Charging device

Abstract

To provide a charger capable of smoothly performing wireless charging of an unmanned missile even when accuracy of flight orbit control of the unmanned missile in landing is low.SOLUTION: A charger charges an unmanned missile having a power reception part and comprises a solid body, a mobile which has a landing surface including a landing target position being a target of landing of the unmanned missile and moves relatively to the solid body and is stored in the solid body, a power transmission part which is fixed to the solid body and transmits power to the power reception part, and a positioning mechanism which slides the unmanned missile which has landed on the landing surface to a charge position at which the power transmission part can transmit power to the power reception part according as the mobile is stored in the solid body the relative displacement.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a charging device. [Background technology]

[0002] Conventionally, wireless charging technology using a charging pad based on the Qi standard or the like has been known. It is conceivable to use such wireless charging technology to charge an unmanned aerial vehicle (a so-called drone; for example, see Patent Document 1). Specifically, it is conceivable to attach a power receiving unit to the unmanned aerial vehicle, bring a power transmitting unit close to the power receiving unit, and transmit power from the power transmitting unit to the power receiving unit to charge the unmanned aerial vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-41820 Summary of the Invention [Problem to be solved by the invention]

[0004] However, unmanned aerial vehicles are generally affected by winds blowing up from the surrounding area near the landing point, making it difficult to precisely control the flight trajectory of the unmanned aerial vehicle when it lands (this phenomenon is commonly referred to as "ground effect"). Therefore, it is difficult to accurately land the unmanned aerial vehicle at a charging position where the power transmitting unit can transmit power to the power receiving unit. Therefore, in order to smoothly charge an unmanned aerial vehicle using the wireless charging technology described above, it is preferable to position the power receiving unit and the power transmitting unit after the unmanned aerial vehicle has landed.

[0005] The present invention has been made taking these circumstances into consideration, and aims to provide a charging device that can smoothly perform wireless charging of an unmanned aerial vehicle even when the accuracy of flight trajectory control during landing of the unmanned aerial vehicle is low. [Means for solving the problem]

[0006] In order to solve the above problem, the charging device of aspect 1 of the present invention is a charging device that charges an unmanned aerial vehicle having a power receiving unit, and comprises: a fixed body; a mobile body having a landing surface including a landing target position that is the target for landing of the unmanned aerial vehicle, and moving relative to the fixed body and being stored in the fixed body; a power transmission unit fixed to the fixed body and transmitting power to the power receiving unit; and a positioning mechanism that slides the unmanned aerial vehicle that has landed on the landing surface on the landing surface to a charging position where the power transmission unit can transmit power to the power receiving unit as the mobile body is stored in the fixed body by the relative movement.

[0007] According to the first aspect of the present invention, even if the accuracy of the flight trajectory control of the unmanned aerial vehicle is low and the landing position of the unmanned aerial vehicle is shifted, the positioning mechanism can move the unmanned aerial vehicle to the charging position. Therefore, wireless charging of the unmanned aerial vehicle can be smoothly performed using the power transmitting unit and the power receiving unit.

[0008] In addition, according to a second aspect of the present invention, in the charging device of the first aspect, the landing target position and the charging position are different from each other.

[0009] Furthermore, in aspect 3 of the present invention, in the charging device of aspect 1 or aspect 2, when the direction of relative movement of the movable body with respect to the fixed body is defined as a first direction, the positioning mechanism includes a first contact portion having a first contact surface extending in a second direction intersecting the first direction on the landing surface and not moving relative to the fixed body, and a second contact portion having a second contact surface inclined with respect to the first direction so as to approach the charging position in the second direction as the movable body moves in a direction opposite to the direction in which it is stored in the fixed body and not moving relative to the movable body.

[0010] A fourth aspect of the present invention is the charging device of the third aspect, wherein the second contact surface extends linearly in a plan view.

[0011] Furthermore, aspect 5 of the present invention is a charging device according to aspect 3 or 4, wherein the positioning mechanism has a third contact surface inclined with respect to the first direction so as to approach the charging position in the second direction as the moving body moves in a direction opposite to the direction in which the moving body is stored in the fixed body, and further includes a third contact portion that does not move relative to the moving body, and the second contact surface and the third contact surface are located on opposite sides of a reference line that passes through the charging position and extends in the first direction in a planar view.

[0012] A sixth aspect of the present invention is the charging device of the fifth aspect, wherein the second contact surface and the third contact surface extend symmetrically with respect to the reference line in a plan view.

[0013] A seventh aspect of the present invention is the charging device of the fifth or sixth aspect, wherein the third contact surface extends linearly in a plan view. [Effects of the Invention]

[0014] According to the above aspect of the present invention, a charging device can be provided that can smoothly wirelessly charge an unmanned aerial vehicle even if the accuracy of flight trajectory control during landing of the unmanned aerial vehicle is low. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a perspective view showing a charging device according to an embodiment of the present invention; [Figure 2] 2 is a view of the fixed body according to the embodiment of the present invention as seen from the direction of the arrow II shown in FIG. 1. [Figure 3] 3 is a view of the moving body according to the embodiment of the present invention as seen from the direction of the arrow III shown in FIG. 1. [Figure 4] FIG. 4 is a cross-sectional view taken along line IV-IV shown in FIG. [Figure 5] 2 is a view of the moving body according to the embodiment of the present invention as seen from the arrow V shown in FIG. [Figure 6A] 5A to 5C are diagrams illustrating the operation of the positioning mechanism according to the embodiment of the present invention. [Figure 6B]FIG. 6B is a diagram showing a state subsequent to FIG. 6A. [Figure 6C] FIG. 6B shows a state following FIG. 6B. [Figure 6D] FIG. 6B is a diagram showing a state subsequent to FIG. 6C. [Figure 6E] FIG. 6B is a diagram showing the state following FIG. 6D. [Figure 7] FIG. 10 is a diagram showing a charging device according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, a charging device according to an embodiment of the present invention will be described with reference to the drawings.

[0017] 1, the charging device 1 according to this embodiment includes a fixed body 10, a mobile body 20, a power transmitting unit 30, a first contact portion 41, a second contact portion 42, a third contact portion 43, and a pair of rails 50. The fixed body 10 has a storage space H in which the mobile body 20 is stored. The mobile body 20 has a landing surface S1 on which an unmanned aerial vehicle 2 having a power receiving unit 60 lands.

[0018] The pair of rails 50 are arranged parallel to each other with a gap between them. The mobile body 20 of this embodiment moves along the pair of rails 50, thereby moving relative to the fixed body 10 in one direction. Furthermore, each rail 50 extends from inside the storage space H to outside the storage space H. The mobile body 20 of this embodiment is stored in the fixed body 10 by moving along the rails 50 from outside the storage space H into the storage space H. When the unmanned aerial vehicle 2 has landed on the mobile body 20, the unmanned aerial vehicle 2 is stored in the fixed body 10 together with the mobile body 20.

[0019] (direction definition) Here, in this embodiment, the direction of the relative movement of the movable body 20 with respect to the fixed body 10 is referred to as the first direction X. That is, in this embodiment, the first direction X is the direction in which the rail 50 extends. Along the first direction X, the direction opposite to the direction in which the movable body 20 is stored in the fixed body 10 is referred to as the forward direction, and is represented by the +X direction in the drawings. That is, in this embodiment, "forward" means the direction in which the rail 50 extends from the fixed body 10. Along the first direction X, the direction in which the movable body 20 is stored in the fixed body 10 is referred to as the rearward direction, and is represented by the -X direction in the drawings. Furthermore, a direction intersecting (e.g., perpendicular to) the first direction X on the landing surface S1 is referred to as the second direction Y. In other words, the second direction Y is a direction parallel to the landing surface S1 and intersecting the first direction X. One direction in the second direction Y is referred to as the left, and is represented by the +Y direction in the drawings. Furthermore, the direction opposite to left is referred to as right and is represented by the -Y direction in the drawings. The direction perpendicular to both the first direction X and the second direction Y is referred to as the third direction Z. One direction in the third direction Z is referred to as upward and is represented by the +Z direction in the drawings. The direction opposite to upward is referred to as downward and is represented by the -Z direction in the drawings. Viewing from the third direction Z is called planar view. The first direction X and the second direction Y are, for example, horizontal directions. The third direction Z is, for example, vertical directions. However, the first direction X or the second direction Y may be inclined relative to the horizontal direction, and the third direction Z may be inclined relative to the vertical direction.

[0020] The fixed body 10 is a member fixed to a mounting surface. In this specification, the term "mounting surface" refers to the surface on which the fixed body 10 is placed. For example, when the charging device 1 is used outdoors, the term "mounting surface" may refer to the ground, a paved surface, or the like. When the charging device 1 is used indoors, the term "mounting surface" may refer to the floor surface of a building, or the like. The fixed body 10 is in contact with the mounting surface, for example, and is fixed to the mounting surface by the action of gravity. However, the fixed body 10 may also be fixed to the mounting surface by a fixing mechanism such as a screw.

[0021] As shown in FIGS. 1 and 2 , the stationary body 10 according to this embodiment has a first tabletop portion 11, a second tabletop portion 12, and a plurality of pillar portions 13. Each of the first tabletop portion 11 and the second tabletop portion 12 according to this embodiment is a member extending in a first direction X and a second direction Y. Specifically, each of the first tabletop portion 11 and the second tabletop portion 12 according to this embodiment is a rectangular member whose long sides extend in the second direction Y and whose short sides extend in the first direction X in a plan view. Furthermore, the second tabletop portion 12 according to this embodiment is located lower than the first tabletop portion 11 and is located rearward of the first tabletop portion 11.

[0022] Each pillar 13 is a pillar-shaped member that contacts the placement surface and extends upward, and is connected to the first top plate 11 or the second top plate 12. The pillars 13 thus support the first top plate 11 and the second top plate 12. The pillars 13 according to this embodiment include four long pillars 13a and two short pillars 13b. The four long pillars 13a are connected to four corners of the first top plate 11. The rearmost one of the four long pillars 13a is also connected to two frontmost corners of the second top plate 12. The two short pillars 13b are connected to two rearmost corners of the second top plate 12. In other words, the first top plate portion 11 in this embodiment is supported by four long pillars 13a, and the second top plate portion 12 in this embodiment is supported by two long pillars 13a and two short pillars 13b.

[0023] 1 and 3, the moving body 20 according to this embodiment has a plate portion 21 and a plurality of wheels 22. The plate portion 21 according to this embodiment is a plate-shaped member extending in a first direction X and a second direction Y. Specifically, the plate portion 21 according to this embodiment is a rectangular member with a long side extending in the first direction X and a short side extending in the second direction Y in a plan view. The landing surface S1 described above is provided on the upper surface of the plate portion 21.

[0024] The plurality of wheels 22 are provided on both side edges of the plate portion 21 in the second direction Y. Specifically, the movable body 20 according to this embodiment has four wheels 22, including two wheels 22 provided on the left edge of the plate portion 21 so as to be spaced apart from each other in the first direction X, and two wheels 22 provided on the right edge of the plate portion 21 so as to be spaced apart from each other in the first direction X. Each wheel 22 rolls along the rail 50. This causes the movable body 20 to move in the first direction X along the rail 50. In other words, the movable body 20 moves relative to the fixed body 10 in the first direction X. However, as long as the movable body 20 is movable along the rail 50, the number and positions of the wheels 22 can be changed as appropriate.

[0025] The unmanned aerial vehicle 2 is configured to fly by remote control without a human on board. The unmanned aerial vehicle 2 has, for example, multiple rotors (see FIG. 1) that rotate using electricity, and a storage battery (not shown) that supplies power to each rotor. Note that the shape and configuration of the unmanned aerial vehicle 2 are not limited to the example shown in the figure, and can be modified as appropriate.

[0026] As shown in FIG. 1 , the unmanned aerial vehicle 2 has a power receiving unit 60. The power receiving unit 60 receives power wirelessly from the power transmitting unit 30. The power receiving unit 60 is electrically connected to the storage battery, and the power receiving unit 60 supplies the power received from the power transmitting unit 30 to the storage battery. The power receiving unit 60 is fixed to the housing of the unmanned aerial vehicle 2, for example, with a fastener such as tape, string, or screw. In this embodiment, the power receiving unit 60 is fixed to the top surface of the unmanned aerial vehicle 2 with a fastener (not shown). However, the power receiving unit 60 may also be built into the unmanned aerial vehicle 2. The fixing location of the power receiving unit 60 is not limited to the top surface of the unmanned aerial vehicle 2, and can be changed as needed to a location where the power receiving unit 60 and the power transmitting unit 30 can transmit and receive power in a predetermined positional relationship.

[0027] The power transmitting unit 30 transmits power wirelessly to the power receiving unit 60. Specifically, the power transmitting unit 30 and the power receiving unit 60 according to this embodiment transmit and receive power by electromagnetic induction. That is, a magnetic field generated by a coil (not shown) of the power transmitting unit 30 penetrates a coil (not shown) of the power receiving unit 60, and the magnetic field changes over time, generating an electromotive force in the power receiving unit 60. This allows power to be transmitted from the power transmitting unit 30 to the power receiving unit 60. Each of the power transmitting unit 30 and the power receiving unit 60 is, for example, a charging pad conforming to the Qi standard. The power transmitting unit 30 transmits power to the power receiving unit 60 when the power transmitting unit 30 and the power receiving unit 60 are in a predetermined positional relationship. Here, the "predetermined positional relationship" means, for example, that the power transmitting unit 30 and the power receiving unit 60 are in a positional relationship such that when the coil of the power transmitting unit 30 generates a magnetic field, the magnetic field penetrates the coil of the power receiving unit 60.

[0028] 2, the power transmission unit 30 is fixed to the fixed body 10. Specifically, the power transmission unit 30 according to this embodiment is suspended below the first top panel 11 by a suspension part 14 fixed to the first top panel 11. However, the position of the power transmission unit 30 is not limited to the example shown in the figure, and can be changed as appropriate to a position where the power receiving unit 60 and the power transmission unit 30 can transmit and receive power in a predetermined positional relationship.

[0029] As shown in FIGS. 2 and 4, the first contact portion 41 according to this embodiment is a rod-shaped member that extends linearly in the second direction Y. The first contact portion 41 is, for example, a round rod-shaped member that has a circular shape in a cross-sectional view. The first contact portion 41 does not move relative to the fixed body 10. Specifically, the first contact portion 41 according to this embodiment is fixed to the fixed body 10. More specifically, the first contact portion 41 according to this embodiment is fixed to the front surface of the second top panel portion 12 by a fixing device (not shown).

[0030] The first contact portion 41 has a first contact surface 41a. The first contact surface 41a is a surface that can come into contact with the unmanned aerial vehicle 2 during the positioning process described below. The first contact surface 41a according to this embodiment is the front side surface of the first contact portion 41, and extends linearly in the second direction Y in a plan view. Also, as shown in FIG. 4, the first contact surface 41a is located behind the power transmission unit 30 in a plan view.

[0031] As shown in Fig. 5, the second contact portion 42 according to this embodiment is a rod-like member that extends linearly. The second contact portion 42 is, for example, a round rod-like member that has a circular shape in a cross-sectional view. The second contact portion 42 does not move relative to the movable body 20. Specifically, the second contact portion 42 according to this embodiment is fixed to the movable body 20. More specifically, the second contact portion 42 according to this embodiment is fixed to the upper surface of the plate portion 21 by a fixing device (not shown).

[0032] As shown in Fig. 5, the third contact portion 43 according to this embodiment is a rod-like member that extends linearly. The third contact portion 43 is, for example, a round rod-like member that has a circular shape in a cross-sectional view. The third contact portion 43 does not move relative to the movable body 20. Specifically, the third contact portion 43 according to this embodiment is fixed to the movable body 20. More specifically, the third contact portion 43 according to this embodiment is fixed to the upper surface of the plate portion 21 by a fixing device (not shown).

[0033] As shown in Fig. 5, the second contact portion 42 according to this embodiment extends to connect the right edge (-Y side edge) and the front edge (+X side edge) of the plate portion 21 in a plan view. Also, as shown in Fig. 5, the third contact portion 43 according to this embodiment extends to connect the left edge (+Y side edge) and the front edge (+X side edge) of the plate portion 21 in a plan view. As a result, each of the second contact portion 42 and the third contact portion 43 according to this embodiment extends at an angle with respect to the first direction X. Also, the second contact portion 42 and the third contact portion 43 extend such that the distance between them in the second direction Y narrows as they extend forward.

[0034] The second contact portion 42 has a second contact surface 42a. The second contact surface 42a is a surface that can come into contact with the unmanned aerial vehicle 2 during the positioning process described below. The second contact surface 42a in this embodiment is the side of the second contact portion 42 that faces the landing surface S1 (detailed definition will be described later) and extends linearly in a plan view. Like the second contact portion 42, the second contact surface 42a is inclined with respect to the first direction X.

[0035] The third contact portion 43 has a third contact surface 43a. The third contact surface 43a is a surface that can come into contact with the unmanned aerial vehicle 2 during the positioning process described below. The third contact surface 43a in this embodiment is the side surface of the third contact portion 43 that faces the landing surface S1 (detailed definition will be described later) and extends linearly in a plan view. Like the third contact portion 43, the third contact surface 43a is inclined with respect to the first direction X.

[0036] The second contact portion 42 and the third contact portion 43 divide the upper surface of the plate portion 21 into two prohibited landing surfaces S2a and S2b and the landing surface S1 described above. Specifically, the first prohibited landing surface S2a is a triangular area surrounded by the right edge (-Y side edge), front edge (+X side edge) of the plate portion 21, and the second contact portion 42 in a plan view. The second prohibited landing surface S2b is a triangular area surrounded by the left edge (+Y side edge), front edge (+X side edge) of the plate portion 21, and the third contact portion 43 in a plan view. The landing surface S1 is the area of ​​the plate portion 21 other than the two prohibited landing surfaces S2a and S2b. The landing surface S1 is a surface on which the unmanned aerial vehicle 2 is permitted to land. On the other hand, the prohibited landing surfaces S2a and S2b are surfaces on which the unmanned aerial vehicle 2 is not permitted to land. The landing surface S1 includes a landing target position P1 that is the target for landing of the unmanned aerial vehicle 2.

[0037] Furthermore, the landing surface S1 according to this embodiment can be subdivided into an expected landing area S1a and a positioning area S1b. The positioning area S1b is an area that overlaps with the second contact surface 42a or the third contact surface 43a in the second direction Y in a plan view. In other words, the positioning area S1b is an area sandwiched between the second contact surface 42a and the third contact surface 43a in a plan view. The positioning area S1b according to this embodiment is a trapezoidal area having upper and lower bases that are parallel to the second direction Y.

[0038] The assumed landing area S1a is an area of ​​the landing surface S1 other than the positioning area S1b. The assumed landing area S1a in this embodiment is a rectangular or square area having sides extending in the first direction X and sides extending in the second direction Y. The above-mentioned landing target position P1 is located at the center of the assumed landing area S1a. The assumed landing area S1a is an area of ​​the landing surface S1 where the unmanned aerial vehicle 2 is assumed to land. The size of the assumed landing area S1a is set, for example, taking into account the size of the unmanned aerial vehicle 2 and the landing error.

[0039] The above-described first contact portion 41, second contact portion 42, and third contact portion 43 act as a positioning mechanism 40 that slides the unmanned aerial vehicle 2 that has landed on the landing surface S1 to the charging position P2 as the mobile body 20 is stored in the fixed body 10. In other words, the charging device 1 according to this embodiment is equipped with a positioning mechanism 40, and the positioning mechanism 40 includes the first contact portion 41, the second contact portion 42, and the third contact portion 43.

[0040] Here, the charging position P2 is a position on the landing surface S1, where the power transmitting unit 30 can transmit power to the power receiving unit 60 when the moving body 20 is stored in the fixed body 10 (see also FIG. 6E). The charging position P2 is located within the positioning area S1b. Hereinafter, a line (imaginary line) that passes through the charging position P2 and extends in the first direction X may be referred to as the reference line O. In this embodiment, the reference line O is also a straight line connecting the midpoint of the front edge and the midpoint of the rear edge of the plate portion 21. In other words, the charging position P2 according to this embodiment is located at the center of the landing surface S1 in the second direction Y. Furthermore, in this embodiment, the landing target position P1 described above is located on the reference line O. The landing target position P1 and the charging position P2 are different positions.

[0041] Each of the second contact surface 42a and the third contact surface 43a described above is inclined with respect to the first direction X so as to approach the charging position P2 (reference line O) in the second direction Y as it moves forward. Furthermore, the second contact surface 42a and the third contact surface 43a are located on opposite sides of the reference line O in a plan view. More specifically, the second contact surface 42a and the third contact surface 43a according to this embodiment extend line-symmetrically with respect to the reference line O in a plan view.

[0042] 6A to 6E, the operation of the positioning mechanism 40 having the first contact portion 41, the second contact portion 42, and the third contact portion 43 will be described. In this specification, the process in which the unmanned aerial vehicle 2 that has landed on the landing surface S1 moves to the charging position P2 by the action of the positioning mechanism 40 is referred to as the "positioning process."

[0043] FIG. 6A is a diagram showing a state in which the unmanned aerial vehicle 2 has landed on the landing surface S1 (expected landing area S1a). In general, it is difficult to precisely control the flight trajectory of the unmanned aerial vehicle 2. Therefore, it is difficult to land the unmanned aerial vehicle 2 precisely at the landing target position P1. In view of this, the illustrated example shows a state in which the unmanned aerial vehicle 2 has landed at a position shifted from the landing target position P1. Note that the fixed body 10 is not shown in FIGS. 6A to 6E.

[0044] As the moving body 20 is stored in the fixed body 10, the moving body 20 and the unmanned aerial vehicle 2 move backward (in the -X direction) relative to the fixed body 10. Then, as shown in FIG. 6B, the first contact surface 41a of the first contact portion 41 comes into contact with the unmanned aerial vehicle 2. Note that the first contact surface 41a in this embodiment extends over the entire landing surface S1 in the second direction Y.

[0045] As the moving body 20 continues to move rearward relative to the unmanned aerial vehicle 2, the first contact surface 41a applies a forward-directed drag force to the unmanned aerial vehicle 2, and the landing surface S1 applies a backward-directed friction force to the unmanned aerial vehicle 2. These forces cause the unmanned aerial vehicle 2 to rotate on the landing surface S1. This rotation ends with the unmanned aerial vehicle 2 facing forward, as shown in FIG. 6C. In other words, the first contact surface 41a serves to rotate the unmanned aerial vehicle 2 on the landing surface S1 and align the orientation of the unmanned aerial vehicle 2. Furthermore, due to the drag force of the first contact surface 41a, the unmanned aerial vehicle 2 does not move further rearward than the first contact surface 41a. As a result, the unmanned aerial vehicle 2 (power receiving unit 60) and the power transmitting unit 30 are positioned in the first direction X. In other words, the first contact surface 41a also serves to position the unmanned aerial vehicle 2 in the first direction X.

[0046] When the moving body 20 further moves backward relative to the moving body 20, the movement of the unmanned aerial vehicle 2 in the first direction X is restricted by the drag of the first contact surface 41a. Therefore, the unmanned aerial vehicle 2 slides on the landing surface S1 and moves forward relative to the moving body 20. Then, as shown in FIG. 6D, the unmanned aerial vehicle 2 moves from the expected landing area S1a to the positioning area S1b and comes into contact with the third contact surface 43a of the third contact portion 43.

[0047] In this state, if the moving body 20 further moves backward relative to the unmanned aerial vehicle 2, the third contact surface 43a applies a drag force to the unmanned aerial vehicle 2 in the second direction Y toward the reference line O. As a result, the unmanned aerial vehicle 2 slides on the landing surface S1 along the third contact surface 43a and approaches the charging position P2 in the second direction Y. In other words, the third contact surface 43a plays a role in positioning the unmanned aerial vehicle 2 in the second direction Y.

[0048] Then, when the storage of the movable body 20 relative to the fixed body 10 is completed, the relative movement of the movable body 20 ends, and the unmanned aerial vehicle 2 reaches the charging position P2, as shown in FIG. 6E. This causes the power transmitting unit 30 and the power receiving unit 60 to face each other in the third direction Z, allowing the power transmitting unit 30 to transmit power to the power receiving unit 60. In other words, it becomes possible to charge the unmanned aerial vehicle 2 using the power transmitting unit 30. At this time, the first contact surface 41a and the second contact surface 42a, and the first contact surface 41a and the third contact surface 43a, intersect with each other in a plan view.

[0049] In the above example, the unmanned aerial vehicle 2 comes into contact with the third contact surface 43a because the unmanned aerial vehicle 2 lands to the left (+Y side) of the reference line O. If the unmanned aerial vehicle 2 lands to the right (-Y side) of the reference line O, the unmanned aerial vehicle 2 comes into contact with the second contact surface 42a as the moving body 20 is stored. Then, the unmanned aerial vehicle 2 slides on the landing surface S1 along the second contact surface 42a and approaches the charging position P2 in the second direction Y. In other words, the second contact surface 42a also plays a role in positioning the unmanned aerial vehicle 2 in the second direction Y. If the unmanned aerial vehicle 2 lands exactly on the reference line O, the unmanned aerial vehicle 2 slides forward on the landing surface S1 due to the drag of the first contact surface 41a and reaches the charging position P2.

[0050] As described above, the charging device 1 of this embodiment is a charging device that charges an unmanned aerial vehicle 2 having a power receiving unit 60, and is equipped with a fixed body 10, a landing surface S1 including a landing target position P1 that is the target for landing of the unmanned aerial vehicle 2, a mobile body 20 that moves relative to the fixed body 10 and is stored in the fixed body 10, a power transmission unit 30 that is fixed to the fixed body 10 and transmits power to the power receiving unit 60, and a positioning mechanism 40 that slides the unmanned aerial vehicle 2 that has landed on the landing surface S1 over the landing surface S1 to a charging position P2 where the power transmission unit 30 can transmit power to the power receiving unit 60 as the mobile body 20 is stored in the fixed body 10 by the above-mentioned relative movement.

[0051] According to this configuration, even if the accuracy of flight trajectory control during landing of the unmanned aerial vehicle 2 is low and a deviation occurs in the landing position of the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 can be moved to the charging position P2 by the action of the positioning mechanism 40. Therefore, wireless charging of the unmanned aerial vehicle 2 can be smoothly performed using the power transmitting unit 30 and the power receiving unit 60. Furthermore, by pulling the mobile body 20 out from the fixed body 10, a situation can be easily achieved in which there are no obstacles around the mobile body 20 that could adversely affect the takeoff and landing of the unmanned aerial vehicle 2. In other words, the space required for takeoff and landing of the unmanned aerial vehicle 2 can be easily secured. Therefore, according to the above configuration, takeoff and landing of the unmanned aerial vehicle 2 can be smoothly performed. Furthermore, even if a cable is required to supply power to the power transmitting unit 30, because the power transmitting unit 30, to which the cable is connected, is fixed to the fixed body 10, it is easier to avoid cable tangles caused by the movement of the mobile body 20 compared to, for example, when the cable is connected to the mobile body 20.

[0052] Furthermore, the landing target position P1 and the charging position P2 are different positions. This configuration ensures that a sufficient area can be secured on the moving body 20 for the unmanned aerial vehicle 2 to land. More specifically, it is possible to separate the positioning area S1b, whose shape is somewhat limited so that the unmanned aerial vehicle 2 can be guided, from the expected landing area S1a. Since the expected landing area S1a is not as limited in shape as the positioning area S1b, it is possible to provide an expected landing area S1a that is sufficiently large, taking into account the size of the unmanned aerial vehicle 2, landing error, etc.

[0053] Furthermore, when the direction of the relative movement of the movable body 20 with respect to the fixed body 10 is defined as a first direction X, the positioning mechanism 40 includes a first contact portion 41 having a first contact surface 41a extending in a second direction Y intersecting the first direction X on the landing surface S1 and not moving relative to the fixed body 10, and a second contact portion 42 having a second contact surface 42a inclined with respect to the first direction X so as to approach the charging position P2 in the second direction Y as the movable body 20 moves in a direction opposite to the direction in which it is stored in the fixed body 10 (forward), and not moving relative to the movable body 20. The positioning mechanism 40 further includes a third contact portion 43 that has a third contact surface 43a inclined with respect to the first direction X so as to approach the charging position P2 in the second direction Y as the movable body 20 moves in the direction opposite to the direction in which the movable body 20 is stored in the fixed body 10 (forward), and that does not move relative to the movable body 20, the second contact surface 42a and the third contact surface 43a being located on opposite sides of a reference line O that passes through the charging position P2 and extends in the first direction X. This configuration makes it easy to control the orientation of the unmanned aerial vehicle 2 and to position it in the first direction X and the second direction Y.

[0054] The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

[0055] For example, the charging device 1 may include a detection unit that detects the landing of the unmanned aerial vehicle 2, and a drive unit that drives the wheels 22 based on the detection and stores the mobile body 20 in the fixed body 10. In this case, the unmanned aerial vehicle 2 can be automatically charged after the landing of the unmanned aerial vehicle 2.

[0056] Furthermore, each of the contact portions 41-43 does not have to be a round bar-shaped member. For example, each of the contact portions 41-43 may be a square bar-shaped member having a polygonal cross-sectional shape, or may be a plate-shaped member. However, a configuration in which each of the contact portions 41-43 is a round bar-shaped member is preferable because it reduces the sliding resistance between the contact surfaces 41a-43a of each of the contact portions 41-43 and the unmanned aerial vehicle 2, allowing the unmanned aerial vehicle 2 to move smoothly to the charging position P2. Furthermore, a material with low sliding resistance may be used for the landing surface S1 of the moving body 20, or an attachment made of a material and with a shape with low sliding resistance may be attached to the legs of the unmanned aerial vehicle 2. These configurations allow the unmanned aerial vehicle 2 to move more smoothly to the charging position P2.

[0057] Furthermore, the first contact surface 41a may be the front surface of the second top panel 12. In other words, the first contact portion 41 may be part of the second top panel 12. Alternatively, the first contact portion 41 may be a member provided separately from the fixed body 10 and fixed to the placement surface. In these cases, the first contact portion 41 does not move relative to the fixed body 10, and therefore, as in the above embodiment, the orientation of the unmanned aerial vehicle 2 can be adjusted and the positioning in the first direction X can be performed by the first contact portion 41.

[0058] The second contact portion 42 and the third contact portion 43 may also be protrusions or the like that protrude from the landing surface S1. In other words, the second contact portion 42 and the third contact portion 43 may be part of the moving body 20. Even in this case, the second contact portion 42 and the third contact portion 43 do not move relative to the fixed body 10, and therefore, as in the above embodiment, the second contact portion 42 and the third contact portion 43 can be used to position the unmanned aerial vehicle 2 in the second direction Y.

[0059] Furthermore, each of the contact surfaces 41a-43a may not extend linearly in a plan view, but may extend curvedly in a plan view. However, a configuration in which each of the contact surfaces 41a-43a extends linearly in a plan view is preferable because it stabilizes the direction of the drag and frictional force that each of the contact surfaces 41a-43a applies to the unmanned aerial vehicle 2, thereby reducing the possibility of the unmanned aerial vehicle 2 unintentionally rotating on the landing surface S1.

[0060] Furthermore, the shape of the plate portion 21 can be changed as appropriate. The positions of the landing target position P1 and the charging position P2 on the landing surface S1 can be changed as appropriate.

[0061] Furthermore, the positioning mechanism 40 according to the above embodiment does not need to include the third contact portion 43. Even in this case, the unmanned aerial vehicle 2 can be positioned in the second direction Y by, for example, shifting the positions of the power transmission unit 30 and the charging position P2 sufficiently to the left (+Y side) and locating the intersection of the second contact portion 42 and the front edge (+X side edge) of the plate portion 21 sufficiently to the left (+Y side). However, a configuration in which the positioning mechanism 40 includes both the second contact portion 42 and the third contact portion 43 is advantageous in that it reduces the inclination angle of the second contact surface 42a with respect to the first direction X and the inclination angle of the third contact surface 43a with respect to the first direction X, thereby reducing the possibility of the unmanned aerial vehicle 2 being pinched between the second contact surface 42a or the third contact surface 43a and the first contact surface 41a. In particular, the configuration in which the second contact surface 42a and the third contact surface 43a extend symmetrically with respect to the reference line O in a plan view is even more advantageous in that it can minimize both the inclination angle of the second contact surface 42a with respect to the first direction X and the inclination angle of the third contact surface 43a with respect to the first direction X.

[0062] Furthermore, the positioning mechanism 40 does not necessarily have to include the second contact portion 42 and the third contact portion 43. For example, as shown in FIG. 7, a charging device 1A according to a modified example of the present invention includes a positioning mechanism 40A including only a first contact portion 41A fixed to a fixed body 10 (not shown). The first contact portion 41A has a parallel portion 41A1 extending in the second direction Y and two inclined portions 41A2 and 41A3 inclined with respect to the first direction X. The inclined portions 41A2 and 41A3 are each connected to an end of the parallel portion 41A1 in the second direction Y. The inclined portions 41A2 and 41A3 extend so that the spacing between them in the second direction Y increases toward the front. This positioning mechanism 40A can also position the unmanned aerial vehicle 2 in the first direction X and the second direction Y. However, depending on the positioning mechanism 40A according to this modified example, there is a possibility that the unmanned aerial vehicle 2 will not face forward when the moving body 20 is completely retracted. Therefore, the positioning mechanism 40 in the embodiment is preferable in that it can adjust the orientation of the unmanned aerial vehicle 2 more reliably than the positioning mechanism 40A in this modified example.

[0063] Furthermore, as long as the movable body 20 is movable relative to the fixed body 10, the movable body 20 does not need to have wheels 22, and the charging device 1 does not need to have rails 50. The movable body 20 may move relative to the fixed body 10 in a curved line. In this case, the positioning mechanism 40 may be configured to slide the movable body 20 to the charging position P2 in accordance with such curved relative movement.

[0064] In addition, it is possible to replace the components in the above-described embodiments with well-known components as appropriate, and the above-described embodiments and variations may be combined as appropriate, without departing from the spirit of the present invention. [Explanation of symbols]

[0065] 1, 1A... Charging device 2... Unmanned aerial vehicle 10... Fixed body 20... Mobile body 30... Power transmission unit 40, 40A... Positioning mechanism 41, 41A... First contact portion 41a... First contact surface 42... Second contact portion 42a... Second contact surface 43... Third contact portion 43a... Third contact surface 60... Power receiving unit S1... Landing surface P1... Target landing position P2... Charging position

Claims

1. A charging device for charging an unmanned aerial vehicle having a power receiving unit, A fixed body; a mobile body having a landing surface including a target landing position that is a landing target for the unmanned aerial vehicle, the mobile body moving relatively to the fixed body and being stored in the fixed body; a power transmitting unit fixed to the fixed body and transmitting power to the power receiving unit; a positioning mechanism that slides the unmanned aerial vehicle that has landed on the landing surface to a charging position where the power transmitting unit can transmit power to the power receiving unit as the moving body is stored in the fixed body by the relative movement, the landing target position and the charging position are different positions from each other, When the direction of the relative movement of the movable body with respect to the fixed body is defined as a first direction, The positioning mechanism includes: a first contact portion having a first contact surface extending in a second direction intersecting the first direction on the landing surface and not moving relative to the fixed body; a second contact portion having a second contact surface inclined with respect to the first direction so as to approach the charging position in the second direction as the moving body moves in a direction opposite to a direction in which the moving body is stored in the fixed body, and the second contact portion does not move relatively to the moving body, Charging device.

2. The second contact surface extends linearly in a plan view. The charging device according to claim 1 .

3. the positioning mechanism further includes a third contact portion having a third contact surface inclined with respect to the first direction so as to approach the charging position in the second direction as the movable body moves in a direction opposite to a direction in which the movable body is stored in the fixed body, and the third contact portion does not move relatively to the movable body; the second contact surface and the third contact surface are located on opposite sides of a reference line that passes through the charging position and extends in the first direction in a plan view; The charging device according to claim 1 .

4. the second contact surface and the third contact surface extend line-symmetrically with respect to the reference line in a plan view; The charging device according to claim 3 .

5. The third contact surface extends linearly in a plan view. The charging device according to claim 3 .

Images