unit 22. In other words, the power transmitting unit elastic body 323 includes a portion of the top surface of the power transmitting unit 32 that comes into contact with the bottom surface of the power receiving unit 22 when the drone 2 lands on the wireless power transmitting device 3 in a state shifted by half the gap g from the center of the gap g on the landing surface 311 between the inner rim 34 and the outer rim 35 in the direction from the inner rim 34 to the outer rim 35. This allows the power transmitting unit elastic body 323 to protect the bottom surface of the power receiving unit 22 and the top surface of the power transmitting unit 32, with which the bottom surface of the power receiving unit 22 may come into contact, from impact due to contact.

[0092] 7 and 8, examples of the landing position of the drone 2 relative to the wireless power transmitting device 3 will be further described.

[0093] FIG. 7 shows an example of a landing position when the drone 2 lands on the wireless power transmitting device 3 while leaning in a first direction. The first direction is the direction from the inner rim 34-1 to the outer rim 35-1 (or the direction from the outer rim 35-2 to the inner rim 34-2), which is the right direction in FIG. 7. Here, the example shows a case where the drone 2 lands on the wireless power transmitting device 3 while leaning in the first direction by half the gap g relative to the center of the gap g. The legs 214 of the drone 2 are placed on the landing surface 311 so that one end on the left side in FIG. 7 contacts the inner rim 34-2 and the other end on the right side contacts the outer rim 35-1.

[0094] 7 , the gap g on the landing surface 311 between the inner rim 34 and the outer rim 35 is narrower than twice the allowable range p of misalignment between the opposing power receiving coil 222 and power transmitting coil 321, so the positional relationship between the power receiving coil 222 and power transmitting coil 321 is within the allowable range p of misalignment. The outer periphery of the power transmitting coil 321 has a shape that faces (is directly opposite) the entire power receiving coil 222 when the drone 2 lands on the wireless power transmitting device 3 while shifting in the first direction by half the gap g from the center of the gap g. Therefore, the power transmitting coil 321 can transmit power to the power receiving coil 222 efficiently.

[0095] Furthermore, when drone 2 lands on wireless power transmitting device 3 while shifting in the first direction by half of gap g from the center of gap g, power transmitting unit elastic body 323 includes a portion of the upper surface of power transmitting unit 32 that comes into contact with the bottom surface of power receiving unit 22. This allows power transmitting unit elastic body 323 to protect the bottom surface of power receiving unit 22 and the upper surface of power transmitting unit 32, with which the bottom surface of power receiving unit 22 may come into contact, from impact due to contact.

[0096] FIG. 8 shows an example of a landing position when the drone 2 lands on the wireless power transmitting device 3 while leaning in the second direction. The second direction is the direction from the inner rim 34-2 to the outer rim 35-2 (or the direction from the outer rim 35-1 to the inner rim 34-1), which is the left direction in FIG. 8. Here, the example shows a case where the drone 2 lands on the wireless power transmitting device 3 while leaning in the second direction by half the gap g relative to the center of the gap g. The legs 214 of the drone 2 are placed on the landing surface 311 so that one end on the left side in FIG. 8 contacts the outer rim 35-2 and the other end on the right side contacts the inner rim 34-1.

[0097] 8 , the gap g on the landing surface 311 between the inner rim 34 and the outer rim 35 is narrower than twice the allowable range p of misalignment between the opposing power receiving coil 222 and power transmitting coil 321, so the positional relationship between the power receiving coil 222 and power transmitting coil 321 falls within the allowable range p of misalignment. The outer periphery of the power transmitting coil 321 has a shape that faces (is directly opposite) the entire power receiving coil 222 when the drone 2 lands on the wireless power transmitting device 3 while shifting in the second direction by half the gap g from the center of the gap g. Therefore, the power transmitting coil 321 can efficiently transmit power to the power receiving coil 222.

[0098] Furthermore, when the drone 2 lands on the wireless power transmitting device 3 with half the gap g in the second direction, the power transmitting unit elastic body 323 includes a portion of the upper surface of the power transmitting unit 32 that comes into contact with the bottom surface of the power receiving unit 22. This allows the power transmitting unit elastic body 323 to protect the bottom surface of the power receiving unit 22 and the upper surface of the power transmitting unit 32, with which the bottom surface of the power receiving unit 22 may come into contact, from impact due to contact.

[0099] Next, a specific configuration example of the power receiving unit 22 and the connection unit 23 of the drone 2 will be described with reference to FIGS. 9 and 10.

[0100] Fig. 9 is a cross-sectional view showing an example of the configuration of the power receiving unit 22 and the connection unit 23 of the drone 2. The power receiving unit 22 is connected to the drone body 21 via the connection unit 23. In the example shown in Fig. 9, it is assumed that the drone 2 has not descended and the power receiving unit 22 and the power transmitting unit 32 are not in contact with each other.

[0101] The power receiving unit 22 includes, for example, bolts 225, 227, and 228, a stud 226, and wiring 229 in addition to the support plate 221, power receiving coil 222, magnetic sheet 223, and power receiving circuit 224 described above with reference to FIG.

[0102] Power receiving coil 222 and magnetic sheet 223 are housed in a groove provided in support plate 221 by being held down from above using, for example, cover 221A and bolt 225. Cover 221A is, for example, a thin plate-shaped member made of resin.

[0103] The board including the power receiving circuit 224 is disposed, for example, above the power receiving coil 222 and the magnetic sheet 223. Specifically, the board including the power receiving circuit 224 is connected to the upper end of the stud 226 by a bolt 227. The lower end of the stud 226 is connected to a portion of the support plate 221 outside the cover 221A by a bolt 228. The power receiving circuit 224 is also connected to the power receiving coil 222 by a wire 229.

[0104] 2, the connection portion 23 includes, in addition to the support plate 231, the stud 232, the connection portion elastic body 233, the bolt 234, and the coupling portion 235, for example, a washer 236 and a bolt 237. The washer 236 and the bolt 237 are made of, for example, resin.

[0105] The upper part of stud 232 loosely passes through support plate 231, and the lower end is fixed to power receiving unit 22. A bolt 234 is attached to the upper end of stud 232 with a washer 236 sandwiched between them. The lower end of stud 232 and support plate 221 of power receiving unit 22 are connected by bolt 237.

[0106] The outer diameter of washer 236 is larger than the diameter of the hole (opening) in support plate 231 through which stud 232 passes loosely. In addition, the outer diameter of cylindrical connecting portion elastic body 233 is larger than the diameter of this hole in support plate 231.

[0107] The stud 232 can move to a position where it protrudes from the support plate 231 in accordance with the expansion and contraction of the connection elastic body 233, with the position where the support plate 231 and the washer 236 contact as the lower limit. In the example shown in FIG. 9, the drone 2 is not descending and the power receiving unit 22 and the power transmitting unit 32 are not in contact, so the length of the connection elastic body 233 is not shortened and the support plate 231 and the washer 236 are in contact. Therefore, the upper part of the stud 232 does not protrude from the support plate 231. The length of the connection elastic body 233 in this case is designated as L1.

[0108] 10 shows an example in which the connection portion 23 (more specifically, the connection portion elastic body 233) of the drone 2 is contracted due to at least one of deflection caused by descent and contact with the wireless power transmitting device 3. In the example shown in Fig. 10, the length of the connection portion elastic body 233 is contracted in response to at least one of the descent of the drone 2 and contact between the power receiving unit 22 of the drone 2 and the power transmitting unit 32 of the wireless power transmitting device 3. In other words, the length L2 of the connection portion elastic body 233 shown in Fig. 10 is shorter than the length L1 of the connection portion elastic body 233 shown in Fig. 9.

[0109] As connection part elastic body 233 contracts, stud 232 moves to protrude from support plate 231. This buffer mechanism provided by connection part elastic body 233 and stud 232 can reduce the possibility of damage to connection part 23 caused by force being applied when power receiving unit 22 and power transmitting unit 32 come into contact with each other.

[0110] The support plate 231 may be provided with an opening 231A so that the power receiving circuit 224 does not come into contact with the support plate 231 when the distance between the support plate 231 and the substrate including the power receiving circuit 224 becomes shorter as the connection elastic body 233 shrinks. This prevents damage to the power receiving circuit 224.

[0111] Next, the configuration for power feeding in the wireless power feeding system 1 will be specifically described.

[0112] 11 is a block diagram showing an example of a configuration for power supply between the wireless power transmitting device 3 and the drone 2. The wireless power transmitting device 3 includes a power transmitting circuit 36 ​​and a power transmitting coil 321. The drone 2 includes a power receiving coil 222, a power receiving circuit 224, and a battery 211.

[0113] The power transmitting circuit 36 ​​is a circuit that generates a high-frequency current. The high-frequency current is, for example, a high-frequency alternating current in the 9 kHz band, the 85 kHz band, the 100 to 200 kHz band, or the 6.78 MHz band. The power transmitting circuit 36 ​​supplies the generated high-frequency current to the power transmitting coil 321. Note that, in order to improve power transmission efficiency, a capacitor provided on the output side of the power transmitting circuit 36 ​​and the power transmitting coil 321 may form a resonator.

[0114] The power transmitting coil 321 generates an alternating magnetic field based on the supplied high-frequency current (alternating current). When the drone 2 lands on the landing surface 311, most of the magnetic flux generated by the alternating magnetic field passes through the power receiving coil 222 opposite the power transmitting coil 321. Due to the electromagnetic induction effect of this magnetic flux, an alternating current with the same frequency as the high-frequency current flows to the power receiving coil 222. Therefore, the power transmitting coil 321 can transmit power to the drone 2 via the power receiving coil 222.

[0115] The power receiving coil 222 receives an alternating current due to electromagnetic induction via an alternating magnetic field generated by the power transmitting coil 321. This alternating current is input to the power receiving circuit 224 as the output of the power receiving coil 222.

[0116] The power receiving circuit 224 converts the AC current output from the power receiving coil 222 into, for example, a DC current. Alternatively, the power receiving circuit 224 converts the frequency of the AC current output from the power receiving coil 222. The power receiving circuit 224 supplies the current obtained by the conversion to the battery 211 mounted on the moving object 2. Note that the power receiving circuit 224 may supply current to electrical devices (loads) such as the control device 215 and the motor 216 instead of or in addition to the battery 211.

[0117] With the above configuration, the wireless power transmitting device 3 can wirelessly supply power to the drone 2 that has landed on the landing surface 311. Therefore, wireless power charging or wireless power transmission can be performed between the wireless power transmitting device 3 and the moving object 2.

[0118] As described above, the wireless power feeding system 1 according to this embodiment can reduce the possibility of damage due to contact. The connection unit 23 connects the drone body 21, including the horizontal rotor 210, to the power receiving unit 22, including the power receiving coil 222. When the mobile object 2 lands on the wireless power transmitting device 3, including the power transmitting unit 32, the power receiving coil 222 receives power from the power transmitting coil 321 included in the power transmitting unit 32. As the mobile object 2 descends toward the wireless power transmitting device 3 and lands, the bottom surface of the power receiving unit 22 comes into contact with the top surface of the power transmitting unit 32. The connection unit 23 includes an elastic connection body 233 that expands and contracts in length to absorb impact caused by contact between the power receiving unit 22 and the power transmitting unit 32. Therefore, the elastic connection body 233 can reduce the possibility of damage due to contact between the power receiving unit 22 and the power transmitting unit 32.

[0119] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims.

[0120] The following additional notes are provided regarding the above-described embodiment. <1> A flying vehicle, a body including a horizontal rotor; a power receiving unit including a power receiving coil; a connection portion that connects the main body and the power receiving portion, When the moving object lands on the wireless power transmitting device including a power transmitting unit, the power receiving coil receives power from a power transmitting coil included in the power transmitting unit; the bottom surface of the power receiving unit contacts the top surface of the power transmitting unit while the moving object descends toward the wireless power transmitting device and lands; the connecting portion includes a first elastic body that absorbs impact caused by contact between the power receiving portion and the power transmitting portion by expanding or contracting in length; Mobile object. <2> The first elastic body is formed of a non-metallic material. <1> A mobile object according to the present invention. <3> The first elastic body is any one of rubber, a spring, and a sponge. <1> or <2> A mobile object according to the present invention. <4> the body includes a leg; The leg includes a second elastic body that is expandable and contractible in length to absorb impact caused by contact between the leg and the wireless power transmitting device. <1> ~ <3> 10. A mobile object according to claim 9, wherein: <5> The second elastic body is a spring having a spiral structure or a leaf spring. <4> A mobile object according to the present invention. <6> the main body includes a battery that stores power for driving the moving body; When the moving object descends relative to the wireless power transmitting device, the battery is disposed above the connecting portion in a vertical direction of the moving object, at least a part of the range of the battery in the horizontal direction and the depth direction of the moving body is located within the range of the connection part in the horizontal direction and the depth direction; <1> ~ <5> 10. A mobile object according to claim 9, wherein: <7> a center point of the range of the moving body in the horizontal direction and the depth direction is located within the range of the connection part in the horizontal direction and the depth direction; <1> ~ <6> 10. A mobile object according to claim 9, wherein: <8> the body includes a leg; The wireless power transmitting device a base including a horizontal landing surface on which the legs are placed when the moving body lands on the wireless power transmitting device; a housing having the power transmission unit configured on at least a portion of an upper surface thereof and fixed on the base; an inner rim fixed on the base and in contact with the landing surface on the housing side; an outer rim fixed on the base, in contact with the landing surface, and facing the inner rim across the landing surface; the outer periphery of the power receiving coil is configured to include a shape that faces the entire power receiving coil when the moving object lands on the wireless power transmitting device in a state where it is moved from the outer rim toward the inner rim by half the distance on the landing surface between the inner rim and the outer rim. <1> ~ <7> 10. A mobile object according to claim 9, wherein: <9> A wireless power transmission device capable of supplying power to a moving body capable of flying by horizontal rotors, including a power receiving unit, a power transmission unit including a power transmission coil; When the moving object lands on the wireless power transmitting device, the power transmitting coil transmits power to a power receiving coil included in the power receiving unit; the bottom surface of the power receiving unit contacts the top surface of the power transmitting unit while the moving object descends toward the wireless power transmitting device and lands; a first portion of the top surface of the power transmitting unit, with which the bottom surface of the power receiving unit may come into contact, is made of an elastic body that absorbs impact caused by contact between the power receiving unit and the power transmitting unit; Wireless power transmission device. <10> The elastic body is a silicone sheet or a sponge. <9> The wireless power transmitting device according to claim 1. <11> a base including a horizontal landing surface on which legs of the moving body are placed when the moving body lands on the wireless power transmitting device; a housing having at least a portion of an upper surface formed by the power transmission unit and fixed on the base unit; an inner rim fixed on the base and in contact with the landing surface on the housing side; an outer rim fixed on the base, in contact with the landing surface, and facing the inner rim across the landing surface; the position, height, and shape of the inner rim and the outer rim are configured such that the feet contact the inner rim and the outer rim to guide the feet above the landing surface and place them on the landing surface; <9> or <10> The wireless power transmitting device according to claim 1. <12> a gap between the inner rim and the outer rim on the landing surface that is narrower than twice the allowable range of misalignment between the receiving coil and the transmitting coil; <11> The wireless power transmitting device according to claim 1. <13> the first portion includes a portion of an upper surface of the power transmitting unit that comes into contact with a bottom surface of the power receiving unit when the moving object lands on the wireless power transmitting device in a state where the moving object is shifted from the inner rim toward the outer rim by half of a gap between the inner rim and the outer rim on the landing surface. <11> or <12> The wireless power transmitting device according to claim 1. <14> the outer periphery of the power transmitting coil has a shape that faces the entire power receiving coil when the moving object lands on the wireless power transmitting device in a state where the moving object is shifted from the outer rim toward the inner rim by half the distance on the landing surface between the inner rim and the outer rim, <11> ~ <13> 10. The wireless power transmitting device according to claim 9, <15> <1> ~ <8> a moving object according to any one of the preceding claims; <9> ~ <14> and a wireless power transmitting device according to any one of the preceding claims. Wireless power supply system. [Explanation of symbols]

[0121] 1...wireless power supply system, 2...mobile body (drone), 3...wireless power transmission device, 21...drone main body, 22...power receiving unit, 23...connection unit, 210...rotor, 211...battery, 212...airframe, 213, 214...legs, 215...control equipment, 216...motor, 221...support plate, 222...power receiving coil, 223...magnetic sheet, 224...power receiving circuit, 231...support plate, 232...stud, 233...connection elastic body, 234...bolt, 235...coupling, 31...foundation, 32...power transmitting unit, 33...casing, 34-1, 34-2...inner rim, 35-1, 35-2...outer rim, 36...power transmitting circuit, 311...landing surface, 321...power transmitting coil, 322...magnetic sheet, 323...power transmitting elastic body.

Claims

1. A flying vehicle, a body including a horizontal rotor; a power receiving unit including a power receiving coil; a connection portion that connects the main body and the power receiving portion, When the moving object lands on the wireless power transmitting device including a power transmitting unit, the power receiving coil receives power from a power transmitting coil included in the power transmitting unit; the bottom surface of the power receiving unit contacts the top surface of the power transmitting unit while the moving object descends toward the wireless power transmitting device and lands; the connecting portion includes a first elastic body that is expandable and contractible in length to absorb impact caused by contact between the power receiving portion and the power transmitting portion; Mobile object.

2. The first elastic body is made of a non-metallic material. The moving body according to claim 1 .

3. the first elastic body is any one of rubber, a spring, and a sponge; The moving body according to claim 1 .

4. the body includes a leg; the leg includes a second elastic body that is expandable and contractible in length to absorb impact caused by contact between the leg and the wireless power transmitting device; The moving body according to any one of claims 1 to 3.

5. The second elastic body is a spring having a spiral structure or a leaf spring. The moving body according to claim 4.

6. the main body includes a battery that stores power for driving the moving body; When the moving object descends relative to the wireless power transmitting device, the battery is disposed above the connecting portion in a vertical direction of the moving object, at least a part of the range of the battery in the horizontal direction and the depth direction of the moving body is located within the range of the connection part in the horizontal direction and the depth direction; The moving body according to any one of claims 1 to 3.

7. a center point of the range of the moving body in the horizontal direction and the depth direction is located within the range of the connection part in the horizontal direction and the depth direction; The moving body according to any one of claims 1 to 3.

8. the body includes a leg; The wireless power transmitting device a base including a horizontal landing surface on which the legs are placed when the moving body lands on the wireless power transmitting device; a housing having the power transmission unit configured on at least a portion of an upper surface thereof and fixed on the base; an inner rim fixed on the base and in contact with the landing surface on the housing side; an outer rim fixed on the base, in contact with the landing surface, and facing the inner rim across the landing surface; the outer periphery of the power receiving coil is configured to include a shape that faces the entire power receiving coil when the moving object lands on the wireless power transmitting device in a state where it is moved from the outer rim toward the inner rim by half the distance on the landing surface between the inner rim and the outer rim. The moving body according to any one of claims 1 to 3.

9. A wireless power transmission device capable of supplying power to a moving body capable of flying by horizontal rotors, including a power receiving unit, a power transmission unit including a power transmission coil; When the moving object lands on the wireless power transmitting device, the power transmitting coil transmits power to a power receiving coil included in the power receiving unit; the bottom surface of the power receiving unit contacts the top surface of the power transmitting unit while the moving object descends toward the wireless power transmitting device and lands; a first portion of the top surface of the power transmitting unit, with which the bottom surface of the power receiving unit may come into contact, being made of an elastic material that absorbs impact caused by contact between the power receiving unit and the power transmitting unit; Wireless power transmission device.

10. The elastic body is a silicone sheet or a sponge. The wireless power transmitting device according to claim 9 .

11. a base including a horizontal landing surface on which legs of the moving body are placed when the moving body lands on the wireless power transmitting device; a housing having at least a portion of an upper surface formed by the power transmission unit and fixed on the base unit; an inner rim fixed on the base and in contact with the landing surface on the housing side; an outer rim fixed on the base, in contact with the landing surface, and facing the inner rim across the landing surface; the position, height, and shape of the inner rim and the outer rim are configured such that the feet contact the inner rim and the outer rim to guide the feet above the landing surface and place them on the landing surface; The wireless power transmitting device according to claim 9 or 10.

12. a gap between the inner rim and the outer rim on the landing surface is narrower than twice the allowable range of misalignment between the power receiving coil and the power transmitting coil; The wireless power transmitting device according to claim 11.

13. the first portion includes a portion of an upper surface of the power transmitting unit that comes into contact with a bottom surface of the power receiving unit when the moving object lands on the wireless power transmitting device in a state where the moving object is shifted from the inner rim toward the outer rim by half of a gap between the inner rim and the outer rim on the landing surface. The wireless power transmitting device according to claim 11.

14. the outer periphery of the power transmitting coil has a shape that faces the entire power receiving coil when the moving object lands on the wireless power transmitting device in a state where the moving object is shifted in a direction from the outer rim to the inner rim by half the distance on the landing surface between the inner rim and the outer rim, The wireless power transmitting device according to claim 11.

15. The moving body according to claim 1; The wireless power transmitting device according to claim 9, Wireless power supply system.

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