JP2021084620A - Power supply device for flight vehicle - Google Patents

Abstract

To enable power supply to a battery of a flight vehicle even if the flight vehicle is landed not in a specific location and attitude in a power supply area.SOLUTION: An embodiment of the present disclosure provides a power supply device 40 to perform power supply to a flight vehicle 1 operated by power supply from a battery. The battery of the flight vehicle 1 is connected to a power supply cable 45 having one end connected to a connector 46a. The power supply device 40 has a power supply cable 42 connected to a power source, a connector 41a connected to one end of the power supply cable 42, and a guide member 48 to guide, to the connector 41a, the connector 46a connected to one end of a power supply cable 35 of the flight vehicle 1.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to a power supply device for an air vehicle.

In recent years, various services using air vehicles (hereinafter, simply collectively referred to as "air vehicles") such as drones and unmanned aerial vehicles (UAVs) used for various purposes have been provided. There is.

In order to operate the aircraft for a long period of time, it is necessary to periodically charge the battery mounted on the aircraft. As an example of a method for supplying power to the battery of an air vehicle, Patent Document 1 discloses a technique of charging the battery of an air vehicle landing in a charging area by power supply by non-contact power transmission.

Japanese Unexamined Patent Publication No. 2017-071285

Power supply by non-contact power transmission is generally performed using the principle of electromagnetic induction. Such non-contact power feeding requires more power and time for charging because the power transmission efficiency is lower than that of wired power feeding. In particular, if non-contact power feeding is performed while the flying object is located at a position deviating from the predetermined power feeding position on the power feeding device side, the power transmission efficiency is significantly lowered. Therefore, in order to charge the battery of the flying object more efficiently, it is preferable to supply power by wire.

Due to the accuracy error of the position detection device of the aircraft and the disturbance factors such as the wind received by the aircraft, it is difficult to accurately land the aircraft at a specific position in the power feeding area in a specific attitude. Therefore, in order to supply power to the air vehicle by wire, even if the air vehicle does not land in the power supply area at a specific position and attitude, the connector of the power supply cable provided on the air vehicle and the connector of the power supply cable provided in the air vehicle. It is required to be able to connect to the connector of the power supply cable provided in the charging area.

According to one aspect of the present disclosure, there is provided a power feeding device that supplies power to an air vehicle that operates by supplying power from a battery. A first power supply cable having a first connector connected to one end is connected to the battery of the air vehicle, and the power supply device includes a second power supply cable connected to the power supply and a second power supply cable. A second connector connected to one end of the power supply cable and a guide member for guiding the first connector connected to one end of the first power supply cable of the flying object to the second connector. Have.

According to the present disclosure, it is possible to supply power to the battery of the vehicle even if the vehicle does not land in the power supply area at a specific position and attitude.

Other features and advantages of the present disclosure can be understood from the following description and accompanying drawings given exemplary and non-exhaustive.

It is a block diagram which shows the hardware composition of the flying object which concerns on one Embodiment. It is a functional block diagram of the management server which concerns on one Embodiment. It is the schematic which shows the power feeding device of the flying body which concerns on 1st Embodiment of this disclosure. FIG. 3 is a schematic view showing a modified example of a power feeding device for an air vehicle according to the first embodiment of the present disclosure shown in FIG. It is the schematic which shows the power feeding device of the flying body which concerns on 2nd Embodiment of this disclosure. It is the schematic which shows the 1st modification of the power feeding device of the flying body which concerns on 2nd Embodiment of this disclosure shown in FIG. It is the schematic which shows the 2nd modification of the power feeding device of the flying body which concerns on 2nd Embodiment of this disclosure shown in FIG. It is the schematic which shows the 3rd modification of the power feeding device of the flying body which concerns on 2nd Embodiment of this disclosure shown in FIG. It is a schematic plan view which shows the power feeding station of the flying object which concerns on 3rd Embodiment of this disclosure. FIG. 5 is a schematic plan view showing a first example of means for detecting that an air vehicle has landed on the landing stage of a power supply station. FIG. 5 is a schematic plan view showing a second example of means for detecting that an air vehicle has landed on the landing stage of a power supply station. 9 is a schematic plan view showing a first modification of the power feeding station of the flying object according to the third embodiment of the present disclosure shown in FIG. 9. FIG. 3 is a schematic plan view showing a slide bar mechanism provided with a power feeding device shown in FIG. 12 and an air vehicle landing on a landing stage. It is the schematic which shows the 2nd modification of the power feeding station of the flying body which concerns on 3rd Embodiment of this disclosure shown in FIG.

[Embodiment]
Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

<Flying body>
The air vehicle in the present embodiment is referred to as a drone (Drone), a multicopter (Multicopter), an unmanned aerial vehicle (UAV), an RPA (Remoted Piloted Aircraft Systems), or a UAS (Unimance). Sometimes. The air vehicle includes a battery, a plurality of motors, a position detection unit, a control unit, a driver, a storage device, a wireless communication device, a voltage sensor, a current sensor, and the like. These components are mounted on a frame having a predetermined shape. The hardware configuration of the information processing device mounted on the aircraft will be described later. As for the basic structure for these flights, known techniques can be appropriately adopted.

FIG. 1 is a block diagram showing a hardware configuration of an air vehicle according to an embodiment.

As shown in FIG. 1, the flying object 1 is equipped with an information processing device 1A. The information processing device 1A constitutes a part of the information transmission system by executing information processing via communication with the server. The information processing device 1A includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, a positioning unit 16, a detection unit 17, and the like, and these are electrically connected to each other through a bus 15. .. The information processing device 1A may be composed of, for example, a microcomputer or an ASIC (Application Specific Integrated Circuit), or may be logically realized by cloud computing.

The processor 10 is an arithmetic unit that controls the operation of the information processing device 100, controls the transmission and reception of data between each element, and performs processing necessary for executing an application. For example, the processor 10 is a CPU and / or GPU (Graphical Processing Unit) or the like, and performs each necessary information processing by executing a program or the like stored in the storage 12 and expanded in the memory 11.

The memory 11 includes a main memory composed of a volatile storage device such as RAM and an auxiliary storage composed of a non-volatile storage device such as a flash memory and an HDD. The memory 11 is used as a work area of the processor 10, and also stores a BIOS executed when the information processing device 1A is started, various setting information, and the like. An application program or the like is stored in the storage 12.

The transmission / reception unit 13 connects to an LPEA (Low Power Wide Area) network using the information processing device 1A as an example, and communicates with the management server 2 via the network. The transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 14 is an information input device such as switches and an output device such as a display. Although the flying object 1 performs autonomous flight, it may be operated manually or automatically remotely from the outside. The flying object 1 according to the present embodiment is provided with a camera as an input function, and can take aerial images of still images and moving images. Further, various cameras such as an infrared thermo camera, an X-ray camera, a high-sensitivity camera, and a night-vision camera may be provided according to the information to be collected.

The bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 16 detects at least the position and altitude of the flying object 1. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, which detects the latitude, longitude, and altitude of the current position of the unmanned aircraft 1. Further, the positioning unit 16 includes, for example, a gyro sensor as an attitude detector for detecting the attitude of the flying object 1.

The detection unit 17 is for sensing the external environment of the flying object 1 by various sensors such as voice, image, and infrared rays, and controls an auxiliary function for self-sustaining flight.

In addition to the information processing device 1A, the flying object 1 according to the present embodiment includes a power supply (battery), a motor connected to the rotor blades, an information processing device 1A and a motor for moving and flying the flying object 1. It has at least more drivers to relay. The information processing device 1A controls a plurality of motors to control the flight of a monitoring drone (control of ascending, descending, horizontal movement, etc.) and uses a gyro sensor (not shown) mounted on the flying object 1. Attitude control is also performed by controlling a plurality of motors. The driver drives the motor according to the control signal from the information processing device 1A. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. The flying object 1 may have other elements (not shown).

<Management server>
FIG. 2 is a functional block diagram of the management server according to the embodiment.

As shown in FIG. 2, the management server 2 is an information processing device for providing services through an information transmission system, and may be a general-purpose computer such as a workstation or a personal computer, or cloud computing. It may be realized logically by. As shown in FIG. 2, the management server 2 includes a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25.

The processor 20 is an arithmetic unit that controls the operation of the entire management server 2, controls the transmission and reception of data between each element, and performs information processing and the like necessary for executing an application. For example, the processor 20 is a CPU (Central Processing Unit), and executes each information processing by executing a program or the like stored in the storage 22 and expanded in the memory 21.

The memory 21 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disk Drive). .. The memory 21 is used as a work area or the like of the processor 20, and also stores a BIOS (Basic Input / Output System) executed when the management server 2 is started, various setting information, and the like. The storage 22 stores various programs such as an application program and an authentication program for each aircraft 1. A database (location data, route data, etc., which will be described later) storing data used for each process may be built in the storage 22.

The transmission / reception unit 23 connects the management server 2 as an example to an LPEA (Low Power Wide Area) network, and communicates with the information processing device 1A of the aircraft 1 via the network. The transmission / reception unit 23 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 24 is a switch, an information input device such as a keyboard and a mouse, and an output device such as a display. Using the information input device of the input / output unit 24, it is possible to instruct the flight path of the autonomously flying flying object 1 and the operation during flight (photographing by a camera, etc.). Alternatively, by using an information input device in the form of a remote controller, the operator can manually remotely control the flying object 1.

Next, various embodiments of the present disclosure will be described.

[First Embodiment]
FIG. 3 is a schematic view showing a power feeding device for an air vehicle according to the first embodiment of the present disclosure.

As shown in FIG. 3, the air-power feeding device 30 according to the first embodiment of the present disclosure includes a contact board 31 having a connector 31a on its upper end surface and a contact board 31 so that the connector 31a faces upward. It includes a connected power supply cable 32. The contact board 31 may have the form of a connector conversion board and may include a voltage detection circuit. The power supply cable 32 is connected to a power source (not shown) such as a charger, and the power supplied from the power source (not shown) is supplied to the connector 31a via the contact board 31.

On the other hand, the flying object 1 in the present embodiment is provided with a power feeding cable 35 which is flexible and extends so as to hang down from the lower side of the flying body 1 and a connector conversion board 36 connected to the power feeding cable 35. ing. A connector 36a connected to the connector 31a of the contact board 31 is provided on the lower end surface of the connector conversion board 36. The power supply cable 35 is connected to the battery of the flying object 1, and the electric power supplied from the connector 36a connected to the connector 31a of the contact board 31 is supplied to the battery of the flying object 1 via the connector conversion board 36 and the power supply cable 35. Is supplied to.

As the power supply cables 32 and 35, a USB cable can be used as an example, and any other form of cable can also be used.

As an example, the connectors 31a and 36a each include at least a circular electrode and a center electrode provided at the center of the circular electrode so that the circular electrodes and the center electrodes are electrically connected to each other. It is configured in. One of the circular electrode and the center electrode is a positive electrode, and the other is a negative electrode (or a ground electrode). Further, each of the connectors 31a and 36a includes a magnet (not shown) configured to attract each other to a position where the electrodes are connected to each other. As a result, when the connectors 31a and 36a approach each other, the magnets attract each other and the connectors 31a and 36a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 31a and 36a are electrically connected to each other.

The power feeding device 30 is arranged below the opening 37a formed in the landing stage 37 installed in the landing area of the aircraft 1. The aircraft 1 that has arrived in the landing area lands on the landing stage 37 so as to straddle the opening 37a formed in the power supply area of the landing stage 37. At this time, the connector conversion board 36 of the flying object 1 is located near the power feeding device 30 through the opening 37a formed in the landing stage 37. Since the connector conversion board 36 is suspended from the flexible power supply cable 35, the connector 36a of the connector conversion board 36 is changed to the connector 31a of the contact board 31 by the action of the mutual magnets of the connectors 31a and 36a. As shown in FIG. 3, the connectors 31a and 36a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 31a and 36a are electrically connected to each other. As a result, the battery of the flying object 1 is charged by the electric power supplied from the power source of the power feeding device 30.

According to the power feeding device 30 of the present embodiment, even if the flying object 1 does not land accurately at the predetermined position of the power feeding area on the landing stage 37, the distance between the connectors 31a and 36a is a magnet. When the flying object 1 lands on the landing stage 37 so that the connectors 31a and 36a can be attracted to each other by the magnetic force of the above, the connectors 31a and 36a are connected to each other and the flying object is connected. It is possible to charge the battery of 1. Since the power supply device 30 of the present embodiment adopts a configuration in which power is directly supplied by wire, charging can be performed with higher energy efficiency as compared with non-contact power supply. In the case of non-contact power feeding, if the flying object 1 does not land at an accurate position in the charging area, the power feeding efficiency may decrease and the charging time may be lengthened accordingly. However, according to the power feeding device 30 of the present embodiment. Even when the flying object 1 lands at a position slightly deviated from the predetermined position, the connectors 31a and 36a can be connected to each other to charge the battery of the flying object 1, so that the power supply efficiency is lowered. There is nothing to do.

In this embodiment, the connectors 31a and 36a are provided with a circular electrode and a center electrode, respectively. By forming the electrodes of the connectors 31a and 36a into a circular electrode and a center electrode, the connectors 31a and 36a can be coupled to each other regardless of the rotation angles of the connectors 31a and 36a. Therefore, even when the flying object 1 lands on the landing stage 37 in a state of being rotated from a predetermined attitude, the electrodes of the connectors 31a and 36a can be connected to each other.

Further, according to the power feeding device 30 of the present embodiment, the flying object 1 may include the power feeding cable 35 and the connector conversion board 36, which are lighter than the devices required for non-contact power feeding. Therefore, it can be adopted for a small flying object 1 having a small thrust, and it is possible to reduce the influence on the payload that can be mounted on the flying object 1 of any form.

(Modification example)
Next, a modified example of the power feeding device for the flying object of the present embodiment will be described.

FIG. 4 is a schematic view showing a modified example of the power feeding device of the flying object according to the first embodiment of the present disclosure shown in FIG. In FIG. 4, the same components as those of the components described with reference to FIG. 3 are designated by the same reference numerals. FIG. 4 shows a state in which the flying object 1 landed on the ground, the floor, the stage stand, or the like is viewed from above.

The power feeding device 30 of the flying object according to the present modification shown in FIG. 4 includes a contact board 31 having a connector 31a on one end surface, and a power feeding cable 32 connected to the contact board 31. The power supply cable 32 is preferably flexible. The power supply cable 32 is connected to a power source (not shown) such as a charger, and the power supplied from the power source (not shown) is supplied to the connector 31a via the contact board 31. The contact board 31 has the form of a connector conversion board and includes a voltage detection circuit.

On the other hand, the flying object 1 in the present modification is provided with a power feeding cable 35 extending to the side of the flying body 1 and a connector 36a connected to one end of the power feeding cable 35. The connector 36a is connected to the connector 31a of the contact board 31. The other end of the power supply cable 35 is connected to the battery bat of the flying object 1 via the connector conversion board 34, and the power supplied from the connector 36a connected to the connector 31a of the contact board 31 is the connector 36a, It is supplied to the battery bat of the flying object 1 via the power supply cable 35 and the connector conversion board 34. The power supply cable 35 is supported along the cable guide 38 attached to the flying object 1, and the connector 36a is fixed to the tip of the cable guide 38. As a result, the power supply cable 35 extends to the side of the flying object 1, and the connector 36a provided at the tip of the power supply cable 35 can easily access the connector 31a of the power supply device 30.

Also in this modification, the connectors 31a and 36a each include at least a circular electrode and a center electrode provided at the center of the circular electrode, and the circular electrodes and the center electrodes are electrically connected to each other. It is configured to be connected as a target. One of the circular electrode and the center electrode is a positive electrode, and the other is a negative electrode (or a ground electrode). Further, each of the connectors 31a and 36a includes a magnet (not shown) configured to attract each other to a position where the electrodes are connected to each other. As a result, when the connectors 31a and 36a approach each other, the magnets attract each other and the connectors 31a and 36a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 31a and 36a are electrically connected to each other.

The power supply device 30 of this modification is configured to be arranged or movable at a position where the connector 36a can be connected to the connector 36a connected to one end of the power supply cable 35 extending to the side of the flying object 1. ing. By connecting the connector 31a of the contact board 31 of the power feeding device 30 to the connector 36a provided at the tip of the power feeding cable 35 of the flying body 1 landing on the ground, the floor, the stage stand, etc., the battery bat of the flying body 1 is connected. Can be charged. Therefore, charging can be performed easily and quickly as compared with the case where the battery bat is removed from the flying object 1 and the battery bat is connected to the charger.

Further, also in this modification, since the connectors 31a and 36a have a circular electrode and a center electrode and have a magnet, respectively, the connectors 31a and 36a have a magnetic force regardless of the mutual rotation angle of the connectors 31a and 36a. Attracts each other and joins. Therefore, even if the connectors 31a and 36a are not accurately aligned with each other, the connectors 31a and 36a can be connected to each other in a position where they are electrically connected, so that the connectors 31a and 36a are erroneously connected. Is prevented.

Further, in this modification, the contact board 31 is provided with a voltage detection circuit, and when the connectors 31a and 36a are connected to each other, the voltage detection circuit detects the voltage of the battery bat. When the detected battery bat voltage is lower than the reference voltage, the voltage detection circuit turns on the power supply connected to the contact board 31 to the battery bat. Then, when the voltage detection circuit detects that the voltage of the charged battery bat has reached a predetermined voltage, the voltage detection circuit turns off the energization from the power supply to the battery bat. In this way, the voltage detection circuit provided in the contact board 31 switches on / off the power supply to the battery bat according to the detected voltage of the battery bat.

<< Additional notes >>
The subject matter of this embodiment described above is represented, for example, by a group of appendices described below. However, the subject matter of this embodiment is not limited to this.

1) A power supply device that supplies power to an aircraft that operates by supplying power from a battery.
A first power supply cable to which a first connector is connected to one end is connected to the battery of the flying object.
The power supply device has a second power supply cable connected to a power source and a second connector connected to one end of the second power supply cable.
When the second connector is magnetically coupled to the first connector and coupled to the first connector, the electrodes of the second connector are electrically connected to the electrodes of the first connector. A power supply that is configured to.
2) The first power supply cable extends to the underside of the flying object.
The power feeding device according to Appendix 1, wherein the power feeding device is arranged below the opening formed in the power feeding area of the landing stage on which the flying object lands so that the second connector faces upward. ..
3) The first power supply cable extends to the side of the flying object.
The power supply device can be arranged or moved at a position where the second connector can be connected to the first connector connected to the one end of the first power supply cable of the flying object. The power supply device according to Appendix 1, which is configured.
4) The power supply device according to any one of Items 1 to 3, wherein the second power supply cable and the second connector are connected via a connector conversion board.

[Second Embodiment]
FIG. 5 is a schematic view showing a power feeding device for an air vehicle according to a second embodiment of the present disclosure.

As shown in FIG. 5, the airborne power supply device 40 according to the second embodiment of the present disclosure includes a contact board 41 having a connector 41a on the upper end surface, a power supply cable 42 connected to the contact board 41, and a power supply cable 42. It includes a guide member 48. The contact board 41 may have the form of a connector conversion board and may include a voltage detection circuit. The power supply cable 42 is connected to a power source (not shown) such as a charger, and the power supplied from the power source (not shown) is supplied to the connector 41a via the contact board 41.

On the other hand, the flying object 1 in the present embodiment has a power feeding cable 45 that is flexible and extends so as to hang down from the lower side of the flying body 1, and a connector conversion board 46 connected to the power feeding cable 45. It is equipped. A connector 46a connected to the connector 41a of the contact board 41 is provided on the lower end surface of the connector conversion board 46. The power supply cable 45 is connected to the battery of the flying object 1, and the electric power supplied from the connector 46a connected to the connector 41a of the contact board 41 is supplied to the battery of the flying object 1 via the connector conversion board 46 and the power supply cable 45. Is supplied to.

As the power supply cables 42 and 45, a USB cable can be used as an example, and any other form of cable can also be used.

As an example, the connectors 41a and 46a each include at least a circular electrode and a center electrode provided at the center of the circular electrode so that the circular electrodes and the center electrodes are electrically connected to each other. It is configured in. One of the circular electrode and the center electrode is a positive electrode, and the other is a negative electrode (or a ground electrode).

The guide member 48 of the power feeding device 40 is arranged below the opening 47a formed in the landing stage 47 installed in the landing area of the aircraft 1. The guide member 48 is formed in a funnel shape having a conical inner surface whose diameter decreases from the opening formed at the upper part toward the opening formed at the lower part. The opening formed in the upper part of the guide member 48 has a diameter equal to or larger than the diameter of the opening 47a formed in the landing stage 47. The opening formed in the lower part of the guide member 48 is arranged on the connector 41a which is an electrical contact of the contact board 41. The guide member 48 is supported by a support member such as an arbitrary frame structure (not shown) so that the relative position with respect to the contact board 41 is maintained.

The aircraft 1 that has arrived in the landing area lands on the landing stage 47 so as to straddle the opening 47a formed in the landing stage 47. At this time, the connector 46a provided in the lower part of the connector conversion board 46 of the flying object 1 comes into contact with the inner surface of the guide member 48 of the power feeding device 40 through the opening 47a formed in the landing stage 47. Since the connector conversion board 46 is suspended from the flexible power supply cable 45, the connector 46a of the connector conversion board 46 is along the inner surface of the guide member 48 as shown by the dotted line in FIG. It is guided onto the connector 41a of the contact board 41 located below the guide member 48 so as to slide down. As a result, the connectors 41a and 46a are coupled to each other, the circular electrodes and the center electrodes of the connectors 41a and 46a are electrically connected to each other, and the battery of the flying object 1 is charged by the electric power supplied from the power supply of the power feeding device 40. Will be done.

As described above, according to the power feeding device 40 of the present embodiment, even if the flying object 1 does not land accurately at the predetermined position on the landing stage 47, it is suspended from the power feeding cable 45 of the flying object 1. When the flying object 1 lands on the landing stage 47 within the range in which the lowered connector conversion board 46 can be accommodated in the guide member 48 of the power feeding device 40, the connector conversion board 46 on the flying body 1 side It is possible to guide the connector 46a of the above to the connector 41a, which is an electrical contact of the contact board 41 of the power feeding device 40, and connect the connectors 41a, 46a to each other to charge the battery of the flying object 1. Since the power supply device 40 of the present embodiment adopts a configuration in which power is directly supplied by wire, charging can be performed with higher energy efficiency than non-contact power supply. In the case of non-contact power feeding, if the flying object 1 does not land at an accurate position in the charging area, the power feeding efficiency may decrease and the charging time may be lengthened accordingly. However, according to the power feeding device 40 of the present embodiment. Even when the flying object 1 lands at a position slightly deviated from a predetermined position, the connectors 41a and 46a can be connected to each other to charge the battery of the flying object 1, so that the power supply efficiency is lowered. There is nothing to do.

In this embodiment, the connectors 41a and 46a are provided with a circular electrode and a center electrode, respectively. By forming the electrodes of the connectors 41a and 46a into a circular electrode and a center electrode, the connectors 41a and 46a can be coupled to each other regardless of the rotation angles of the connectors 41a and 46a. Therefore, even when the flying object 1 lands on the landing stage 47 in a state of being rotated from a predetermined attitude, the electrodes of the connectors 41a and 46a can be connected to each other.

Further, according to the power feeding device 40 of the present embodiment, the flying object 1 may include the power feeding cable 45 and the connector conversion board 46, which are lighter than the devices required for non-contact power feeding. Therefore, it can be adopted for a small flying object 1 having a small thrust, and it is possible to reduce the influence on the payload that can be mounted on the flying object 1 of any form.

Each of the connectors 41a and 46a in the present embodiment may include a magnet (not shown) configured to attract each other to a position where the electrodes are connected to each other. As a result, when the connectors 41a and 46a approach each other, the magnets attract each other and the connectors 41a and 46a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 41a and 46a are electrically connected to each other. Therefore, as described above, when the connector 46a of the connector conversion board 46 is guided onto the connector 41a of the contact board 41 so as to slide down along the inner surface of the guide member 48, the connectors 41a and 46a are more accurately connected to each other. It becomes possible to combine with. From another point of view, according to this configuration, when the flying object 1 lands on the landing stage 47, the distance between the connectors 41a and 46a attracts and connects the connectors 41a and 46a by the magnetic force of the magnet. Even if it is not within the range in which it is possible to make the connectors 41a and 46a close to each other by the guide member 48, the connectors 41a and 46a can be attracted to each other and bonded to each other. When the connectors 41a and 46a are provided with magnets, the guide member 48 is made of a non-magnetic material such as plastic resin or aluminum in order to prevent the connector 46a from being attracted to the guide member 48. It is preferable to prepare with.

In the present embodiment, the guide member 48 having a conical inner surface has been described as an example, but the form of the guide member 48 is not limited to this. The inner surface of the guide member 48 may be formed so as to gradually narrow from the upper opening to the lower opening, and in addition to the conical shape, for example, a triangular pyramid, a quadrangular pyramid, or more. It may have the shape of a polygonal pyramid or an elliptical pyramid.

(Modification example)
Next, a modified example of the power feeding device for the flying object of the present embodiment will be described.

(First modification)
FIG. 6 is a schematic view showing a first modification of the power feeding device for the flying object according to the second embodiment of the present disclosure shown in FIG. In FIG. 6, the same components as those of the components described with reference to FIG. 5 are designated by the same reference numerals.

As shown in FIG. 6, the power feeding device 40 of the flying object according to the present modification includes a contact board 41 having a connector 41a on the upper end surface, a stay 43 supporting the contact board 41, and a guide member 48. .. A power supply cable (not shown) connected to a power source (not shown) such as a charger is connected to the contact board 41, and the power supplied from the power source (not shown) is connected via the contact board 41. It is supplied to 41a.

The stay 43 is mounted on the stage 49a which is raised and lowered by the lifter 49. The stage 49a is moved in the vertical direction between the upper first position shown by the solid line and the lower second position shown by the dotted line by an arbitrary driving means (not shown).

On the other hand, the flying object 1 in the present embodiment is provided with a power feeding cable 45 which is flexible and extends so as to hang down from the lower side of the flying body 1, and a connector conversion board 46 connected to the power feeding cable 45. ing. A connector 46a connected to the connector 41a of the contact board 41 is provided on the lower end surface of the connector conversion board 46. The power supply cable 45 is connected to the battery of the flying object 1, and the electric power supplied from the connector 46a connected to the connector 41a of the contact board 41 is supplied to the battery of the flying object 1 via the connector conversion board 46 and the power supply cable 45. Is supplied to.

As an example, the connectors 41a and 46a each include at least a circular electrode and a center electrode provided at the center of the circular electrode so that the circular electrodes and the center electrodes are electrically connected to each other. It is configured in. One of the circular electrode and the center electrode is a positive electrode, and the other is a negative electrode (or a ground electrode). Further, each of the connectors 41a and 46a may include a magnet (not shown) configured to attract each other to a position where the electrodes are connected to each other. As a result, when the connectors 41a and 46a approach each other, the magnets attract each other and the connectors 41a and 46a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 41a and 46a are electrically connected to each other.

Below the opening 47a formed in the landing stage 47, a slide door 47b that covers the opening 47a from below is provided. The sliding door 47b is moved by an arbitrary driving means (not shown) between the open position shown by the solid line and the closed position shown by the dotted line in FIG. The slide door 47b is made of a transparent material (glass, acrylic, polycarbonate, etc.), and an AR marker (not shown) is attached or printed on the lower surface of the slide door 47b so that it can be seen from above. The AR marker is generally used to determine the position and angle of display by AR (Augmented Reality), but it can also be used to recognize the position and orientation of an object with the AR marker. Can be used.

The guide member 48 of the power feeding device 40 is arranged below the opening 47a formed in the landing stage 47 installed in the landing area of the aircraft 1. The guide member 48 is formed in a funnel shape having a conical inner surface whose diameter decreases from the opening formed at the upper part toward the opening formed at the lower part. The opening formed in the upper part of the guide member 48 has a diameter equal to or larger than the diameter of the opening 47a formed in the landing stage 47. The opening formed in the lower part of the guide member 48 is arranged on the connector 41a which is an electrical contact of the contact board 41. The guide member 48 is supported by a support member such as an arbitrary frame structure (not shown) so that the relative position with respect to the contact board 41 is maintained. In order to prevent the connector 46a provided with the magnet from being attracted to the guide member 48, the guide member 48 is preferably made of a non-magnetic material such as plastic resin or aluminum.

The power feeding device 40 and the lifter 49 described above are housed in a housing 44 that covers the lower side of the landing stage 47. The housing 44 is dust-proof and drip-proof for the power supply device 40 and the lifter 49.

For example, a sensor (not shown) for detecting the landing and takeoff of the aircraft 1 is provided on the landing stage 47, and when the aircraft 1 lands on the landing stage 47, the slide door 47b is moved to the open position, and the aircraft is moved from the landing stage 47 to the aircraft. It is preferable to drive the driving means (not shown) of the sliding door 47b so that the sliding door 47b is moved to the closed position when 1 takes off. Further, according to the output from the sensor (not shown), when the aircraft 1 lands on the landing stage 47, the stage 49a of the lifter 49 is moved to the upper position, and when the aircraft 1 takes off from the landing stage 47, the stage 49a is moved. It is preferable to drive the driving means (not shown) of the lifter 49 so as to move it to the upper position. The power feeding device 40 is provided with a control unit (not shown) that controls the operation of the slide door 47b and the lifter 49.

The flying object 1 in this modification includes a camera 14 (an example of the input / output unit 14) capable of capturing an image of the downward direction of the flying object 1. The AR marker (not shown) displayed on the sliding door 47b is imaged by the camera 14 of the aircraft body 1, and the captured AR marker image is stored in the memory 11 or the storage 12 by the processor 10 of the aircraft body 1. By analyzing the marker in comparison with the reference image, the position and attitude of the flying object 1 with respect to the sliding door 47b (that is, the landing position on the landing stage 47) can be recognized. Therefore, the flying object 1 that has flown to the area where the AR marker can be imaged sequentially acquires its own position and attitude with respect to the landing position on the landing stage 47 based on the AR marker imaged by the camera 14, and the landing position. Control the flight toward and land.

The aircraft 1 that flew into the landing area where the landing stage 47 was installed captured the AR marker of the slide door 47b with the camera 14, and landed on the slide door 47b (that is, landing on the landing stage 47) based on the image of the captured AR marker. Control the flight toward the position) and land on the landing stage 47. By sequentially acquiring the position and attitude of the flying object 1 with respect to a predetermined landing position on the landing stage 47 using the AR marker and performing flight control of the flying object 1, a GPS sensor or a gyro provided in the flying object 1 is performed. Compared to the case of autonomous flight using only the sensor, it is possible to land the aircraft 1 at a predetermined landing position more accurately in a predetermined posture, but the aircraft 1 is still predetermined due to the influence of wind or the like. It is difficult to make sure that the landing position is accurately landed in a predetermined position.

When the landing of the aircraft 1 on the landing stage 47 is detected by a sensor (not shown) provided on the landing stage 47, the slide door 47b is moved to the open position. Then, the connector conversion board 46 suspended from the power supply cable 45 of the aircraft 1 falls down through the opening 47a of the landing stage 47. If the aircraft 1 has landed at a position deviated from the predetermined landing position of the landing stage 47, the connector conversion board 46 will be located at a position deviated from the position directly above the contact board 41 of the power feeding device 40. ..

In response to the landing detection of the flying object 1 by the sensor (not shown), following the movement of the slide door 47b to the open position, or at the same time as the slide door 47b moves to the open position, the stage 49a of the lifter 49 Moves to the upper position shown by the solid line in FIG. When the stage 49a moves to the upper position shown by the solid line in FIG. 6, the connector 46a provided at the lower part of the connector conversion board 46 of the flying object 1 comes into contact with the inner surface of the guide member 48. Since the connector conversion board 46 is suspended from the flexible power supply cable 45, the connector 46a of the connector conversion board 46 is along the inner surface of the guide member 48 as shown by the dotted line in FIG. It slides toward the lower opening of the guide member 48 and is guided over the connector 41a of the contact board 41 located below the guide member 48. Then, the connectors 41a and 46a are attracted to each other by a magnetic force, the connectors 41a and 46a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 41a and 46a are electrically connected to each other and supplied from the power supply of the power supply device 40. The electric power charges the battery of the flying object 1.

In this modification, it is preferable that the stage 49a of the lifter 49 is moved to the lower position shown by the dotted line in FIG. 6 when it is detected that the charging of the battery of the flying object 1 is completed. As a result, the connectors 41a and 46a can be disconnected from each other. If the flying object 1 takes off with the connectors 41a and 46a connected by a magnet, if the coupling force of the magnet is stronger than the thrust of the flying object 1, the connector 41a and 46a cannot be separated from each other. A situation may occur in which the aircraft 1 cannot take off. According to this modification, moving the stage 49a of the lifter 49 to the lower position disconnects the connectors 41a and 46a, so that the thrust is such that the magnet coupling between the connectors 41a and 46a can be disconnected. Even if the flying object 1 does not have the above, the flying object 1 can take off after being charged by the power feeding device 40 shown in this example.

As described above, in the lifter 49 in the present modification, the connector 41a of the power feeding device 40 is suspended from the flying object 1 landing in the power feeding area (position straddling the opening 47a) of the landing stage 47 through the opening 47a. Moving the connector 41a up and down between a first position where the connector 41a can be connected to the connector 46a connected to the cable 45 via the connector conversion board 46 and a second position where the connector 41a is separated from the connector 46a. Is configured to allow

Further, in this modification, when the sensor detects that the aircraft 1 has taken off from the landing stage 47, the slide door 47b of the landing stage 47 moves to a closed position covering the opening of the landing stage 47, so that the power supply device It is possible to prevent dust, water droplets, and the like from entering the housing 44 that houses the 40.

(Second modification)
FIG. 7 is a schematic view showing a second modification of the power feeding device for the flying object according to the second embodiment of the present disclosure shown in FIG. In FIG. 7, the same components as those of the components described with reference to FIG. 5 are designated by the same reference numerals.

As shown in FIG. 7A, the power feeding device 40 of the flying object according to this modification includes a contact board 41 having a connector 41a on the upper end surface, a stay 43 supporting the contact board 41, and a guide member 48. It has. A power supply cable (not shown) connected to a power source (not shown) such as a charger is connected to the contact board 41, and the power supplied from the power source (not shown) is connected via the contact board 41. It is supplied to 41a. The stay 43 is placed on the ground, a floor surface, a stage stand, or the like.

On the other hand, the flying object 1 in the present embodiment is provided with a power feeding cable 45 which is flexible and extends so as to hang down from the lower side of the flying body 1, and a connector conversion board 46 connected to the power feeding cable 45. ing. A connector 46a connected to the connector 41a of the contact board 41 is provided on the lower end surface of the connector conversion board 46. The power supply cable 45 is connected to the battery of the flying object 1, and the electric power supplied from the connector 46a connected to the connector 41a of the contact board 41 is supplied to the battery of the flying object 1 via the connector conversion board 46 and the power supply cable 45. Is supplied to.

As an example, the connectors 41a and 46a each include at least a circular electrode and a center electrode provided at the center of the circular electrode so that the circular electrodes and the center electrodes are electrically connected to each other. It is configured in. One of the circular electrode and the center electrode is a positive electrode, and the other is a negative electrode (or a ground electrode). Further, each of the connectors 41a and 46a may include a magnet (not shown) configured to attract each other to a position where the electrodes are connected to each other. As a result, when the connectors 41a and 46a approach each other, the magnets attract each other and the connectors 41a and 46a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 41a and 46a are electrically connected to each other.

The guide member 48 of the power feeding device 40 is formed in a funnel shape having a conical inner surface whose diameter decreases from the opening formed at the upper portion toward the opening formed at the lower portion. The opening formed in the upper part of the guide member 48 allows the leg portion 18 of the flying object 1 to be placed on the edge of the upper opening of the guide member 48 when the flying object 1 lands on the guide member 48. It has a diameter of possible dimensions. The opening formed in the lower part of the guide member 48 is arranged on the connector 41a which is an electrical contact of the contact board 41. The guide member 48 is supported by a support member such as an arbitrary frame structure (not shown) so that the relative position with respect to the contact board 41 is maintained. The guide member 48 is preferably configured to have sufficient strength to support the flying object 1 when the flying object 1 lands on the guide member 48. In order to prevent the connector 46a provided with the magnet from being attracted to the guide member 48, the guide member 58 is preferably made of a non-magnetic material such as plastic resin or aluminum.

FIG. 7B is a plan view of the guide member 48 shown in FIG. 7A as viewed from above. As shown in FIG. 7B, an AR marker 48a is attached or printed on the inner surface of the guide member 48. The AR marker is generally used to determine the position and angle of display by AR (Augmented Reality), but it can also be used to recognize the position and orientation of an object with the AR marker. Can be used.

Referring to FIG. 7A again, the flying object 1 in the present embodiment includes a camera 14 capable of photographing the downward direction of the flying object 1. The camera 14 of the aircraft 1 captures the AR marker 48a of the guide member 48, and the image of the captured AR marker 48a is compared with the reference image of the AR marker stored in the memory 11 or the storage 12 by the processor 10 of the aircraft 1. The position and attitude of the flying object 1 with respect to the guide member 48 can be recognized by the analysis. Therefore, the flying object 1 that has flown to the region where the AR marker 48a of the guide member 48 can be imaged sequentially acquires its own position and attitude with respect to the guide member 48 based on the AR marker 48a imaged by the camera 14, and the guide member 48. Flight control is performed toward a predetermined landing position on the 48, and the aircraft lands on the guide member 48.

A leg 18 is provided below the flying object 1 so that when the flying object 1 lands on the guide member 48, the leg portion 18 rests on the edge of the upper opening of the guide member 48. The height and width dimensions of the leg 18 are such that when the flying object 1 lands on the guide member 48, the lower surface of the leg 18 rests on the edge of the upper opening of the guide member 48, and the guide member 48 The dimensions are set so that they do not enter the inner surface. The legs 18 of the flying object 1 are preferably made of a lightweight material such as Styrofoam.

The flying object 1 that has flown into the landing area where the power feeding device 40 is installed takes an image of the AR marker 48a of the guide member 48 with the camera 14, and based on the image of the captured AR marker 48a, its own position and attitude with respect to the guide member 58. Are sequentially acquired, flight control is performed toward a predetermined landing position on the guide member 48, and the aircraft lands on the guide member 48. By sequentially acquiring the position and orientation of the flying object 1 with respect to the guide member 48 using the AR marker 48a and performing flight control of the flying object 1, autonomous operation using only the GPS sensor and the gyro sensor provided in the flying object 1. Compared to the case of flying, it is possible to land the flying object 1 at a predetermined landing position more accurately in a predetermined position, but still, due to the influence of wind or the like, the flying object 1 can be landed at a predetermined landing position in a predetermined position. It is difficult to make sure to land accurately.

When the flying object 1 lands on the guide member 48, the connector 46a provided at the lower part of the connector conversion board 46 of the flying object 1 comes into contact with the inner surface of the guide member 48. Since the connector conversion board 46 is suspended from the flexible power supply cable 45, the connector 46a of the connector conversion board 46 is the inner surface of the guide member 48 as shown by the dotted line in FIG. 7 (a). It is guided onto the connector 41a of the contact board 41 located at the lower part of the guide member 48 so as to slide down along the guide member 48. Then, the connectors 41a and 46a are attracted to each other by a magnetic force, the connectors 41a and 46a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 41a and 46a are electrically connected to each other and supplied from the power supply of the power supply device 40. The electric power charges the battery of the flying object 1.

As described above, according to the power feeding device 40 of the present modification, even if the flying object 1 does not land accurately in the predetermined position on the guide member 48, the flying object 1 may not land. When the flying object 1 lands on the guide member 48 within the range in which the connector conversion board 46 suspended from the feeding cable 45 can be accommodated in the guide member 48 of the feeding device 50, the flying object 1 side It is possible to guide the connector 46a of the connector conversion board 46 to the connector 41a, which is the electrical contact of the contact board 41 of the power feeding device 40, and connect the connectors 41a and 46a to charge the battery of the flying object 1. is there. Since the power supply device 40 of the present embodiment adopts a configuration in which power is directly supplied by wire, charging can be performed with higher energy efficiency than non-contact power supply. In the case of non-contact power feeding, if the flying object 1 does not land at an accurate position in the charging area, the power feeding efficiency may decrease and the charging time may be lengthened accordingly. Even when the flying object 1 lands at a position slightly deviated from a predetermined position, the connectors 41a and 46a can be connected to each other to charge the battery of the flying object 1, so that the power supply efficiency is lowered. There is nothing to do.

In this example, the connectors 41a and 46a are configured to have a circular electrode and a center electrode, respectively. By forming the electrodes of the connectors 41a and 46a into a circular electrode and a center electrode, the connectors 41a and 46a can be coupled to each other regardless of the rotation angles of the connectors 41a and 46a. Therefore, even when the flying object 1 lands on the guide member 48 in a state of being rotated from a predetermined attitude, the electrodes of the connectors 41a and 46a can be connected to each other.

Further, according to the power feeding device 40 of the present modification, the flying object 1 may be provided with the power feeding cable 45 and the connector conversion board 46, which are lighter than the devices required for non-contact power feeding. Therefore, it can be adopted for a small flying object 1 having a small thrust, and it is possible to reduce the influence on the payload that can be mounted on the flying object 1 of any form.

In this example, the guide member 48 having a conical inner surface has been described as an example, but the form of the guide member 48 is not limited to this. The inner surface of the guide member 48 may be formed so as to gradually narrow from the upper opening to the lower opening, and in addition to the conical shape, for example, a triangular pyramid, a quadrangular pyramid, or more. It may have the shape of a polygonal pyramid or an elliptical weight.

(Third variant)
FIG. 8 is a schematic view showing a third modification of the power feeding device for the flying object according to the second embodiment of the present disclosure shown in FIG. This modification is an application of the second modification described with reference to FIG. 7, and the same components as the components described with reference to FIG. 7 are designated by the same reference numerals. A detailed description of these components will be omitted here.

In this modification, the stay 43 of the power feeding device 40 is mounted on the slider SD that moves on the slide rail SL. The slider SD can move on the slide rail SL in the left-right direction of the drawing. As a means for moving the slider SD, for example, a means using a wire or a belt (at least one of two pulleys in which the slider SD is fixed to a part of a loop-shaped wire or a belt and the wire or the belt is stretched). A means using a motor), a means using a protruding rail, a means using a rack and pinion, a means using a ball screw, a means using a linear motor, or any other means can be used. it can.

As shown by the solid line in FIG. 8, when the flying object 1 takes off with the connectors 41a and 46a connected by a magnet, if the coupling force of the magnet is stronger than the thrust of the flying object 1, the connectors 41a and 46a are connected to each other. A situation may occur in which the aircraft cannot be separated and the aircraft 1 cannot take off. According to this modification, the slider SD to which the power feeding device 40 is attached moves horizontally along the slide rail SL, so that the connectors 41a and 46a are disconnected from each other. As a result, even if the flying object 1 does not have a thrust sufficient to disconnect the magnet coupling between the connectors 41a and 46a, the flying object 1 takes off after being charged by the power feeding device 40 shown in this example. Will be possible.

The magnets that are bonded to each other have a relatively strong bonding strength in the direction perpendicular to the bonding surface, while the bonding strength in the horizontal direction with respect to the bonding surface is relatively weak. Therefore, by moving the power feeding device 40 in the horizontal direction with respect to the connecting surface between the connectors 41a and 46a as in this modification, the connector 41a and 46a can be disconnected from each other with a smaller force.

The power feeding device 40 is provided with a control unit (not shown) that controls the operation of the slider SD. When, for example, the control unit of the power feeding device 40 connects the connectors 41a and 46a to each other and detects that the charging of the battery of the flying object 1 is completed based on the voltage of the battery of the flying object 1 or the like, the slider SD May be configured to disconnect the magnet coupling between the connectors 41a and 46a by operating.

As described above, in the slider SD and the slide rail SL in this modification, the connector 41a of the power feeding device 40 is connected to the power feeding cable 45 suspended from the flying object 1 landing on the guide member 48 via the connector conversion board 46. It constitutes a means for horizontally moving the connector 41a between the first position where the connector 41a can be connected to the connector 46a and the second position where the connector 41a is separated from the connector 46a.

By moving the slider SD to the original position shown by the solid line in FIG. 8 after the aircraft 1 has taken off, it is possible to prepare for charging the next flying aircraft 1. As described above, this modification is configured to move the slider SD to disconnect the magnet coupling between the connectors 41a and 46a, and since the magnet wear and the deterioration of the coupling force are small, the magnets between the connectors 41a and 46a are not deteriorated. Joining and disconnecting can be repeated.

<< Additional notes >>
The subject matter of this embodiment described above is represented, for example, by a group of appendices described below. However, the subject matter of this embodiment is not limited to this.

1) A power supply device that supplies power to an aircraft that operates by supplying power from a battery.
A first power supply cable to which a first connector is connected to one end is connected to the battery of the flying object.
The power supply device includes a second power supply cable connected to a power source, a second connector connected to one end of the second power supply cable, and the first power supply cable of the flying object. A power feeding device having a guide member for guiding the first connector connected to one end to the second connector.
2) The first power feeding cable extends from the underside of the flying object.
The power feeding device according to Appendix 1, wherein the power feeding device is arranged so that the second connector faces upward.
3) The guide member has a cone-shaped inner surface formed so that the diameter decreases from the upper opening to the lower opening, and the lower opening is the second connector. The power feeding device according to Appendix 2, which is arranged so as to be located above.
4) The power feeding device according to Appendix 3, wherein the guide member is arranged below an opening formed in the power feeding area of the landing stage on which the flying object lands.
5) The landing stage includes a sliding door that opens and closes the opening formed in the power supply area of the landing stage, and the sliding door displays a marker indicating the landing position of the flying object. The power supply device according to Appendix 4.
6) The second connector of the power feeding device is
The second connector is connected to the first connector connected to the first power feeding cable suspended from the flying object landing in the power feeding area of the landing stage through the opening of the landing stage. The first possible position and
The power feeding device according to Appendix 4 or 5, further comprising a second position for separating the second connector from the first connector and a lifter for moving the second connector up and down.
7) The power feeding device according to Appendix 3, wherein the guide member is configured so that the flying object can land on the upper opening.
8) The power feeding device according to Appendix 7, wherein a marker indicating the landing position of the flying object is displayed on the inner surface of the guide member.
9) The second connector of the power feeding device is
A first position where the second connector can be connected to the first connector connected to the first power supply cable suspended from the flying object landing on the guide member, and
The power feeding device according to Supplementary Note 7 or 8, further comprising a means for horizontally moving the second connector from the first connector to a second position for separating the second connector.
10) When the second connector is magnetically coupled to the first connector and is coupled to the first connector, the electrode of the second connector is electrically connected to the electrode of the first connector. The power feeding device according to any one of Supplementary Items 1 to 9, which is configured to be the same.

[Third Embodiment]
FIG. 9 is a schematic plan view showing a power feeding station of the flying object according to the third embodiment of the present disclosure.

As shown in FIG. 9, the power supply station 50 of the aircraft according to the third embodiment of the present disclosure includes a landing stage 51, four slide bar mechanisms 52 installed on the landing stage 51, and a power supply station 50. It is equipped with a control unit (not shown) that controls the above. As will be described later, these slide bar mechanisms 52 function as a flying object moving means for moving the flying object 1 landing on the landing stage 51 on the landing stage 51. The four slide bar mechanisms 52 are arranged so as to face each other along the left-right direction shown in the drawing, which is the first direction, and the four slide bar mechanisms 52 along the up-down direction shown in the second direction orthogonal to the first direction. They are arranged so as to form two pairs with a second pair arranged so as to face each other. In the central region of the landing stage 51, a power supply area 51a for supplying power to the aircraft 1 is provided.

Each slide bar mechanism 52 has a bar 52a that functions as an end effector that pushes and moves the flying object 1 that has landed on the landing stage 51, a slide rod 52b whose one end is fixed near both ends of the bar 52a, and a slide rod. It is provided with a guide portion 52c that slidably supports the 52b. As an example, a ball screw is formed around at least one slide rod 52b, and the slide rod 52b is configured to be movable in the longitudinal direction by a driving means (not shown). As a result, each slide bar mechanism 52 has an extrusion position for moving the bar 52a to the feeding area 51a on the landing stage 51, and a retracting position where the bar 52a is pulled outward from the extrusion position. It is possible to move between the positions. Each slide bar mechanism 52 of the first pair arranged to face each other along the illustrated left-right direction, which is the first direction, causes the aircraft 1 on the landing stage 51 to move in the second direction with respect to the power supply area 51a. Each slide bar mechanism 52 of the second pair, which is moved to a position along the (up and down direction in the drawing) and is arranged to face each other along the up and down direction in the drawing in the second direction, causes the aircraft 1 on the landing stage 51 to move. It is moved to a position along the first direction (horizontal direction in the drawing) with respect to the power supply area 51a. Since the bar 52a and the slide rod 52b need to have rigidity capable of pushing and moving the flying object 1 without bending, it is preferable that the bar 52a and the slide rod 52b are made of a metal material such as aluminum or steel. ..

The extrusion position where the bar 52a of each slide bar mechanism 52 is projected is such that the flying object 1 landing on the landing stage 51 is pushed and moved from each direction, and then the flying object 1 is accommodated in the power feeding area 51a. It is set to a possible position. Further, the retracting position where the bar 52a is retracted is such that the landing area on the landing stage 51 can be secured as wide as possible so that the bar 52a and the slide rod 52b do not interfere with the aircraft 1 landing on the landing stage 51. It is set to a position where 52a is retracted.

The structure and mechanism for moving the bar 52a in this way in the slide bar mechanism 52 are not limited to those illustrated here, and other slide bar mechanisms 52 as long as the bar 52a can be moved in this way are not limited to those illustrated here. Any configuration and mechanism can be adopted. For example, means using a protruding rail, means using a slider that can move back and forth on a slide rail, means using a wire or a belt, means using a rack and pinion, means using a linear motor, etc. May be used. The control unit (not shown) of the power supply station 50 controls the operation of the slide bar mechanism 52.

The landing stage 51 is preferably made of a slippery material (for example, acrylic, polycarbonate, etc.) so that the flying object 1 can easily move on the landing stage 51.

An AR marker arm indicating the position and orientation of the power supply area 51a is attached or printed on the power supply area 51a of the landing stage 51. The AR marker is generally used to determine the position and angle of display by AR (Augmented Reality), but it can also be used to recognize the position and orientation of an object with the AR marker. Can be used.

Further, a power feeding device (not shown in FIG. 9) for supplying power to the battery of the flying object 1 is installed in the power feeding area 51a. In the power supply area 51a, a power supply device capable of supplying power by non-contact means such as electromagnetic induction may be installed for the flying object 1 configured to supply power to the battery by non-contact power supply. In addition to, or in lieu of, a power supply device as described with reference to FIG. 3, FIG. 5 or FIG. 6 for an aircraft 1 configured to power the battery over a wired connection. May be installed. In the latter case, an opening is formed in the power supply area 51a of the landing stage 51 for passing the power supply cable of the aircraft 1.

It is preferable that the power supply station 50 is provided with means for detecting that the aircraft 1 has landed on the landing stage 51. Hereinafter, means for detecting that the flying object 1 has landed will be described as an example.

FIG. 10 is a schematic plan view showing a first example of means for detecting that an air vehicle has landed on the landing stage of a power supply station.

In the example shown in FIG. 10, optical sensors 53 are installed on all sides of the landing stage 51 of the power supply station 50. As the optical sensor 53, for example, an infrared sensor or a laser sensor can be used. The transmission / reception unit of each optical sensor 53 is directed to, for example, the power supply area 51a of the landing stage 51. The light transmitting / receiving unit of the optical sensor 53 includes a light emitting unit that emits light and a light receiving unit that receives the reflected light that is reflected by the light and returned to the object. When any of the optical sensors 53 receives the reflected light reflected by the object and returned, it is determined that the flying object 1 has landed on the landing stage 51.

FIG. 11 is a schematic plan view showing a second example of means for detecting that an air vehicle has landed on the landing stage of the power supply station.

In the example shown in FIG. 11, the power supply station 50 is provided with a small computer 54 such as a single board computer. The small computer 54 is configured by mounting the minimum core components required for a computer on a single circuit board. The main components to be installed are, for example, CPU, GPU and interface (Wi-Fi (registered trademark), Ethernet (registered trademark), Bluetooth (registered trademark), USB, GPIO port, HDMI (registered trademark), memory card. Slots, etc.). As such a small computer 54, for example, a computer product "Raspberry Pi" developed by the Raspberry Pi Foundation in the United Kingdom is known.

As an example, when the transmission / reception unit 13 (see FIG. 1) of the information processing device 1A of the information processing device 1 includes a Bluetooth (registered trademark) device, the processor 10 of the information processing device 1A has the aircraft 1 landing on the motor. When it detects that the aircraft has stopped, it is configured to transmit information indicating that it has landed from the Bluetooth (registered trademark) device of the transmission / reception unit 13. The processor of the small computer 54 of the power supply station 50 detects that the aircraft 1 has landed on the landing stage 51 by receiving the information on the Bluetooth® device.

The small computer 54 may function as a control unit of the power supply station 50. Further, since the small computer 54 is small and lightweight, it is possible to reduce the size and weight of the flying object 1 by configuring at least a part of the configuration of the information processing device 1A of the flying object 1 with the small computer 54. ..

Next, the operation of the power supply station 50 configured as described above will be described.

The aircraft 1 flying to the power supply station 50 images the AR marker of the power supply area 51a of the landing stage 51 with the camera 14, and sequentially acquires its own position and attitude with respect to the power supply area 51a based on the image of the captured AR marker. Then, flight control is performed toward a predetermined landing position on the power supply area 51a, and the aircraft lands on the power supply area 51a. By sequentially acquiring the position and orientation of the flying object 1 with respect to the power feeding area 51a using the AR marker and performing flight control of the flying object 1, autonomously using only the GPS sensor and the gyro sensor provided in the flying object 1. Compared to the case of flying, it is possible to land the flying object 1 at a predetermined landing position more accurately in a predetermined position, but even so, due to the influence of wind or the like, the flying object 1 can be placed at a predetermined landing position in a predetermined position. It is difficult to make sure to land accurately. When the flying object 1 does not land at a predetermined landing position on the feeding area 51a as shown by the solid line in FIG. 9, the operation described below by the slide bar mechanism 52 of the feeding station 50 Moves the aircraft 1 to a predetermined landing position on the power supply area 51a.

When it is detected by the detection means described with reference to FIGS. 10 and 11 that the aircraft 1 has landed on the landing stage 51, the control unit of the power supply station 50 first, for example, first on both the left and right sides of the figure in FIG. A pair of slide bar mechanisms 52 (first pair) is operated to move the bars 52a of those slide bar mechanisms 52 to the extrusion position. As a result, the aircraft 1 landing at the position shown by the solid line in FIG. 9 is moved to the left in the drawing, and is moved to a position along the vertical direction (second direction) with respect to the predetermined landing position of the power supply area 51a. Positioning is done. After that, the control unit of the power supply station 50 moves the bar 52a of the first pair of slide bar mechanisms 52 to the pull-in position and pulls it in.

Next, the control unit of the power supply station 50 operates a pair (second pair) of the slide bar mechanisms 52 on both the upper and lower sides shown in FIG. 9 to move the bars 52a of the slide bar mechanisms 52 to the extrusion position. Let me. As a result, the flying object 1 that has been positioned along the vertical direction (second direction) of the drawing with respect to the predetermined landing position of the power feeding area 51a is moved downward in the drawing, and the predetermined landing position of the power feeding area 51a is determined. Positioning is performed at a position along the left-right direction (first direction) of the drawing with respect to the landing position of. After that, the control unit of the power supply station 50 moves the bar 52a of the second pair of slide bar mechanisms 52 to the pull-in position and pulls it in. As a result, the flying object 1 is arranged at a predetermined landing position in the feeding area 51a, and the power feeding device (not shown) installed in the feeding area 51a can supply power to the battery of the flying object 1.

As described above, according to the power supply station 50 of the present embodiment, even when the aircraft body 1 lands in an area outside the power supply area 51a on the landing stage 51, the aircraft body 1 is landed in the predetermined power supply area 51a. By moving to the position, the battery of the flying object 1 can be charged by the power feeding device installed in the power feeding area 51a.

Further, as described above, the slide bar mechanism 52 of the first pair and the slide bar mechanism 52 of the second pair are operated in order to form the bar 52a of the slide bar mechanism 52 of the first pair. It is possible to prevent the bars 52a of the second pair of slide bar mechanisms 52 from interfering with each other.

It is preferable that the dimensions of each part such as the length of the bar 52a of the slide bar mechanism 52 and the movable range of the bar 52a are appropriately set according to the size and weight of the flying object 1.

(Modification example)
Next, a modified example of the power feeding station of the flying object of the present embodiment will be described.

(First modification)
FIG. 12 is a schematic plan view showing a first modification of the power feeding station of the flying object according to the third embodiment of the present disclosure shown in FIG. Further, FIG. 13 is a schematic plan view showing a slide bar mechanism provided with the power feeding device shown in FIG. 12 and an air vehicle that has landed on the landing stage. In FIGS. 12 and 13, the same components as those described with reference to FIG. 9 are designated by the same reference numerals.

As shown in FIG. 12, in addition to the configuration of the power supply station 50 shown in FIG. 9, the power supply station 50 of the aircraft according to the present modification is attached to the bar 52a of the slide bar mechanism 52 on the lower side of the drawing in FIG. A power feeding device 60 having the same configuration as the power feeding device 40 described with reference to the above is provided. As shown in FIG. 13, the power supply device 60 includes a contact board 61 having a connector 61a on the power supply area 51a side, a power supply cable 62 connected to the contact board 61, and a guide member 68. The contact board 61 may have the form of a connector conversion board and may include a voltage detection circuit. The power supply cable 62 is connected to a power source (not shown) such as a charger, and the power supplied from the power source (not shown) is supplied to the connector 61a via the contact board 61. In this example, the power supply device provided in the power supply area 51a of the power supply station 50 described with reference to FIG. 9 may be omitted.

The guide member 68 of the power feeding device 60 is arranged in the opposite direction from the opening on the front side which is arranged so that the bar 52a of the slide bar mechanism 52 on the lower side of the drawing faces the direction of moving to the extrusion position. It is formed in a funnel-like shape with a conical inner surface that decreases in diameter toward the posterior opening. The opening on the rear side of the guide member 68 is arranged close to the connector 61a, which is an electrical contact of the contact board 61. The guide member 68 is supported by a support member 69 fixed to the bar 52a so as to maintain a relative position with respect to the contact board 61.

In this example, the guide member 68 having a conical inner surface has been described as an example, but the form of the guide member 68 is not limited to this. The inner surface of the guide member 68 may be formed so as to gradually narrow from the upper opening to the lower opening, and in addition to the conical shape, for example, a triangular pyramid, a quadrangular pyramid, or more. It may have the shape of a polygonal pyramid or an elliptical pyramid.

As shown in FIG. 13, the flying object 1 in this modified example includes a power feeding cable 65 and a connector connected to one end of the power feeding cable 65, similarly to the flying body 1 described with reference to FIG. It is equipped with 66a. The connector 66a is connected to the connector 61a of the contact board 61. The other end of the power supply cable 65 is connected to the battery bat of the flying object 1 via the connector conversion board 64, and the power supplied from the connector 36a connected to the connector 61a of the contact board 61 is the connector 66a and the power supplied from the connector 36a. It is supplied to the battery bat of the aircraft 1 via the power supply cable 65. The power supply cable 65 is supported along the cable guide 65a attached to the flying object 1, and the connector 66a is fixed to the tip of the cable guide 38. As a result, the power supply cable 65 extends to the side of the flying object 1, and the connector 66a provided at the tip of the power supply cable 65 can easily access the connector 61a of the power supply device 60.

Also in this modification, the connectors 61a and 66a each include at least a circular electrode and a center electrode provided at the center of the circular electrode, and the circular electrodes and the center electrodes are electrically connected to each other. It is configured to be connected as a target. One of the circular electrode and the center electrode is a positive electrode, and the other is a negative electrode (or a ground electrode). Further, each of the connectors 61a and 66a includes a magnet (not shown) configured to attract each other to a position where the electrodes are connected to each other. As a result, when the connectors 61a and 66a approach each other, the magnets attract each other and the connectors 61a and 66a are coupled to each other, and the circular electrodes and the center electrodes of the connectors 61a and 66a are electrically connected to each other.

Next, the operation of the power supply station 50 of the present modification configured as described above will be described.

The flying object 1 flying to the power supply station 50 images the AR marker of the power supply area 51a of the landing stage 51 with the camera 14, and sequentially acquires its own position and attitude with respect to the power supply area 51a based on the image of the captured AR marker arm. Then, flight control is performed toward a predetermined landing position on the power supply area 51a, and the aircraft lands on the power supply area 51a. In this example, the power feeding area is such that the flying object 1 lands on the power feeding area 51a with the connector 66a of the flying body 1 facing the slide bar mechanism 52 (lower side in the drawing of FIG. 12) provided with the power feeding device 60. The AR marker of 51a is set, and the flight body 1 is flight-controlled so that when it lands on the power feeding area 51a, the connector 66a lands on the landing stage 51 in a posture in which the connector 66a faces the power feeding device 60 connector 66a.
By sequentially acquiring the position and orientation of the aircraft 1 with respect to the power supply area 51a using the AR marker and controlling the flight of the aircraft 1, autonomous flight using only the GPS sensor and the gyro sensor provided in the aircraft 1. It is possible to land the flying object 1 in a predetermined position in a predetermined landing position more accurately than in the case of causing the flight object 1 to land in a predetermined position due to the influence of wind or the like. It is difficult to land accurately. When the flying object 1 does not land at a predetermined landing position on the feeding area 51a as shown by the solid line in FIG. 12, the operation described below by the slide bar mechanism 52 of the feeding station 50 Moves the aircraft 1 to a predetermined landing position on the power supply area 51a. In this example, since the connector 66a of the flying object 1 is set to land on the feeding area 51a toward the connector 61a of the feeding device 60, the connector 66a of the landing flying object 1 makes the feeding device 60. The slide bar mechanism 52 (lower side in the drawing of FIG. 12) provided is substantially oriented.

When it is detected by the detection means described with reference to FIGS. 10 and 11 that the aircraft 1 has landed on the landing stage 51, the control unit of the power supply station 50 first, for example, first on both the left and right sides of the figure in FIG. A pair of slide bar mechanisms 52 (first pair) is operated to move the bars 52a of those slide bar mechanisms 52 to the extrusion position. As a result, the flying object 1 that had landed at the position shown by the solid line in FIG. 12 is moved to the left in the drawing, and is positioned along the illustrated vertical direction (second direction) with respect to the predetermined landing position of the power feeding area 51a. Positioning is done. After that, the control unit of the power supply station 50 moves the bar 52a of the first pair of slide bar mechanisms 52 to the pull-in position and pulls it in.

Next, among the pairs (second pair) of the slide bar mechanisms 52 on both the upper and lower sides shown in FIG. 12, the control unit of the power feeding station 50 uses the upper slide bar mechanism 52 shown in FIG. It is operated and the bar 52a of the slide bar mechanism 52 is moved to the extrusion position. As a result, the flying object 1 that has been positioned in the left-right direction of the drawing with respect to the predetermined landing position of the power supply area 51a is moved downward in the drawing, and is moved in the left-right direction of the drawing with respect to the predetermined landing position of the power supply area 51a. Positioning to a position along the first direction) is performed. The bar 52a of the slide bar mechanism 52 is maintained at the extrusion position. FIG. 13A shows the flying object 1 in the state of being positioned in this way and the slide bar mechanism 52 provided with the power feeding device 60 (however, in FIG. 13, the slide bar mechanism 52 is shown. It is shown to be located on the right side of the aircraft 1).

Next, among the pair (second pair) of the slide bar mechanisms 52 on both the upper and lower sides shown in FIG. 12, the control unit of the power feeding station 50 uses the lower slide bar mechanism 52 shown in the drawing provided with the power feeding device 60. It is operated and the bar 52a of the slide bar mechanism 52 is moved toward the extrusion position. At this time, as shown in FIG. 13A, there may be a case where the connector 66a of the flying object 1 is not sufficiently aligned with the connector 61a of the contact board 61 of the power feeding device 60. Even in such a case, according to the present modification, when the bar 52a of the slide bar mechanism 52 provided with the power feeding device 60 moves toward the extrusion position, the tip of the power feeding cable 65 of the flying object 1 is used. The connector 66a provided on the power supply device 60 comes into contact with the inner surface of the guide member 68 of the power feeding device 60. The power supply cable 65 is supported by the cable guide 65a, and the connector 66a is guided to the connector 61a located in the vicinity of the rear opening of the guide member 68 by sliding along the inner surface of the guide member 68. At this time, the reaction force acting on the connector 66a causes the flying object 1 to rotate, and the attitude of the flying object 1 is changed so that the connector 66a faces the connector 61a of the power feeding device 60 (see FIG. 13B). At this time, since the bar 52a of the slide bar mechanism 52 on the upper side of the drawing in FIG. 12 is maintained at the extrusion position, it is supported by the bar 52a so that the flying object 1 does not move backward.

When the connectors 61a and 66a approach each other in this way, the connectors 61a and 66a are attracted to each other by magnetic force and are coupled to each other, and the circular electrodes and the center electrodes of the connectors 61a and 66a are electrically connected to each other and the power supply device 60. The battery of the flying object 1 is charged by the electric power supplied from the power source. When the control unit of the power supply station 50 detects that the charging of the battery of the flying object 1 has started, the control unit stops the movement of the bar 52a of the slide bar mechanism 52 on the lower side of the drawing in FIG.

Finally, when the control unit of the power supply station 50 detects that the battery of the flying object 1 has been charged, the control unit of the power supply station 50 moves the bar 52a of the second pair of slide bar mechanisms 52 to the retracted position. Let them pull in and separate those bars 52a from the aircraft 1. As a result, the connectors 61a and 66a are released from each other, and the aircraft 1 can take off.

As described above, according to the present modification, the attitude (orientation) of the aircraft 1 landing on the landing stage 51 is somewhat different from the attitude in which the connector 66a of the aircraft 1 can be connected to the connector 61a of the power feeding device 60. Even if they are displaced, the connectors 61a and 66a can be connected to each other as long as the connector 66a of the flying object 1 can be accommodated in the front opening of the guide member 68.

(Second modification)
FIG. 14 is a schematic view showing a second modification of the power feeding station of the air vehicle according to the third embodiment of the present disclosure shown in FIG. This modification is an application of the first modification described with reference to FIGS. 12 and 13, and the same reference numerals are given to the same components as the components described with reference to FIGS. 12 and 13. It is attached. A detailed description of these components will be omitted here.

The power supply station 50 of this modification is provided with a turntable 51b in the power supply area 51a. The turntable 51b is configured to be rotatable in both clockwise and counterclockwise directions shown by an arbitrary driving means such as a motor (not shown).

The flying object 1 of this modification includes a light emitting unit 19 that emits light. The light emitting unit 19 is arranged so as to emit light in a direction from the center of the flying object 1 toward the connector 66a, for example. The light emitted by the light emitting unit 19 is, for example, infrared light or laser light. On the other hand, in the slide bar mechanism 52 provided with the power feeding device 60 of this modification, a light receiving unit 67 that receives light emitted from the light emitting unit 19 is installed at a position behind the guide member 68.

Next, the operation of the power supply station 50 of this modified example will be described.

Similar to the power supply station 50 of the first modification described with reference to FIG. 12, when the aircraft 1 lands on the landing stage 51, the control unit (not shown) of the power supply station 50 slides the first pair. -The bar mechanism 52 and the slide bar mechanism 52 on the upper side of the drawing, which is not provided with the power feeding device 60 of the second pair, are operated to move the aircraft 1 to a predetermined landing position in the power feeding area 51a. As a result, the flying object 1 is placed on the turntable 51b. When the processor 10 of the aircraft body 1 stops the rotation of the motor after landing, the processor 10 starts emitting light from the light emitting unit 19.

The control unit (not shown) of the power supply station 50 is a slide bar provided with the power supply device 60 after the operation of moving the flying object 1 to a predetermined landing position in the power supply area 51a by the plurality of slide bar mechanisms 52 is completed. Light detection by the light receiving unit 67 provided in the mechanism 52 is started, and rotational driving of the turntable 51b is started. The rotation direction of the turntable 51b may be arbitrary. Alternatively, when the light receiving unit 67 provided in the slide bar mechanism 52 is configured to be able to detect the directivity of the light emitted from the light emitting unit 19 of the flying object 1, the control unit of the power supply station 50 may be used. The turntable 51b may be rotated in a direction in which the connector 66a of the flying object 1 can be aligned with the connector 61a of the power feeding device 60 with less rotation.

When the control unit of the power supply station 50 detects that the intensity level of the light received by the light receiving unit 67 is equal to or higher than the reference level, the control unit stops the rotation drive of the turntable 51b and stops the light detection by the light receiving unit 67. .. As a result, the connector 66a of the flying object 1 is substantially aligned with the connector 61a of the power feeding device 60.

Subsequently, the control unit of the power feeding station 50 uses the slide bar mechanism 52 provided with the power feeding device 60 on the lower side of the pair (second pair) of the slide bar mechanisms 52 on both the upper and lower sides shown in FIG. It is operated and the bar 52a of the slide bar mechanism 52 is moved toward the extrusion position. At this time, the connector 66a of the flying object 1 may not be sufficiently aligned with the connector 61a of the contact board 61 of the power feeding device 60. Even in such a case, according to the present modification, when the bar 52a of the slide bar mechanism 52 provided with the power feeding device 60 moves toward the protruding first position, the power feeding of the flying object 1 is performed. The connector 66a provided at the tip of the cable 65 comes into contact with the inner surface of the guide member 68 of the power feeding device 60. The power supply cable 65 is supported by the cable guide 65a, and the connector 66a is guided to the connector 61a located in the vicinity of the rear opening of the guide member 68 by sliding along the inner surface of the guide member 68. In this modification, the turntable 51b roughly aligns the connector 66a of the flying object 1 with the connector 61a of the power feeding device 60, so that even if there is some deviation in the alignment between the connectors 61a and 66a, the flight The deflection of the power supply cable 65 and the cable guide 65a of the body 1 can compensate for such misalignment.

When the connectors 61a and 66a approach each other in this way, the connectors 61a and 66a are attracted to each other by magnetic force and are coupled to each other, and the circular electrodes and the center electrodes of the connectors 61a and 66a are electrically connected to each other and the power supply device 60. The battery of the flying object 1 is charged by the electric power supplied from the power source. When the control unit of the power supply station 50 detects that the charging of the battery of the flying object 1 has started, the control unit stops the movement of the bar 52a of the slide bar mechanism 52 on the lower side of the drawing in FIG. On the other hand, when the processor 10 of the flying object 1 detects that the charging to the battery has started, the processor 10 stops emitting light from the light emitting unit 19.

Finally, when the control unit of the power supply station 50 detects that the battery of the flying object 1 has been charged, the bar 52a of the slide bar mechanism 52 of the second pair is moved to the second position and pulled in. , Move those bars 52a away from the vehicle 1. As a result, the connectors 61a and 66a are released from each other, and the aircraft 1 can take off.

As described above, according to the present modification, the attitude (orientation) of the flying object 1 landing on the landing stage 51 deviates from the attitude capable of connecting the connector 66a of the flying object 1 to the connector 61a of the power feeding device 60. Even in this case, the flying object 1 is rotated by the turntable 51b so that the connectors 61a and 66a can be connected to each other in an appropriate posture (orientation), and the connectors 61a and 66a are connected to each other. Is possible.

<< Additional notes >>
The subject matter of this embodiment described above is represented, for example, by a group of appendices described below. However, the subject matter of this embodiment is not limited to this.

1) A power supply station that supplies power to an aircraft that operates by supplying power from a battery.
A landing stage on which the air vehicle lands and a landing stage provided with a power supply area for supplying power to the battery of the air vehicle.
It is provided with a plurality of flying object moving means for moving the flying object landing on the landing stage on the landing stage.
The flying object moving means forms a first pair arranged to face each other along the first direction and a second pair arranged to face each other along a second direction orthogonal to the first direction. And
Each of the first pair of the flying object moving means is configured to be able to move the flying object on the landing stage to a position along the second direction with respect to the feeding area, and the second pair. Each of the flying object moving means is configured to be able to move the flying object on the landing stage to a position along the first direction with respect to the feeding area.
2) Each of the flying object moving means has an extrusion position for moving the flying object on the landing stage to the feeding area and a retracting position drawn from the extrusion position toward the outside of the landing stage. The power supply station according to Appendix 1, which has an end effector that can move between them.
3) The plurality of flying object moving means are
After moving the end effector of the flying object moving means of one pair of the first and second pairs to the extrusion position, the end effector of the flying object moving means of the one pair is said. Move it to the retracted position and
Next, the end effector of the flying object moving means of the other pair of the first and second pairs is moved to the extrusion position, and the flying object on the landing stage is moved to the feeding area. The power supply station according to Appendix 2, which operates so as to be operated.
4) The battery of the flying object is connected to a first feeding cable having a first connector connected to one end, and the first feeding cable extends to the side of the flying object.
A second power feeding cable connected to a power source and one end of the second power feeding cable were connected to the end effector of the flying body moving means of one of the plurality of flying object moving means. A power supply device having a second connector and a guide member for guiding the first connector connected to the one end of the first power supply cable of the flying object to the second connector is installed. The power supply station according to Appendix 2.
5) The flying object is flight-controlled so that when it lands in the power feeding area, the first connector lands on the landing stage in a posture in which the first connector faces the second connector of the power feeding device.
The plurality of aircraft moving means
After moving the end effector of the flying object moving means of one pair of the first and second pairs to the extrusion position, the end effector of the flying object moving means of the one pair is said. Move it to the retracted position and
Next, of the flying object moving means of the other pair of the first and second pairs, the end effector of the flying object moving means in which the power feeding device is not installed is directed to the extrusion position. Move,
Next, among the flying object moving means of the other pair of the first and second pairs, the end effector of the flying object moving means in which the power feeding device is installed is moved toward the extrusion position. The guide member guides the first connector of the flying object to the second connector of the power feeding device, and operates to connect the first connector and the second connector. The power supply station according to Appendix 4.
6) A turntable for rotating the mounted vehicle is provided in the power supply area of the landing stage, and the turntable is such that the first connector of the vehicle is connected to the first connector of the power supply device. Rotate the flying object so that it faces the connector of 2.
The plurality of aircraft moving means
After moving the end effector of the flying object moving means of one pair of the first and second pairs to the extrusion position, the end effector of the flying object moving means of the one pair is said. Move it to the retracted position and
Next, of the flying object moving means of the other pair of the first and second pairs, the end effector of the flying object moving means in which the power feeding device is not installed is directed to the extrusion position. Move,
Next, among the flying object moving means of the other pair of the first and second pairs, the end effector of the flying object moving means in which the power feeding device is installed is moved toward the extrusion position. The guide member guides the first connector of the flying object to the second connector of the power feeding device, and operates to connect the first connector and the second connector. The power supply station according to Appendix 4.
7) The flying object is provided with a light emitting unit that emits light indicating the direction of the flying object, and the power feeding device is provided with a light receiving unit that detects the light.
The power supply station according to Appendix 6, wherein the turntable whose rotation has started is stopped when the intensity level of the light received by the light receiving unit becomes equal to or higher than a predetermined reference level.
8) The guide member has a conical inner surface formed so that the diameter decreases from the front opening facing the direction in which the end effector moves to the extrusion position toward the rear opening. The power supply station according to any one of Items 4 to 7, wherein the rear opening is arranged so as to be located in the vicinity of the second connector.
9) The power supply station according to any one of Supplementary Items 1 to 8, further comprising a detection means for detecting that the air vehicle has landed on the landing stage.
10) The power supply station according to any one of Supplementary Items 1 to 9, wherein a marker indicating the landing position of the air vehicle is displayed in the power supply area.

Although the present disclosure has been described above through various embodiments and modifications, the above-described embodiments and modifications do not limit the invention according to the claims. In addition, a combination of the features described in the embodiments and modifications of the present disclosure may also be included in the technical scope of the present disclosure. Furthermore, it will be apparent to those skilled in the art that various changes or improvements can be made to the above-described embodiments and modifications.

1 Aircraft 30, 40 Power supply device 50 Power supply station

Claims (10)

It is a power supply device that supplies power to an aircraft that operates by supplying power from a battery.
A first power supply cable to which a first connector is connected to one end is connected to the battery of the flying object.
The power supply device includes a second power supply cable connected to a power source, a second connector connected to one end of the second power supply cable, and the first power supply cable of the flying object. A power feeding device having a guide member for guiding the first connector connected to one end to the second connector. The first power supply cable extends from the underside of the flying object.
The power supply device according to claim 1, wherein the power supply device is arranged so that the second connector faces upward. The guide member has a conical inner surface formed so that the diameter decreases from the upper opening to the lower opening, and the lower opening is on the second connector. The power supply device according to claim 2, which is arranged so as to be located. The power feeding device according to claim 3, wherein the guide member is arranged below an opening formed in the power feeding area of the landing stage on which the flying object lands. The landing stage includes a sliding door for opening and closing the opening formed in the feeding area of the landing stage, and the sliding door displays a marker indicating the landing position of the flying object. The power supply device according to 4. The second connector of the power feeding device,
The second connector is connected to the first connector connected to the first power feeding cable suspended from the flying object landing in the power feeding area of the landing stage through the opening of the landing stage. The first possible position and
The power feeding device according to claim 4 or 5, further comprising a second position for separating the second connector from the first connector and a lifter for moving the second connector up and down. The power feeding device according to claim 3, wherein the guide member is configured so that the flying object can land on the upper opening. The power feeding device according to claim 7, wherein a marker indicating a landing position of the flying object is displayed on the inner surface of the guide member. The second connector of the power feeding device,
A first position where the second connector can be connected to the first connector connected to the first power supply cable suspended from the flying object landing on the guide member, and
The power feeding device according to claim 7 or 8, further comprising means for horizontally moving the second connector from the first connector to a second position for separating the second connector. When the second connector is magnetically coupled to the first connector and is coupled to the first connector, the electrode of the second connector is electrically connected to the electrode of the first connector. The power supply device according to any one of claims 1 to 9, which is configured as described above.

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