Moving body

Abstract

To elongate an operation time of a moving body that is operated with electric power of a storage battery.SOLUTION: A moving body according to an embodiment comprises: a rotating body that is rotationally driven to move a position of a main body; a first motor that rotationally drives the rotating body; a power source that supplies the first motor with electric power; a second motor that has a rotating shaft that rotates together with rotation of the rotating shaft of the first motor, which generates electric power accompanying rotation of the rotating shaft and supplies the power source with the electric power; and a control part that controls the first motor and the power source. The power source has: a first storage battery; a second storage battery; a first switcher that switches a storage battery which is used as a power source for the first motor, to the first storage battery or the second storage battery; a battery charger that is operated by output of the second motor as a driving source to charge the first storage battery and the second storage battery with electric power; and a second switcher that connects output of the battery charger to the first storage battery or the second storage battery.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates to a mobile object. [Background technology]

[0002] In recent years, drones have been used in many fields. For example, drones equipped with cameras and remotely controlled are being used to take pictures of places where large manned helicopters cannot fly. Demonstration tests of delivery services using drones are also underway.

[0003] Drones fly by powering their propellers with onboard batteries. To extend a drone's flight time, the battery capacity must be increased. However, the larger the battery capacity, the heavier it becomes. To fly with a heavy battery, larger propellers and motors are required, which increases the drone's manufacturing costs. Increasing the drone's flight time is a major challenge. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-118418 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, mobile objects such as electric scooters, electric bicycles, motorboats, and submarines also run on power stored in storage batteries. Extending the operating time of such mobile objects that run on battery power is also a major challenge.

[0006] The present invention has been made in light of the above-mentioned circumstances, and an object of the present invention is to extend the operating time of a mobile object that operates on power from a storage battery. [Means for solving the problem]

[0007] To solve the above problems, a moving object according to an embodiment includes a rotating body that moves the position of the body by rotating it, a first motor that rotates the rotating body, a power source that supplies power to the first motor, a second motor that has a rotating shaft that rotates in conjunction with the rotation of the rotating shaft of the first motor and generates power as the rotating shaft rotates and supplies the power to the power source, and a controller that controls the first motor and the power source. The power source includes a first storage battery, a second storage battery, a first switch that switches between the first storage battery and the second storage battery as the storage battery used as the power source for the first motor, a battery charger that operates using the output of the second motor as a power source and charges the first storage battery and the second storage battery, and a second switch that connects the output of the battery charger to the first storage battery or the second storage battery. The controller controls the first switch and the second switch. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an external view of a drone according to a first embodiment. FIG. [Figure 2] FIG. 1 is a block diagram of a drone according to a first embodiment. [Figure 3] FIG. 2 is a configuration diagram of a power supply according to the first embodiment. [Figure 4] FIG. 2 is a perspective view of a drive unit according to the first embodiment. [Figure 5] FIG. 2 is a perspective view of a feedback section according to the first embodiment. [Figure 6] FIG. 2 is a diagram for explaining a connection portion according to the first embodiment. [Figure 7] 4 is a flowchart for explaining a power supply switching control process according to the first embodiment. [Figure 8] 4 is a flowchart for explaining a charging control process of a power source according to the first embodiment. [Figure 9] FIG. 10 is a configuration diagram of a power supply according to a second embodiment. [Figure 10] 11 is a graph showing the relationship between the remaining capacity of the battery of a moving body according to the third embodiment and the output voltage of the battery. [Figure 11] FIG. 10 is a diagram for explaining a moving body according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Embodiment 1) In this embodiment, a case where the moving body is a drone will be described as an example. The moving body (drone) according to the embodiment will be described below with reference to the drawings. In the description, an XYZ coordinate system consisting of an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other will be used as appropriate.

[0010] FIG. 1 is an external view of a drone 1 according to an embodiment. The drone 1 has a drone body 10 and multiple propellers 20. Although FIG. 1 illustrates a case in which there are four propellers 20, the number of propellers 20 is not limited. The drone body 10 is equipped with a power source, a control unit, etc.

[0011] 2 is a block diagram of the drone 1 according to the embodiment. The drone 1 includes a power supply 30, a drive unit 40, a propeller 20, a return unit 50, a connection unit 60, and a control unit 70.

[0012] 3 is a configuration diagram of the power supply 30. The power supply 30 has a first battery 311 (first storage battery), a second battery 312 (second storage battery), a first switch 321, a second switch 322, a battery charger 34, and a converter 35. A first current monitor 361 that measures the charging current charged to the first battery 311 is provided on the input side of the first battery 311. A second current monitor 362 that measures the current output from the first battery 311 is provided on the output side of the first battery 311. A third current monitor 363 that measures the charging current charged to the second battery 312 is provided on the input side of the second battery 312. A fourth current monitor 364 that measures the current output from the second battery 312 is provided on the output side of the second battery 312.

[0013] The output of the first switch 321 is connected to the input of the drive unit 40 via terminal P1. Terminal P1 consists of two terminals, a positive terminal and a negative terminal. The input of the converter 35 is connected to the output of the feedback unit 50 (terminals 53a and 53b of the second motor shown in FIG. 5) via terminal P2. The battery charger 34 is connected to commercial power via terminal P3.

[0014] First battery 311 and second battery 312 are configured by, for example, lithium ion batteries. The output voltage of first battery 311 and second battery 312 is a voltage suitable for driving the first motor that configures drive unit 40, and is, for example, a DC voltage of 24V.

[0015] The first switch 321 is a circuit for switching the battery used as the power source for the drive unit 40. The first switch 321 selects either the first battery 311 or the second battery 312 as the power source for the drive unit 40 based on control by the control unit 70. The second switch 322 is a circuit for selecting the battery to be charged by the battery charger 34. The second switch 322 connects the output of the battery charger 34 to the first battery 311 or the second battery 312 based on control by the control unit 70. The first switch 321 and the second switch 322 can be configured with a field effect transistor (FET), a relay, or the like.

[0016] Converter 35 converts the power output by feedback unit 50 into a voltage (current) suitable for the input of battery charger 34. If the output voltage of feedback unit 50 is a voltage suitable for the input of battery charger 34, converter 35 may be omitted.

[0017] The battery charger 34 operates using the output of the feedback unit 50 as a power source via the converter 35, and charges the first battery 311 and the second battery 312 at a charging voltage and charging current suitable for the first battery 311 and the second battery 312. For example, the battery charger 34 charges the first battery 311 and the second battery 312 at a constant charging current. The allowable input voltage of the battery charger 34 is, for example, 100 V to 220 V. The battery charger 34 can input 100 V commercial power via terminal P3. The battery charger 34 can also operate by switching its power source from the output of the feedback unit 50 to the commercial power source based on control by the control unit 70.

[0018] Returning to FIG. 2, the drive unit 40 is composed of a first motor 41. Here, a case where a DC motor is used as the first motor 41 will be described. When an AC motor is used as the first motor 41, a DC / AC converter is provided between the power supply 30 and the first motor 41. FIG. 4 is a perspective view of the first motor 41 constituting the drive unit 40. The first motor 41 drives the propellers 20. A first motor 41 is provided for each of the multiple propellers 20. In this example, since the drone 1 is equipped with four propellers 20, the drive unit 40 includes four first motors 41. The first motor 41 has a rotation shaft 42 whose axial direction is the X-axis. A three-pole rotor is fixed to the rotation shaft 42, and a winding is wound around the rotor. One end of the winding wound around the rotor is connected to terminal 43a, and the other end is connected to terminal 43b. Terminals 43a and 43b are connected to terminal P1 of the power supply 30. The first motor 41 includes a stator (magnet) disposed so as to cover a rotor. The rotor rotates around a rotating shaft 42 in a magnetic field formed by the stator.

[0019] Returning to FIG. 2, the feedback unit 50 is composed of a second motor 51. FIG. 5 is a perspective view of the second motor 51 constituting the feedback unit 50. The second motor 51 is provided corresponding to the first motor 41. Here, since the drive unit 40 includes four first motors 41, the feedback unit 50 includes four second motors 51. The second motor 51 has a rotating shaft 52 whose axis is in the X-axis direction and rotates in conjunction with the rotation of the rotating shaft 42 of the first motor 41. A three-pole rotor is fixed to the rotating shaft 52, and a winding is wound around the rotor. One end of the winding wound around the rotor is connected to terminal 53a, and the other end is connected to terminal 53b. The second motor 51 includes a stator (magnet) arranged to cover the rotor. The rotor rotates around the rotating shaft 52 in a magnetic field formed by the stator. The second motor 51 generates an AC current in the windings wound around the rotor as the rotor rotates in the magnetic field formed by the stator. Terminals 53a and 53b are connected to terminal P2 of the power supply 30.

[0020] Returning to FIG. 2, the connection unit 60 transmits the rotation of the rotating shaft 42 of the first motor 41 to the rotating shaft 52 of the second motor 51. FIG. 6 is a diagram for explaining the connection unit 60. The connection unit 60 is made up of, for example, a first gear 61 and a second gear 62. The first gear 61 is provided to be fitted onto the rotating shaft 42 of the first motor 41. The second gear 62 is provided to be fitted onto the rotating shaft 52 of the second motor 51. The first gear 61 and the second gear 62 are arranged to be fitted onto each other, and the second gear 62 rotates in conjunction with the rotation of the first gear 61. The ratio of the number of teeth of the first gear 61 to the number of teeth of the second gear 62 is defined as N.

[0021] Returning to FIG. 2 , the control unit 70 is composed of a communication unit, a CPU, RAM, ROM, etc. A control program for the drone 1 is stored in the ROM. The control unit 70 controls the flight of the drone 1 by controlling the drive unit 40 to drive the propellers 20 based on control information received by the communication unit. In detail, the control unit 70 interposes an electronic switch or resistor between the power source 30 and the drive unit 40, and controls the current supplied to the first motors 41 that make up the drive unit 40, thereby controlling the rotation speed and on / off of each of the multiple first motors 41. Control of the power source 30 by the control unit 70 will be described later.

[0022] Next, we will explain the operation of the drone 1. Based on control information received by the communication unit, the control unit 70 controls the drive unit 40 to drive the propeller 20. The drone 1 flies based on the rotation of the propeller 20.

[0023] 4, a rotating shaft 42 of a first motor 41 constituting the drive unit 40 is rotated by receiving a supply of electric power from the power supply 30. In detail, the rotating shaft 42 of the first motor 41 rotates based on Fleming's law by a force applied to a winding through which a current flows that is wound around a rotor constituting the first motor 41, from a magnetic field generated by a stator (permanent magnet) constituting the first motor 41.

[0024] The rotating shaft 52 of the second motor 51 rotates at a rotation speed that corresponds to the rotation speed of the rotating shaft 42 of the first motor 41 and the ratio N of the number of teeth of the first gear 61 to the number of teeth of the second gear 62 of the connection part 60. As the windings wound around the rotor fixed to the rotating shaft 52 rotate in a magnetic field formed by the stator (permanent magnet) that constitutes the second motor 51, a current proportional to the rotation speed of the rotating shaft 52 is generated in the windings wound around the rotor of the second motor 51 based on Fleming's law. The second motor 51 charges the power supply 30 with the generated current. Control of the power supply 30 by the control part 70 will be described later.

[0025] Next, the switching control process of the first switch 321 and the second switch 322 by the control unit 70 will be described with reference to the flowchart shown in Fig. 7. Here, the description will start from a state where the first switch 321 selects the first battery 311 and the second switch 322 selects the second battery 312.

[0026] The control unit 70 measures the input / output currents of the first battery 311 and the second battery 312 (step S11). As shown in Fig. 3, a first current monitor 361 that measures the charging current used to charge the first battery 311 is provided on the input side of the first battery 311. A second current monitor 362 that measures the current output from the first battery 311 is provided on the output side of the first battery 311. The control unit 70 calculates the remaining capacity of the first battery 311 based on the measurement values ​​of the first current monitor 361 and the second current monitor 362 (step S12).

[0027] Furthermore, a third current monitor 363 is provided on the input side of the second battery 312 to measure the charging current used to charge the second battery 312. A fourth current monitor 364 is provided on the output side of the second battery 312 to measure the current output from the second battery 312. The control unit 70 calculates the remaining capacity of the second battery 312 based on the measurement values ​​of the third current monitor 363 and the fourth current monitor 364 (step S12).

[0028] Next, the control unit 70 determines whether the remaining capacity of the battery selected by the first switch 321 is equal to or greater than a threshold (step S13). In this case, the first switch 321 selects the first battery 311, so the control unit 70 determines whether the remaining capacity of the first battery 311 is equal to or greater than a threshold. The threshold is, for example, a value such as 40% or 20%, where 100% represents a fully charged battery. If the remaining capacity of the first battery 311 is equal to or greater than the threshold (step S13: Yes), the control unit 70 maintains the connection state of the first switch 321 and the second switch 322.

[0029] On the other hand, if the remaining battery capacity is less than the threshold value (step S13: No), the control unit 70 performs switching control of the first switch 321 and the second switch 322 (step S14). Specifically, because the first switch 321 is in a state in which the first battery 311 and the drive unit 40 are connected (because the first switch 321 is in a state in which the first battery 311 is selected), the control unit 70 controls the first switch 321 to connect the second battery 312 to the drive unit 40. Also, because the second switch 322 is in a state in which the battery charger 34 and the second battery 312 are connected (because the second switch 322 is in a state in which the second battery 312 is selected), the control unit 70 controls the second switch 322 to connect the battery charger 34 and the first battery 311.

[0030] When the first switch 321 selects the second battery 312 and the second switch 322 selects the first battery 311, the control unit 70 performs control in the above explanation by replacing the first battery 311 with the second battery 312.

[0031] Next, the charging control process from the battery charger 34 to the battery by the control unit 70 will be described with reference to the flowchart shown in Fig. 8. Here, the description will start from a state in which the battery charger 34 is operating based on the output of the feedback unit 50, the first switch 321 selects the first battery 311, and the second switch 322 selects the second battery 312.

[0032] The control unit 70 determines whether the remaining capacity of both the first battery 311 and the second battery 312 is less than a threshold value (step S31). The control unit 70 determines whether the remaining capacity of the first battery 311 and the second battery 312 is less than a threshold value based on the history of the charge and discharge currents measured by the first current monitor 361, the second current monitor 362, the third current monitor 363, and the fourth current monitor 364.

[0033] If the remaining capacity of both the first battery 311 and the second battery 312 is less than the threshold (step S31: Yes), this means that the energy held by the power source 30 is insufficient, and the drone 1 cannot continue flying. In this case, it is necessary to replenish the energy to the power source 30 from an external source. Therefore, when the drone 1 is flying, the control unit 70 controls the drone 1 to move to a base where it can be charged (step S32). Note that the threshold in step S31 and the threshold in step S13 may be different values. For example, the threshold in step S31 may be set according to the distance between the drone 1 and the base, taking into account the power required for the drone 1 to return to the base.

[0034] When the drone 1 returns to the base, a commercial power source is connected to the power source 30 of the drone 1. Then, the control unit 70 performs control to switch the input of the battery charger 34 from the return unit 50 to the commercial power source (step S33). This switching control may be performed by a person operating a switch or the like.

[0035] On the other hand, if the remaining capacity of either the first battery 311 or the second battery 312 is equal to or greater than the threshold (step S31: No), the drone 1 can continue flying. The control unit 70 determines whether the remaining capacity of the battery not selected by the first switch 321 (here, the second battery 312) is less than the threshold (step S34). If the remaining battery capacity is equal to or greater than the threshold (step S34: No), the control unit 70 controls the second switch 322 or the battery charger 34 to stop charging the second battery 312 (step S35). This threshold is set so that the remaining battery capacity is a predetermined remaining capacity (e.g., 80% or 90%) of the fully charged state. This control makes it possible to prevent the battery from being overcharged, thereby reducing accidents caused by battery damage.

[0036] Hysteresis may be applied to the threshold value as a condition for resuming charging. For example, if the threshold value for stopping charging is a remaining capacity equivalent to 90% of the full charge state, the threshold value for resuming charging may be set to a remaining capacity equivalent to 80% of the full charge state.

[0037] On the other hand, if the remaining capacity of the battery is less than the threshold (step S34: Yes), the control unit 70 charges the battery not selected by the first switch 321 (step S36). The control unit 70 continues the processes from step S31 to step S36.

[0038] As described above, the drone 1 according to the embodiment is provided with the feedback unit 50, thereby making effective use of the thermal energy lost by the first motor 41. The energy supplied from the power source 30 to the first motor 41 of the drive unit 40 is used to drive the propeller 20. However, part of the energy supplied to the first motor 41 is lost as thermal energy in the first motor 41. The drone 1 according to the embodiment returns part of the rotational energy of the first motor 41 to the power source 30 via the second motor 51, thereby making effective use of the thermal energy lost by the first motor 41 and thereby enabling the flight time of the drone 1 to be extended.

[0039] Furthermore, the power supply 30 of the drone 1 according to the embodiment switches between using the first battery 311 and the second battery 312. With this configuration, the battery mounted on the drone 1 can be charged while being used.

[0040] If the rotation speed of the second motor 51 changes suddenly, the second motor 51 may output large amounts of power (voltage and current). Depending on the circuit configuration, charging a storage battery while discharging it can apply an overcurrent or overvoltage to semiconductors, such as diodes, that make up the circuit separating charging and discharging. Semiconductor elements, such as diodes, often break in a short circuit mode when voltages or currents exceeding their absolute ratings are applied. If diodes or other components of the storage battery break in a short circuit mode, this could result in a battery smoke or fire accident. The power supply 30 of the drone 1 according to the embodiment charges the battery via the battery charger 34, preventing the large amounts of power (voltage and current) output by the second motor 51 from being applied to the battery. Furthermore, the power supply 30 of the drone 1 according to the embodiment physically separates the battery being discharged from the battery being charged by using a first switch 321 and a second switch 322. This prevents the battery from smoking or catching fire.

[0041] In the above description, the present invention has been described as being applied to a drone as an example of a moving object, but it can also be applied to a helicopter or a propeller airplane. In the case of large aircraft such as a helicopter or a propeller airplane, the first motor 41 is often operated by an AC power source. In this case, a DC / AC converter is provided in the drive unit 40.

[0042] In the above description, the first motor 41 of the drive unit 40 is rotated using electrical energy from the power supply 30 as its power source. However, the first motor 41 may be powered by other energy sources. For example, in the case of a helicopter or a propeller airplane, the first motor 41 may be a motor powered by aviation jet fuel.

[0043] 8, the control unit 70 determines whether the remaining capacity of both the first battery 311 and the second battery 312 is less than the threshold. However, in the process of step S31, the control unit 70 may compare the total remaining capacity of both the first battery 311 and the second battery 312 with a predetermined threshold.

[0044] Furthermore, the above explanation is based on the assumption that the battery that is not being used is charged to a predetermined amount before switching is performed between the first switch 321 and the second switch 322. If this assumption is not true, the first switch 321 may select the battery with the greater remaining capacity.

[0045] In the above description, the allowable input voltage of the battery charger 34 is, for example, 100 V to 220 V, but this does not necessarily mean that it is limited to this. For example, if the converter 35 is configured as an AC / DC converter, the input of the battery charger 34 may be a DC voltage.

[0046] The drone 1 can operate even when the power source 30 is equipped with only one of the first battery 311 or the second battery 312. When there is only one battery, the drone 1 operates as if the other battery has no remaining capacity, for example.

[0047] (Liquid 2) In the above description, the power supply 30 has two batteries, the first battery 311 and the second battery 312. In the second embodiment, the power supply 30 has one battery.

[0048] Fig. 9 is a configuration diagram of a power supply 30 according to the second embodiment. Compared to the power supply 30 according to the first embodiment shown in Fig. 3, the first switch 321, the second switch 322, the first current monitor 361, the second current monitor 362, the third current monitor 363, and the fourth current monitor 364 can be omitted. In this case, there is no need to perform battery switching control, so the processing load on the control unit 70 can be reduced, but compared to the mobile object according to the first embodiment, the operating time of the mobile object operating on the power of the power supply 30 is shorter.

[0049] Although the second embodiment has been described with respect to a case where two batteries are used, the number of batteries may be three or four. The more batteries there are, the greater the storage capacity becomes, and the longer the operating time of the mobile object can be. Also, a capacitor may be added to the output of the battery.

[0050] (Embodiment 3) In the first embodiment, a technique for calculating the remaining capacity of a battery based on the input / output current to the battery has been described. In the third embodiment, another technique for estimating the remaining capacity of a battery will be described.

[0051] Figure 10 is a graph showing the relationship between the remaining battery capacity and the battery output voltage. When a battery is fully charged, the battery output voltage tends to be high. The battery output voltage gradually decreases according to the remaining capacity. When the battery runs out of capacity, the output voltage tends to drop sharply. By focusing on this battery voltage characteristic, the remaining battery capacity can be estimated.

[0052] The power supply 30 of the drone 1 according to the third embodiment includes a first voltage monitor that monitors the output voltage of the first battery 311 and a second voltage monitor that monitors the output voltage of the second battery 312. The control unit 70 estimates the remaining capacity of the first battery 311 based on the output voltage of the first battery 311, and estimates the remaining capacity of the second battery 312 based on the output voltage of the second battery 312. When the output voltage of the battery reaches a predetermined threshold voltage 2 shown in Fig. 10, the control unit 70 performs switching control of the first switch 321 and the second switch 322. The threshold voltage 2 is set to, for example, a voltage value when the remaining capacity of the battery is a predetermined remaining capacity (e.g., 40%, 20%, etc.).

[0053] Furthermore, in the process of step S34 shown in Fig. 8, the control unit 70 determines whether the output voltage of the battery is equal to or greater than the threshold voltage 1 shown in Fig. 10. The threshold voltage 1 is set to a voltage value when the remaining capacity of the battery is a predetermined remaining capacity (e.g., 80% or 90%) of the fully charged state.

[0054] In the configuration of the first embodiment, four current monitors were required to monitor the battery state. Furthermore, the control unit 70 had to constantly calculate the remaining battery capacity, which placed a heavy processing load on the control unit 70. In the configuration of the third embodiment, two voltage monitors are sufficient to monitor the battery state. The processing load on the control unit 70 can be reduced by switching between the first switch 321 and the second switch 322 when the remaining battery capacity falls below a threshold.

[0055] (Embodiment 4) In the above description, the first motor 41 rotates the rotary shaft 52 of the second motor 51 via the connecting portion 60 made up of the first gear 61 and the second gear 62. However, the connecting portion 60 may be omitted. For example, as shown in FIG. 11 , the +X side end of the rotary shaft 42 of the first motor 41 and the −X side end of the rotary shaft 52 of the second motor 51 may be directly connected. Alternatively, the rotary shaft 42 of the first motor 41 may be elongated, and the rotor of the second motor 51 may be fixed to the rotary shaft 42.

[0056] (Embodiment 5) In the explanations of the first to fourth embodiments, the mobile object is an air vehicle such as a drone, helicopter, or propeller airplane that flies using a propeller. In the fifth embodiment, the mobile object is a mobile object that moves on or underwater, such as a motorboat or submarine. When the present invention is used in a mobile object that moves on or underwater, such as a motorboat or submarine, the "rotating object that moves the position of the main body by being rotationally driven" is a screw. In the case of large aircraft such as a motorboat or submarine, the first motor 41 is often operated by an AC power source. In this case, a DC / AC converter is provided in the drive unit 40.

[0057] Providing the feedback unit 50 makes it possible to effectively utilize the thermal energy dissipated by the first motor 41. Specifically, by feeding back a portion of the rotational energy of the first motor 41 to the power source 30 via the second motor 51, it is possible to extend the operating time of a mobile object that moves underwater or on the surface of water, such as a motorboat or submarine.

[0058] When this invention is applied to a submarine, it is possible to effectively utilize the thermal energy that would otherwise be lost in the drive unit (motor) that moves the submarine, thereby reducing the temperature rise of the submarine and preventing the submarine's position from being identified by a thermal sensor.

[0059] In the description of the fifth embodiment, the first motor 41 of the drive unit 40 is rotated using electrical energy from the power source 30 as a power source. However, the first motor 41 may be powered by other energy sources. For example, in the case of a motorboat, the first motor 41 may be a motor powered by gasoline or diesel. In the case of a submarine, the first motor 41 may be a motor powered by nuclear fuel.

[0060] (Embodiment 6) In the explanation of the first to fourth embodiments, the mobile object is an air vehicle such as a drone, helicopter, or propeller airplane that flies using a propeller. In the sixth embodiment, the mobile object is an electric scooter, an electric bicycle, or other mobile object that travels on the ground. When the present invention is used for a mobile object that travels on the ground, such as an electric scooter or an electric bicycle, the "rotating object that moves the position of the main body by being driven to rotate" is a wheel (tire). The rest of the explanation is the same as that of the first to fourth embodiments.

[0061] Providing the feedback unit 50 makes it possible to effectively utilize the thermal energy dissipated by the first motor 41. Specifically, by feeding back a portion of the rotational energy of the first motor 41 to the power source 30 via the second motor 51, it is possible to extend the operating time of a mobile object that travels on the ground, such as an electric scooter or an electric bicycle.

[0062] 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 may be embodied in various other forms, and various omissions, substitutions, and modifications may 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 set forth in the claims. [Explanation of symbols]

[0063] 1. Drone 10...Drone body 20...Propeller 30...Power supply 311...First battery (first storage battery) 312...Second battery (second storage battery) 321...First switch 322...Second switch 34...Battery charger 35...Converter 361...First current monitor 362...Second current monitor 363...Third current monitor 364...4th current monitor 40...Drive unit 41...First motor 42...rotation shaft of first motor 50...Return section 51...Second motor 52...rotating shaft of second motor 60...Connection 61...First gear 62...Second gear 70...Control unit

Claims

1. A rotating body that moves the position of the main body by being driven to rotate; a first motor that rotates the rotating body; a power supply that supplies power to the first motor; a second motor having a rotary shaft that rotates in conjunction with the rotation of the rotary shaft of the first motor, generating electric power in response to the rotation of the rotary shaft and supplying the electric power to the power source; a control unit that controls the first motor and the power source; and The power supply A first storage battery; A second storage battery; a first switch that switches the storage battery used as a power source for the first motor between the first storage battery and the second storage battery; a battery charger that operates using the output of the second motor as a power source and charges the first storage battery and the second storage battery; a second switch that connects the output of the battery charger to the first storage battery or the second storage battery; and The control unit controls the first switch and the second switch. Mobile object.

2. A rotating body that moves the position of the main body by being driven to rotate; a first motor that rotates the rotating body; a power supply that supplies power to the first motor; a second motor having a rotary shaft that rotates in conjunction with the rotation of the rotary shaft of the first motor, generating electric power in response to the rotation of the rotary shaft and supplying the electric power to the power source; and The power supply A first storage battery; a battery charger that operates using the output of the second motor as a power source and charges the first storage battery; A mobile object having the above configuration.

3. the rotating body is a propeller, The main body is either a drone or a helicopter that flies in the air, a motorboat that moves on the water, or a submarine that moves underwater.

3. A moving body according to claim 1 or 2.

4. the rotating body is a tire, The main body is an electric scooter or electric bicycle that travels on the ground.

3. A moving body according to claim 1 or 2.

5. When the remaining capacity of the first storage battery or the second storage battery selected by the first switch becomes equal to or less than a predetermined threshold, the control unit controls the first switch to select the first storage battery or the second storage battery that was not selected by the first switch before switching. The moving body according to claim 1 .

6. a first current monitor that monitors a charging current to the first storage battery; a second current monitor that measures a current output from the first storage battery; a third current monitor that monitors a charging current to the second storage battery; a fourth current monitor that measures a current output from the second storage battery; Equipped with the control unit estimates a remaining capacity of the first storage battery based on the charging current to the first storage battery and a current output from the first storage battery, and estimates a remaining capacity of the second storage battery based on the charging current to the second storage battery and a current output from the second storage battery. The moving body according to claim 1 .

7. a first voltage monitor that monitors the output voltage of the first storage battery; a second voltage monitor that monitors the output voltage of the second storage battery; Equipped with the control unit estimates a remaining capacity of the first storage battery based on an output voltage of the first storage battery, and estimates a remaining capacity of the second storage battery based on an output voltage of the second storage battery; The moving body according to claim 1 .

8. the control unit controls the second switch to connect the output of the battery charger to the first storage battery or the second storage battery that is not selected by the first switch. The moving body according to claim 1 .

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