JP7472523B2 - Mobile charging system - Google Patents

Mobile charging system Download PDF

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JP7472523B2
JP7472523B2 JP2020022829A JP2020022829A JP7472523B2 JP 7472523 B2 JP7472523 B2 JP 7472523B2 JP 2020022829 A JP2020022829 A JP 2020022829A JP 2020022829 A JP2020022829 A JP 2020022829A JP 7472523 B2 JP7472523 B2 JP 7472523B2
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power
power receiving
electromagnets
receiving unit
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JP2021129418A (en
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謙一 流郷
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JTEKT Corp
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

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Description

本発明は、蓄電池に蓄電された電力により移動する移動体に対して充電装置から充電を行う移動体充電システムに関する。 The present invention relates to a mobile body charging system that charges a mobile body that moves using power stored in a storage battery from a charging device.

従来、所謂ドローン等の自律飛行体に充電を行うための装置として、特許文献１に記載のものが知られている。特許文献１に記載の飛行体給電装置は、ドローンが着陸する着陸台と、着陸台の中央部の下方に設けられた送電ユニットとを有している。ドローンの下部には受電コイルが設けられており、この受電コイルが送電ユニットの送電コイルと対向して電磁結合することで、電磁誘導によるドローンへの給電がなされる。着陸台は、周辺部に対して中央部が低く設定された扁平な逆四角錐台形状の傾斜部を有しており、ドローンが傾斜部に着陸した場合には、傾斜部の傾斜によってドローンが中央部に導かれる。そして、受電コイルと送電コイルとが正確に対向する状態となって高い効率で給電が可能となるとされている。 Conventionally, a device for charging an autonomous flying object such as a drone is described in Patent Document 1. The flying object power supply device described in Patent Document 1 has a landing pad on which the drone lands and a power transmission unit provided below the center of the landing pad. A power receiving coil is provided at the bottom of the drone, and this power receiving coil faces and electromagnetically couples with the power transmission coil of the power transmission unit, thereby supplying power to the drone through electromagnetic induction. The landing pad has a sloped portion in the shape of a flat inverted truncated pyramid with the center set lower than the periphery, and when the drone lands on the sloped portion, the slope of the sloped portion guides the drone to the center. Then, the power receiving coil and the power transmission coil are precisely facing each other, enabling highly efficient power supply.

また、自律飛行体を目標地点に自動で着陸させるための自動着陸システムとして、特許文献２に記載のものが知られている。この自動着陸システムでは、飛行体が機体の下面に設けられた撮像装置を備えており、撮像装置で取得した着陸ターゲットの画像に基づいて着陸ターゲットと飛行体との位置関係を演算し、この演算結果によって飛行体の着陸を制御する。 An automatic landing system for automatically landing an autonomous flying object at a target location is described in Patent Document 2. In this automatic landing system, the flying object is equipped with an imaging device mounted on the underside of the aircraft, and the positional relationship between the landing target and the flying object is calculated based on an image of the landing target acquired by the imaging device, and the landing of the flying object is controlled based on the result of this calculation.

特開２０１７－１２４７５８号公報JP 2017-124758 A 特開２０１２－０７１６４５号公報JP 2012-071645 A

例えば特許文献２に記載されたもののように撮像装置で撮像した着陸位置の画像に基づいて飛行体の着陸を制御しても、例えば風等の外乱によっては、着陸位置が目標位置から外れてしまう場合がある。また、特許文献１に記載されたもののように着陸台に傾斜を設ければ、飛行体を着陸台の中央部に導くことができるようにも思われるが、飛行体を確実に着陸台の中央部に導くためには傾斜部の傾斜を大きくしなければならず、傾斜部の傾斜を大きくすれば、ドローンが中央部を通り過ぎた位置で停止してしまうおそれがあると考えられる。 For example, even if the landing of an aircraft is controlled based on an image of the landing position captured by an imaging device as described in Patent Document 2, the landing position may deviate from the target position due to external disturbances such as wind. Also, while it may seem possible to guide the aircraft to the center of the landing pad by providing a slope on the landing pad as described in Patent Document 1, the slope of the slope must be large in order to reliably guide the aircraft to the center of the landing pad, and if the slope is large, there is a risk that the drone will stop at a position past the center.

そこで、本発明は、移動体の受電部と充電装置の送電部とを正確に位置合わせすることが可能な移動体充電システムを提供することを目的とする。 Therefore, the present invention aims to provide a mobile body charging system that can accurately align the power receiving unit of the mobile body and the power transmitting unit of the charging device.

本発明は、上記の目的を達成するため、蓄電池に蓄電された電力により移動する移動体の前記蓄電池に対して充電装置から充電を行う移動体充電システムであって、前記移動体は、前記充電装置から受電を行う受電部を有し、前記受電部により受電した電力を前記蓄電池に蓄電し、前記充電装置は、前記受電部に結合される送電部と、前記受電部を前記送電部に結合される位置に移動させることが可能な移動部とを有し、前記移動部は、前記送電部の周囲に配置された複数の電磁石を備え、前記複数の電磁石の磁力によって前記受電部が前記送電部側に導かれる、移動体充電システムを提供する。 In order to achieve the above-mentioned object, the present invention provides a mobile body charging system in which a storage battery of a mobile body that moves using power stored in the storage battery is charged by a charging device, wherein the mobile body has a power receiving unit that receives power from the charging device and stores the power received by the power receiving unit in the storage battery, the charging device has a power transmitting unit connected to the power receiving unit and a moving unit capable of moving the power receiving unit to a position where it is connected to the power transmitting unit , and the moving unit has a plurality of electromagnets arranged around the power transmitting unit, and the power receiving unit is guided toward the power transmitting unit by the magnetic force of the plurality of electromagnets .

本発明に係る移動体充電システムによれば、移動体の受電部と充電装置の送電部とを正確に位置合わせすることが可能となる。 The mobile body charging system of the present invention makes it possible to accurately align the power receiving unit of the mobile body and the power transmitting unit of the charging device.

（ａ）は、飛行体が充電装置の着陸台に着陸した状態を示す図であり、（ｂ）は、（ａ）のＡ－Ａ線における断面図である。1A is a diagram showing the state in which the aircraft has landed on the landing pad of the charging device, and FIG. 1B is a cross-sectional view taken along line AA of FIG. 飛行体及び充電装置ならびに操作端末の構成例を示すブロック図である。2 is a block diagram showing an example configuration of an aircraft, a charging device, and an operation terminal. FIG. （ａ）～（ｃ）は、着陸台を上方から見た俯瞰図である。(a) to (c) are overhead views of the landing pad.

［実施の形態］
本発明の実施の形態に係る移動体充電システムついて、図１乃至図３を参照して説明する。なお、以下に説明する実施の形態は、本発明を実施する上での好適な具体例として示すものであり、技術的に好ましい種々の技術的事項を具体的に例示している部分もあるが、本発明の技術的範囲は、この具体的態様に限定されるものではない。なお、以下の説明において「上」及び「下」とは、鉛直方向の上・下をいうものとする。 [Embodiment]
A mobile charging system according to an embodiment of the present invention will be described with reference to Figures 1 to 3. The embodiment described below is shown as a preferred specific example for implementing the present invention, and although there are some parts that specifically exemplify various technical matters that are technically preferable, the technical scope of the present invention is not limited to this specific embodiment. In the following description, "upper" and "lower" refer to upper and lower in the vertical direction.

本実施の形態に係る移動体充電システムは、充電対象である移動体としての飛行体と、飛行体に対して充電を行う充電装置とによって構成されている。図１（ａ）は、飛行体１が充電装置２の着陸台２０に着陸した状態を示している。図１（ｂ）は、図１（ａ）のＡ－Ａ線における断面図である。図２は、移動体充電システム１００における飛行体１及び充電装置２、ならびにオペレータが飛行体１を操作するための操作端末３の構成例を示すブロック図である。図３（ａ）～（ｃ）は、着陸台２０を上方から見た俯瞰図である。 The mobile body charging system according to this embodiment is composed of an aircraft as a mobile body to be charged, and a charging device that charges the aircraft. FIG. 1(a) shows the state in which the aircraft 1 has landed on the landing pad 20 of the charging device 2. FIG. 1(b) is a cross-sectional view taken along line A-A in FIG. 1(a). FIG. 2 is a block diagram showing an example configuration of the aircraft 1 and charging device 2 in the mobile body charging system 100, as well as the operation terminal 3 with which an operator operates the aircraft 1. FIGS. 3(a) to (c) are bird's-eye views of the landing pad 20.

飛行体１は、所謂ドローンであり、機体１１と、機体１１に搭載された第１乃至第４のモータ１２１～１２４と、第１乃至第４のモータ１２１～１２４によってそれぞれ回転駆動される第１乃至第４のプロペラ１３１～１３４と、操作端末３との無線通信を行う第１通信部１４１と、充電装置２との無線通信を行う第２通信部１４２と、例えばＧＰＳ（Global Positioning System）の人工衛星から発信されるＧＰＳ信号によって機体１１の基準位置（例えば胴部１１０の中心部）の位置を検出する位置検出部１５と、機体１１の下方を撮像する撮像装置１６と、第１乃至第４のモータ１２１～１２４にモータ電流を出力する電流出力部１７と、電流出力部１７から第１乃至第４のモータ１２１～１２４に出力されるモータ電流を調整して第１乃至第４のモータ１２１～１２４を制御する制御部１８と、電源ユニット１９とを備えている。 The flying object 1 is a so-called drone, and includes an airframe 11, first to fourth motors 121 to 124 mounted on the airframe 11, first to fourth propellers 131 to 134 rotated and driven by the first to fourth motors 121 to 124, a first communication unit 141 that performs wireless communication with the operation terminal 3, a second communication unit 142 that performs wireless communication with the charging device 2, a position detection unit 15 that detects the position of the reference position of the airframe 11 (for example, the center of the torso 110) using a GPS signal transmitted from a GPS (Global Positioning System) satellite, for example, an imaging device 16 that images the area below the airframe 11, a current output unit 17 that outputs motor currents to the first to fourth motors 121 to 124, a control unit 18 that adjusts the motor currents output from the current output unit 17 to the first to fourth motors 121 to 124 to control the first to fourth motors 121 to 124, and a power supply unit 19.

機体１１は、胴部１１０と、胴部１１０から放射状に延びる４本のアーム部１１１～１１４と、胴部１１０から下方に延びる複数の脚部１１５と、後述する受電部１９１を保持する保持部１１６とを備えている。第１乃至第４のモータ１２１～１２４は、４本のアーム部１１１～１１４のそれぞれに収容され、第１乃至第４のプロペラ１３１～１３４は、４本のアーム部１１１～１１４のそれぞれの先端部の上側に配置されている。なお、アーム部、モータ、及びプロペラの数は、４に限らず、５以上であってもよい。 The aircraft 11 comprises a torso 110, four arms 111-114 extending radially from the torso 110, a number of legs 115 extending downward from the torso 110, and a holder 116 that holds a power receiving unit 191 (described below). The first to fourth motors 121-124 are housed in each of the four arms 111-114, and the first to fourth propellers 131-134 are disposed above the tips of the four arms 111-114. The number of arms, motors, and propellers is not limited to four, and may be five or more.

電源ユニット１９は、充電装置２から誘導給電によって受電を行う受電部１９１と、受電部１９１で発生する交流電流を整流する整流回路１９２と、蓄電池１９３と、整流回路１９２によって整流された電圧によって蓄電池１９３を充電する充電回路１９４とを備えている。蓄電池１９３は、例えばリチウムイオン電池やニッケル水素電池等の二次電池、もしくは大容量のコンデンサであり、受電部１９１により受電した電力を蓄電する。蓄電池１９３に蓄電された電力は、電流出力部１７に供給され、第１乃至第４のモータ１２１～１２４を駆動するために用いられる。すなわち、飛行体１は、蓄電池１９３に蓄電された電力により移動（飛行）する。 The power supply unit 19 includes a power receiving section 191 that receives power from the charging device 2 by inductive power supply, a rectifier circuit 192 that rectifies the AC current generated by the power receiving section 191, a storage battery 193, and a charging circuit 194 that charges the storage battery 193 with the voltage rectified by the rectifier circuit 192. The storage battery 193 is, for example, a secondary battery such as a lithium ion battery or a nickel-metal hydride battery, or a large-capacity capacitor, and stores the power received by the power receiving section 191. The power stored in the storage battery 193 is supplied to the current output section 17 and used to drive the first to fourth motors 121 to 124. In other words, the aircraft 1 moves (flies) using the power stored in the storage battery 193.

受電部１９１は、軟磁性体からなる芯材１９１ａと、芯材１９１ａの周囲に配置された受電コイル１９１ｂとを有している。芯材１９１ａとしては、透磁率が高い鉄等の金属を好適に用いることができる。受電コイル１９１ｂは、芯材１９１ａの周囲に例えばエナメル線からなる導線を巻き回して形成されている。本実施の形態では、芯材１９１ａが円柱状であり、その軸方向が鉛直方向に沿うように配置されている。受電部１９１は、図１（ｂ）に示すように、機体１１の保持部１１６内に収容されている。保持部１１６は、円筒状の円筒部１１６ａと、円盤状の底部１１６ｂとを有する有底円筒状であり、芯材１９１ａの下端面が底部１１６ｂに対向している。 The power receiving unit 191 has a core material 191a made of a soft magnetic material and a power receiving coil 191b arranged around the core material 191a. A metal with high magnetic permeability such as iron can be suitably used as the core material 191a. The power receiving coil 191b is formed by winding a conductor made of, for example, an enameled wire around the core material 191a. In this embodiment, the core material 191a is cylindrical and arranged so that its axial direction is along the vertical direction. As shown in FIG. 1(b), the power receiving unit 191 is accommodated in the holding unit 116 of the machine body 11. The holding unit 116 is a bottomed cylinder having a cylindrical cylindrical portion 116a and a disk-shaped bottom portion 116b, and the lower end surface of the core material 191a faces the bottom portion 116b.

充電装置２は、飛行体１が着陸する着陸台２０と、着陸台２０の中心部に配置され、飛行体１の受電部１９１に結合される送電部２１と、例えば商用電源を電圧変換及び周波数変換して送電部２１に供給する電圧を生成する送電電源部２２と、受電部１９１を送電部２１に結合される位置に移動させることが可能な移動部２３と、飛行体１との無線通信を行う通信部２４と、飛行体１との無線通信によって得られた情報に基づいて送電電源部２２及び移動部２３を制御する制御部２５とを有している。 The charging device 2 has a landing pad 20 on which the flying object 1 lands, a power transmission unit 21 that is placed at the center of the landing pad 20 and connected to the power receiving unit 191 of the flying object 1, a power transmission power supply unit 22 that generates a voltage to be supplied to the power transmission unit 21 by, for example, converting the voltage and frequency of a commercial power source, a moving unit 23 that can move the power receiving unit 191 to a position where it is connected to the power transmission unit 21, a communication unit 24 that performs wireless communication with the flying object 1, and a control unit 25 that controls the power transmission power supply unit 22 and the moving unit 23 based on information obtained by wireless communication with the flying object 1.

送電部２１は、受電部１９１と同様に、軟磁性体からなる芯材２１ａと、芯材２１ａの周囲に配置された送電コイル２１ｂとを有している。送電部２１の芯材２１ａは、例えば受電部１９１の芯材１９１ａと同径の円柱状である。 Like the power receiving unit 191, the power transmitting unit 21 has a core material 21a made of a soft magnetic material and a power transmitting coil 21b arranged around the core material 21a. The core material 21a of the power transmitting unit 21 is cylindrical and has the same diameter as the core material 191a of the power receiving unit 191, for example.

移動部２３は、図３（ａ）～（ｃ）に示すように、送電部２１の周囲に配置された複数の電磁石２３０を備えている。それぞれの電磁石２３０は、図１（ｂ）に示すように、軟磁性体からなる芯材２３０ａと、芯材２３０ａの周囲に配置されたコイル２３０ｂとを有している。飛行体１の受電部１９１は、電磁石２３０の磁力が芯材１９１ａに作用することで、電磁石２３０の磁力によって送電部２１側に導かれる。 As shown in Figures 3(a) to (c), the moving unit 23 has multiple electromagnets 230 arranged around the power transmission unit 21. As shown in Figure 1(b), each electromagnet 230 has a core material 230a made of a soft magnetic material and a coil 230b arranged around the core material 230a. The magnetic force of the electromagnets 230 acts on the core material 191a, and the power receiving unit 191 of the aircraft 1 is guided to the power transmission unit 21 side by the magnetic force of the electromagnets 230.

本実施の形態では、移動部２３が、送電部２１を囲むように配置された複数の電磁石２３０からなる第１環状帯２３ａと、第１環状帯２３ａの外側を囲むように配置された複数の電磁石２３０からなる第２環状帯２３ｂとを有している。図３（ａ）～（ｃ）では、第１環状帯２３ａ及び第２環状帯２３ｂをそれぞれ破線で囲って示している。以下、複数の電磁石２３０のうち第１環状帯２３ａを構成する複数の電磁石２３０を第１電磁石２３１といい、第２環状帯２３ｂを構成する複数の電磁石２３０を第２電磁石２３２という場合がある。図３（ａ）～（ｃ）に示す例では、４個の第１電磁石２３１によって第１環状帯２３ａが構成され、８個の第２電磁石２３２により第２環状帯２３ｂが構成されている。 In this embodiment, the moving unit 23 has a first annular band 23a consisting of a plurality of electromagnets 230 arranged to surround the power transmission unit 21, and a second annular band 23b consisting of a plurality of electromagnets 230 arranged to surround the outside of the first annular band 23a. In Figures 3(a) to (c), the first annular band 23a and the second annular band 23b are each shown surrounded by a dashed line. Hereinafter, among the plurality of electromagnets 230, the plurality of electromagnets 230 constituting the first annular band 23a may be referred to as first electromagnets 231, and the plurality of electromagnets 230 constituting the second annular band 23b may be referred to as second electromagnets 232. In the example shown in Figures 3(a) to (c), the first annular band 23a is constituted by four first electromagnets 231, and the second annular band 23b is constituted by eight second electromagnets 232.

着陸台２０は、表層板２０１と、表層板２０１の下側に配置されるベース板２０２とを有している。着陸台２０には、送電部２１を収容する送電部収容部２０ａ、及び複数の電磁石２３０をそれぞれ収容する複数の電磁石収容部２０ｂが形成されている。送電部収容部２０ａ及び電磁石収容部２０ｂは、表層板２０１を貫通しており、一部がベース板２０２に形成されている。送電部収容部２０ａの深さは、送電部２１の芯材２１ａの上端面の高さが表層板２０１の表面２０１ａと一致する高さである。また、電磁石収容部２０ｂの深さは、電磁石２３０の芯材２３０ａの上端面の高さが表層板２０１の表面２０１ａと一致する高さである。 The landing pad 20 has a surface plate 201 and a base plate 202 arranged below the surface plate 201. The landing pad 20 is formed with a power transmission unit housing 20a that houses the power transmission unit 21, and multiple electromagnet housings 20b that each house multiple electromagnets 230. The power transmission unit housing 20a and the electromagnet housing 20b penetrate the surface plate 201, and are partially formed in the base plate 202. The depth of the power transmission unit housing 20a is a height at which the height of the upper end surface of the core material 21a of the power transmission unit 21 coincides with the surface 201a of the surface plate 201. The depth of the electromagnet housing 20b is a height at which the height of the upper end surface of the core material 230a of the electromagnet 230 coincides with the surface 201a of the surface plate 201.

制御部２５は、飛行体１との無線通信によって飛行体１が着陸台２０上に着陸したことを検知したとき、移動部２３を制御して飛行体１を受電部１９１と送電部２１とが結合する位置に導き、その後に送電電源部２２を制御して高周波電圧を発生させ、飛行体１に給電する。 When the control unit 25 detects through wireless communication with the aircraft 1 that the aircraft 1 has landed on the landing pad 20, it controls the movement unit 23 to guide the aircraft 1 to a position where the power receiving unit 191 and the power transmitting unit 21 are connected, and then controls the power transmission power supply unit 22 to generate a high-frequency voltage and supply power to the aircraft 1.

操作端末３は、オペレータの操作を受け付ける操作部３１と、飛行体１の第１通信部１４１との通信を行う通信部３２と、操作部３１によって受け付けた操作の内容に基づいて飛行体１に送信する指示情報を生成し、通信部３２を制御して飛行体１との通信を行う通信制御部３３とを有している。操作部３１は、飛行体１の飛行方向や飛行速度、空中での停止（ホバリング）、及び着陸台２０への着陸等の指示操作をオペレータから受け付けるためのスイッチや操作レバーを有している。 The operation terminal 3 has an operation unit 31 that accepts operations from an operator, a communication unit 32 that communicates with the first communication unit 141 of the aircraft 1, and a communication control unit 33 that generates instruction information to be sent to the aircraft 1 based on the contents of the operation accepted by the operation unit 31 and controls the communication unit 32 to communicate with the aircraft 1. The operation unit 31 has switches and operation levers for accepting instruction operations from the operator, such as the flight direction and flight speed of the aircraft 1, stopping in the air (hovering), and landing on the landing pad 20.

操作端末３がオペレータから受け付けた操作の内容を示す指示情報は、操作端末３の通信部３２から飛行体１の第１通信部１４１に送信され、飛行体１の制御部１８が指示情報に基づいて第１乃至第４のモータ１２１～１２４を制御する。また、オペレータによって着陸台２０への着陸が指示されると、飛行体１の制御部１８は、位置検出部１５及び撮像装置１６から得られる情報に基づいて、飛行体１が自律飛行により着陸台２０に着陸するように第１乃至第４のモータ１２１～１２４を制御する。この着陸の目標位置は、着陸台２０の中心部であり、より詳細には、図１（ｂ）に示すように受電部１９１の芯材１９１ａと送電部２１の芯材２１ａとが同軸線上に並ぶ位置である。 Instruction information indicating the content of the operation received by the operation terminal 3 from the operator is transmitted from the communication unit 32 of the operation terminal 3 to the first communication unit 141 of the aircraft 1, and the control unit 18 of the aircraft 1 controls the first to fourth motors 121 to 124 based on the instruction information. When the operator instructs landing on the landing pad 20, the control unit 18 of the aircraft 1 controls the first to fourth motors 121 to 124 based on information obtained from the position detection unit 15 and the imaging device 16 so that the aircraft 1 lands on the landing pad 20 by autonomous flight. The target position for this landing is the center of the landing pad 20, and more specifically, the position where the core material 191a of the power receiving unit 191 and the core material 21a of the power transmitting unit 21 are aligned coaxially as shown in FIG. 1(b).

しかしながら、例えば風等の外乱や、飛行体１の脚部１１５が着陸台２０に当たった際の衝撃によって飛行体１がバウンドしてしまうこと等により、飛行体１の着陸位置が着陸台２０の中心部からずれてしまう場合がある。また、オペレータが操作端末３を操作して飛行体１を着陸台２０に着陸させる場合は、オペレータの操作技能の未熟さによっても、飛行体１の着陸位置が着陸台２０の中心部からずれてしまう場合がある。 However, the landing position of the aircraft 1 may deviate from the center of the landing pad 20 due to, for example, external disturbances such as wind, or the impact of the legs 115 of the aircraft 1 hitting the landing pad 20 causing the aircraft 1 to bounce. In addition, when an operator operates the operation terminal 3 to land the aircraft 1 on the landing pad 20, the landing position of the aircraft 1 may also deviate from the center of the landing pad 20 due to the operator's poor operating skills.

送電部２１から受電部１９１への送電効率は、受電部１９１の芯材１９１ａと送電部２１の芯材２１ａとが同軸線上に並ぶ場合に最も高く、受電部１９１の位置がこの理想的な位置から外れると、損失が多くなって送電効率が低くなる。また、受電部１９１が送電部２１から大きく外れてしまうと、送電部２１から受電部１９１への送電ができなくなる。このため、飛行体１が理想的な位置から外れた位置に着陸してしまった場合には、受電部１９１の芯材１９１ａの中心位置と送電部２１の芯材２１ａの中心位置とが近づくように、飛行体１を移動させることが望ましい。 The efficiency of power transmission from the power transmission unit 21 to the power receiving unit 191 is highest when the core material 191a of the power receiving unit 191 and the core material 21a of the power transmission unit 21 are aligned on the same axis. If the position of the power receiving unit 191 deviates from this ideal position, losses increase and the power transmission efficiency decreases. Furthermore, if the power receiving unit 191 deviates significantly from the power transmission unit 21, power cannot be transmitted from the power transmission unit 21 to the power receiving unit 191. For this reason, if the aircraft 1 lands in a position that is different from the ideal position, it is desirable to move the aircraft 1 so that the center position of the core material 191a of the power receiving unit 191 and the center position of the core material 21a of the power transmission unit 21 approach each other.

本実施の形態では、充電装置２の制御部２５が移動部２３を制御することで、飛行体１の着陸後に、受電部１９１の芯材１９１ａの中心軸線と送電部２１の芯材２１ａの中心軸線とが一致するように飛行体１を移動させる。次に、この移動部２３の動作を、図３（ａ）～（ｃ）を参照して説明する。 In this embodiment, the control unit 25 of the charging device 2 controls the moving unit 23 to move the aircraft 1 after landing so that the central axis of the core material 191a of the power receiving unit 191 coincides with the central axis of the core material 21a of the power transmitting unit 21. Next, the operation of this moving unit 23 will be described with reference to Figures 3(a) to (c).

図３（ａ）及び（ｂ）では、複数の電磁石２３０のうち、コイル２３０ｂに通電されている電磁石２３０の芯材２３０ａの上端面にクロスハッチングを付している。また、図３（ｃ）では、送電コイル２１ｂに通電された送電部２１の芯材２１ａの上端面にクロスハッチングを付している。 In Figures 3(a) and (b), cross-hatching is applied to the upper end surface of the core material 230a of the electromagnet 230 in which current is passed through the coil 230b among the multiple electromagnets 230. Also, in Figure 3(c), cross-hatching is applied to the upper end surface of the core material 21a of the power transmission unit 21 in which current is passed through the power transmission coil 21b.

充電装置２の制御部２５は、通信部２４を介した飛行体１との通信により飛行体１が着陸台２０に着陸したことを検知すると、第２環状帯２３ｂの複数の第２電磁石２３２のコイル２３０ｂに通電する。これにより、受電部１９１が第２環状帯２３ｂの外側に位置する状態で飛行体１が着陸台２０に着陸した場合でも、第２電磁石２３２の磁力によって飛行体１が着陸台２０の中心部に近づくように移動する。なお、この移動の際には、飛行体１の脚部１１５が表層板２０１の表面２０１ａを滑走する。制御部２５は、第２電磁石２３２への電流供給を飛行体１の移動に必要な時間を考慮した所定時間（例えば１秒以上）継続し、その後、第２電磁石２３２への電流供給を停止する。 When the control unit 25 of the charging device 2 detects that the aircraft 1 has landed on the landing pad 20 by communicating with the aircraft 1 via the communication unit 24, it energizes the coils 230b of the multiple second electromagnets 232 of the second annular belt 23b. As a result, even if the aircraft 1 lands on the landing pad 20 with the power receiving unit 191 positioned outside the second annular belt 23b, the aircraft 1 moves closer to the center of the landing pad 20 due to the magnetic force of the second electromagnets 232. During this movement, the legs 115 of the aircraft 1 glide on the surface 201a of the surface plate 201. The control unit 25 continues to supply current to the second electromagnets 232 for a predetermined time (e.g., one second or more) that takes into account the time required for the aircraft 1 to move, and then stops supplying current to the second electromagnets 232.

次に、充電装置２の制御部２５は、第２電磁石２３２への電流供給を遮断した後、第１環状帯２３ａの複数の第１電磁石２３１のコイル２３０ａに通電する。これにより、第１電磁石２３１の磁力によって飛行体１が着陸台２０の中心部に向かってさらに近づくように移動する。また、制御部２５は、第１電磁石２３１への電流供給を所定時間継続し、その後、第１電磁石２３１への電流供給を停止する。 Then, the control unit 25 of the charging device 2 cuts off the current supply to the second electromagnet 232, and then energizes the coils 230a of the multiple first electromagnets 231 in the first annular band 23a. This causes the magnetic force of the first electromagnets 231 to move the aircraft 1 closer to the center of the landing pad 20. The control unit 25 also continues to supply current to the first electromagnets 231 for a predetermined time, and then stops the current supply to the first electromagnets 231.

次に、充電装置２の制御部２５は、第１電磁石２３１への電流供給を遮断した後、送電電源部２２を制御して送電部２１の送電コイル２１ｂに電流を所定時間供給する。この電流は、送電部２１に受電部１９１の芯材１９１ａを吸引するための磁力を発生させるための励磁電流であり、その電圧の周波数は、受電部１９１への誘導給電を行う際の高周波に限らず、例えば直流であってもよい。 Next, the control unit 25 of the charging device 2 cuts off the current supply to the first electromagnet 231, and then controls the power supply unit 22 to supply current to the power transmission coil 21b of the power transmission unit 21 for a predetermined time. This current is an excitation current for generating a magnetic force in the power transmission unit 21 to attract the core material 191a of the power receiving unit 191, and the frequency of the voltage is not limited to the high frequency used when inductively feeding power to the power receiving unit 191, and may be, for example, direct current.

その後、充電装置２の制御部２５は、送電電源部２２を制御して送電部２１の送電コイル２１ｂに高周波電流を供給し、受電部１９１への誘導給電を行う。これにより、飛行体１の蓄電池１９３が充電される。また、制御部２５は、通信部２４を介した飛行体１との通信により、蓄電池１９３の充電が完了したことを検知すると、送電コイル２１ｂへの高周波電流の供給を停止する。 Then, the control unit 25 of the charging device 2 controls the power transmission power supply unit 22 to supply high-frequency current to the power transmission coil 21b of the power transmission unit 21, and performs inductive power supply to the power receiving unit 191. This charges the storage battery 193 of the aircraft 1. Furthermore, when the control unit 25 detects through communication with the aircraft 1 via the communication unit 24 that charging of the storage battery 193 is complete, it stops supplying high-frequency current to the power transmission coil 21b.

（実施の形態の作用及び効果）
以上説明した本発明の実施の形態によれば、受電部１９１の芯材１９１ａに作用する磁力によって受電部１９１が送電部２１に近づくように飛行体１を移動させるので、受電部１９１と送電部２１とを正確に位置合わせすることができる。そして、受電部１９１と送電部２１とを位置合わせしてから送電部２１から受電部１９１への誘導給電を開始するので、高い効率で飛行体１への給電を行うことができる。 (Functions and Effects of the Embodiments)
According to the embodiment of the present invention described above, the flying object 1 is moved so that the power receiving unit 191 approaches the power transmitting unit 21 by the magnetic force acting on the core material 191a of the power receiving unit 191, so that the power receiving unit 191 and the power transmitting unit 21 can be accurately aligned. Then, inductive power supply from the power transmitting unit 21 to the power receiving unit 191 is started after the power receiving unit 191 and the power transmitting unit 21 are aligned, so that power can be supplied to the flying object 1 with high efficiency.

（付記）
以上、本発明を実施の形態に基づいて説明したが、この実施の形態は特許請求の範囲に係る発明を限定するものではない。また、実施の形態の中で説明した特徴の組合せの全てが発明の課題を解決するための手段に必須であるとは限らない点に留意すべきである。 (Additional Note)
Although the present invention has been described above based on the embodiment, the invention according to the claims is not limited to the embodiment. It should be noted that not all of the combinations of features described in the embodiment are necessarily essential to the means for solving the problems of the invention.

また、本発明は、その趣旨を逸脱しない範囲で、一部の構成を省略し、あるいは構成を追加もしくは置換して、適宜変形して実施することが可能である。例えば、上記の実施の形態では、充電対象の移動体が飛行体である場合について説明したが、これに限らず、例えば地上や水上を移動する移動体に対して充電を行う場合にも、本発明の移動体充電システムを適用することが可能である。 The present invention can be modified as appropriate by omitting some of the components or adding or replacing components without departing from the spirit of the invention. For example, in the above embodiment, the mobile object to be charged is an airborne object, but the present invention is not limited to this, and the mobile object charging system can also be applied to cases where a mobile object moving on land or water is to be charged.

また、上記の実施の形態では、送電部２１から受電部１９１に対して誘導給電を行う場合について説明したが、これに限らず、例えば接点同士の接触による電気的な結合によって給電を行うようにしてもよい。 In the above embodiment, the case where inductive power is supplied from the power transmitting unit 21 to the power receiving unit 191 has been described, but this is not limiting, and power may be supplied, for example, by electrical coupling caused by contact between contacts.

また、上記の実施の形態では、第１環状帯２３ａ及び第２環状帯２３ｂが同心の円環状となるように複数の電磁石２３０を配置した場合について説明したが、これに限らず、例えば格子状に配置された複数の電磁石のうち一部の電磁石によって矩形状の第１環状帯を構成し、他の電磁石によって第１環状帯よりも大きい矩形状の第２環状帯を構成してもよい。また、第２環状帯の外側に第３環状帯を追加して設けてもよく、さらにその外側に第４環状帯を設けてもよい。 In the above embodiment, the multiple electromagnets 230 are arranged so that the first annular band 23a and the second annular band 23b are concentric circular bands. However, this is not limiting. For example, a rectangular first annular band may be formed by some of the multiple electromagnets arranged in a lattice pattern, and a rectangular second annular band larger than the first annular band may be formed by other electromagnets. Also, a third annular band may be added outside the second annular band, and a fourth annular band may be further added outside that.

また、上記の実施の形態では、受電部９１１を機体１１の保持部１１６に保持した場合について説明したが、受電部９１１を機体１１に対して水平方向に相対移動可能にフローティング支持してもよい。この場合、必ずしも飛行体１の全体を着陸台２０上で移動させなくてもよいので、受電部１９１と送電部２１との位置合わせを行いやすくなる。 In the above embodiment, the power receiving unit 911 is held by the holding unit 116 of the aircraft 11, but the power receiving unit 911 may be supported in a floating manner so that it can move horizontally relative to the aircraft 11. In this case, it is not necessary to move the entire aircraft 1 on the landing pad 20, making it easier to align the power receiving unit 191 and the power transmitting unit 21.

またさらに、上記の実施の形態では、飛行体１が着陸台２０上を移動する際、脚部１１５が表層板２０１の表面２０１ａを滑走する場合について説明したが、飛行体１を移動しやすくするため、脚部１１５の先端部に転動輪を有するキャスターを取り付けてもよい。 Furthermore, in the above embodiment, the legs 115 slide along the surface 201a of the surface plate 201 when the aircraft 1 moves on the landing pad 20, but to make it easier to move the aircraft 1, casters with rolling wheels may be attached to the tips of the legs 115.

１００…移動体充電システム １…飛行体（移動体）
１９１…受電部 １９１ａ…芯材
１９１ｂ…受電コイル １９３…蓄電池
２…充電装置 ２１…送電部
２１ａ…芯材 ２１ｂ…送電コイル
２３…移動部 ２３ａ…第１環状帯
２３ｂ…第２環状帯 ２３０…電磁石 100... Mobile body charging system 1... Flying body (mobile body)
191: power receiving section 191a: core material 191b: power receiving coil 193: storage battery 2: charging device 21: power transmitting section 21a: core material 21b: power transmitting coil 23: moving section 23a: first annular band 23b: second annular band 230: electromagnet

Claims (4)

蓄電池に蓄電された電力により移動する移動体の前記蓄電池に対して充電装置から充電を行う移動体充電システムであって、
前記移動体は、前記充電装置から受電を行う受電部を有し、前記受電部により受電した電力を前記蓄電池に蓄電し、
前記充電装置は、前記受電部に結合される送電部と、前記受電部を前記送電部に結合される位置に移動させることが可能な移動部とを有し、
前記移動部は、前記送電部の周囲に配置された複数の電磁石を備え、
前記複数の電磁石の磁力によって前記受電部が前記送電部側に導かれる、
移動体充電システム。 A mobile body charging system that charges a storage battery of a mobile body that moves using electric power stored in the storage battery from a charging device,
the moving body has a power receiving unit that receives power from the charging device, and stores the power received by the power receiving unit in the storage battery;
the charging device includes a power transmitting unit coupled to the power receiving unit, and a moving unit capable of moving the power receiving unit to a position where the power receiving unit is coupled to the power transmitting unit;
the moving unit includes a plurality of electromagnets arranged around the power transmitting unit,
The power receiving unit is guided to the power transmitting unit by the magnetic forces of the multiple electromagnets.
Mobile charging system. 前記受電部及び前記送電部は、軟磁性体からなる芯材と、前記芯材の周囲に配置されたコイルとを有し、
前記磁力が前記受電部の前記芯材に作用する、
請求項１に記載の移動体充電システム。 The power receiving unit and the power transmitting unit each have a core material made of a soft magnetic material and a coil disposed around the core material,
The magnetic force acts on the core material of the power receiving portion.
The mobile charging system according to claim 1 . 前記複数の電磁石は、前記送電部を囲む第１環状帯を構成する複数の第１電磁石と、前記第１環状帯の外側を囲む第２環状帯を構成する複数の第２電磁石とを含み、
前記第２環状帯の前記複数の第２電磁石に通電した後、前記第１環状帯の前記複数の第１電磁石に通電し、その後さらに前記送電部の前記コイルに通電する、
請求項２に記載の移動体充電システム。 the plurality of electromagnets include a plurality of first electromagnets that form a first annular band that surrounds the power transmitting unit, and a plurality of second electromagnets that form a second annular band that surrounds the outside of the first annular band,
After energizing the second electromagnets in the second annular band, energizing the first electromagnets in the first annular band, and then energizing the coil of the power transmission unit.
The mobile charging system according to claim 2 . 前記移動体は、自律飛行が可能な飛行体である、
請求項１乃至３の何れか１項に記載の移動体充電システム。
 The moving object is an aircraft capable of autonomous flight.
The mobile charging system according to any one of claims 1 to 3 .
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