CN111439380B - Unmanned aerial vehicle battery replacement method - Google Patents
Unmanned aerial vehicle battery replacement method Download PDFInfo
- Publication number
- CN111439380B CN111439380B CN201910044642.4A CN201910044642A CN111439380B CN 111439380 B CN111439380 B CN 111439380B CN 201910044642 A CN201910044642 A CN 201910044642A CN 111439380 B CN111439380 B CN 111439380B
- Authority
- CN
- China
- Prior art keywords
- unit
- aircraft
- positioning
- replaced
- battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses an unmanned aerial vehicle battery replacement method, which comprises the following steps: providing a first aircraft, and configuring a replaced battery unit, a first control unit, a first power unit and a first positioning unit; defining a position value and an electric quantity value of a replaced battery unit; the first power unit defines a motion state magnitude; providing a second aircraft, and configuring a second control unit, a second power unit, a second positioning unit and an operation unit; when the replaced battery unit needs to be replaced, the power supply can be a power supply unit or switched to another replaced battery unit, and the position value and the motion state quantity value of one replaced battery unit are transmitted to the second control unit; therefore, the second aircraft can be continuously and synchronously calibrated on the first aircraft to replace the replaced battery unit, the endurance of the first aircraft can be improved, the flight distance of the first aircraft can be increased, and the application range and the field of the first aircraft can be further enlarged.
Description
Technical Field
The present invention relates to a battery replacement method for an unmanned aerial vehicle, and more particularly, to a method for replacing a replaced battery unit of a first aircraft in the air by a second aircraft when the replaced battery unit of the first aircraft is to be replaced.
Background
The development of unmanned aerial vehicles is rapid, the types of unmanned aerial vehicles are abundant in the market and are common, a photographing device is arranged on the unmanned aerial vehicle, so that the unmanned aerial vehicle is endowed with an image capturing function, the surrounding environment can be observed or photographed, relevant units such as governments and the like are also commonly used for exploring and detecting buildings and environments, and the trend of collecting information by using the unmanned aerial vehicle is obvious; if the forest fire of California occurs in recent days, the unmanned aerial vehicle can be used for analyzing and observing the fire, so that the fire cause can be found out, and the size and the range of the fire can be controlled; in order to achieve the effect of energy saving and carbon reduction, and to take into account the safety during operation, most of the present unmanned aerial vehicles use batteries as the energy source.
However, the endurance of the drone is limited by the battery capacity, and for a high-class drone, the battery capacity of a single battery is only about 30 minutes for the drone, and the endurance of a police drone issued by taiwan police service and taiwan institute of technology is only 20 minutes, so that if the drone is used for business (such as home delivery), it still has a considerable technical need to overcome the above-mentioned problem.
In order to solve the endurance problem, the manufacturers involved, such as: facebook and Google respectively develop unmanned aerial vehicles based on solar power generation, namely, a solar panel is mounted on the unmanned aerial vehicle to supply power or charge the unmanned aerial vehicle, but the Facebook and Google have insufficient practicability, and the unmanned aerial vehicle cannot be effectively driven by the power generated by the solar energy with an excessively small area; and for small or micro drones, the way of carrying solar panels may be less practical.
The boeing company also develops an unmanned aerial vehicle aerial charging system, which enables an unmanned aerial vehicle to hover after approaching a charging tower by building a plurality of charging towers, then vertically drop a telescopic charging wire to be connected to the charging tower for self-charging, and automatically disconnect after the charging is finished for continuous navigation; however, the charging tower has high erection cost and maintenance cost, and the maneuverability is still insufficient.
The huapei also develops a method for charging an unmanned aerial vehicle in the air, which mainly uses electromagnetic waves to charge in the air, but the power generation amount is still insufficient for the unmanned aerial vehicle.
Amazon provides another way to erect a charging station on top of the vehicle, so that when the power of the unmanned aerial vehicle is insufficient, the unmanned aerial vehicle can transmit signals to the paired vehicle, so that the driver can go to the vicinity of the unmanned aerial vehicle, and the unmanned aerial vehicle can land on the roof of the vehicle to charge; however, the cost required for its erection is high, and if traffic is blocked, or where the vehicle cannot reach, it cannot be charged, which is obviously not good in applicability.
In view of the above, we are interested in further researching the endurance of the unmanned aerial vehicle, and then developing and improving the same, and the present invention is invented to solve the above problems, and after the continuous experiment and modification, the present invention is invented.
Disclosure of Invention
In order to solve the foregoing problems and achieve the foregoing object, the present invention provides a method for replacing a battery of an unmanned aerial vehicle, comprising: providing a first aircraft, configuring at least one positioning part and replaced battery units respectively accommodated in the positioning part on the first aircraft, and configuring a first control unit, a first power unit, a first positioning unit and at least one power supply unit on the first aircraft; wherein the first power unit is used for controlling the flight position of the first aircraft; the replaced battery unit and the power supply unit supply power to the first power unit; the first positioning unit defines a position value of each replaced battery unit; defining an electric quantity value according to the electric quantity of the replaced battery unit; defining a motion state quantity value according to the first power unit; providing a second aircraft, and arranging a second control unit, a second power unit, a second positioning unit, an operation unit and at least one replacement battery unit with electric power on the second aircraft; wherein the second power unit is used for controlling the flight position of the second aircraft; transmitting the position value and the electric quantity value of the replaced battery unit and the motion state quantity value to the second control unit; the second control unit controls the second power unit to continuously and synchronously calibrate a second positioning unit of the second aircraft to the first positioning unit of the first aircraft; and causing the second control unit to control the operation unit to mount the replacement battery cell to the positioning member to replace the replaced battery cell.
According to the unmanned aerial vehicle battery replacement method, the replaced battery unit is correspondingly charged to the power supply unit, and the power supply unit supplies power to the first power unit.
According to above-mentioned unmanned aerial vehicle battery replacement method, its step still includes: at least two positioning parts are arranged on the first aircraft, and the power supply unit is replaced by a battery unit and is respectively accommodated in the positioning parts; and switching the power supply source to another replaced battery unit, and transmitting the position value and the electric quantity value of one replaced battery unit and the motion state quantity value to the second control unit.
According to above-mentioned unmanned aerial vehicle battery replacement method, its step still includes: at least one groove body is arranged on the first aircraft, an electromagnetic unit is respectively arranged on the groove bodies, so that the positioning component comprises the groove bodies and the electromagnetic units, and the replaced battery unit and the replacement battery unit are respectively provided with at least one magnetic piece corresponding to the electromagnetic units; the first control unit enables the electromagnetic unit of the replaced battery unit to be replaced to generate magnetism which correspondingly repels the magnetic piece, so that the replaced battery unit to be replaced exits the groove body; and when the operation unit is to mount the replacement battery unit on the positioning component, the first control unit enables the electromagnetic unit of the replaced battery unit to generate magnetism for correspondingly adsorbing the magnetic piece, and the second control unit controls the operation unit to mount the replacement battery unit on the positioning component so as to replace the replaced battery unit.
According to above-mentioned unmanned aerial vehicle battery replacement method, its step still includes: configuring a first remote positioning unit on the first aircraft to detect a spatial coordinate value configured by the first aircraft; and a second remote positioning unit is configured on the second aircraft to detect the space coordinate value of the second aircraft; transmitting the spatial coordinate value of the first aircraft to the second control unit; and controlling the second power unit by the second control unit to move the second aircraft to the space coordinate value of the first aircraft, and continuously and synchronously calibrating the second positioning unit to the first positioning unit of the first aircraft.
According to the unmanned aerial vehicle battery replacement method, the first positioning unit and the second positioning unit are mutually corresponding contact or non-contact positioning sensors; and the first aircraft and the second aircraft can be an airplane, a quadcopter or a wing-type unmanned aerial vehicle respectively.
According to above-mentioned unmanned aerial vehicle battery replacement method, its step still includes: configuring a sensing unit coupled to the first control unit at the first aircraft; and detecting the motion state quantity of the first aircraft through the sensing unit, wherein the motion state quantity is the direction, the speed and the acceleration of the spatial displacement of the first aircraft.
According to above-mentioned unmanned aerial vehicle battery replacement method, its step still includes: a driving unit coupled to the second control unit is arranged on the second aircraft, and a bearing part corresponding to the replaced battery unit is arranged at the tail end of the driving unit; and synchronously controlling and stretching the driving unit when the second control unit controls the operating unit to replace the replaced battery unit, wherein the operating unit places the replaced battery unit in the bearing part.
It is apparent from the above description and arrangement that the present invention has the following advantages and effects, which are described in detail one by one:
1. the invention positions the replaced battery unit by the first positioning unit, so that when the replaced battery unit needs to be replaced, the power supply unit can supply power to the replaced battery unit or switch to another replaced battery unit, thereby preventing the first aircraft from losing power, the second aircraft can fly to the first aircraft and synchronously fly with the first aircraft, the second positioning unit can be synchronously calibrated at the first positioning unit, the operation unit can install the replacement battery unit to the positioning component, thereby replacing the battery in the air, improving the endurance of the first aircraft and the efficiency of executing related tasks, and further improving the applicability of the first aircraft.
2. The invention can be applied to general aircraft, such as: the airplane can also be a wing-type unmanned plane or a four-axis aircraft; because the power consumption of the airplane is high, the airplane is preferably suitable for a small wing type unmanned plane or a four-axis aircraft; in addition, because the wing-type unmanned aerial vehicle has the advantage of high endurance, the flexibility is low, the endurance of the four-axis aircraft is poor, but the controllability and the flexibility are high, and the wing-type unmanned aerial vehicle is commonly used for observing related environments, therefore, the first aircraft can be the four-axis aircraft, and the second aircraft can be the wing-type unmanned aerial vehicle, so that when the four-axis aircraft is insufficient in power, the flight speeds of the wing-type unmanned aerial vehicle and the four-axis aircraft are synchronized, the battery of the four-axis aircraft is replaced, and the defect of poor endurance of the four-axis aircraft can be effectively improved, so that the four-axis aircraft has the execution capacity for executing related tasks, and the application field or range.
Drawings
Fig. 1 is a perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic flow chart of a first embodiment of the present invention.
FIG. 3 is a schematic diagram of a first embodiment of the present invention.
FIG. 4 isbase:Sub>A cross-sectional view of the battery unit shown in FIG. 1 at A-A, and the electromagnetic unit generatesbase:Sub>A magnetic repulsive force to expel the replaced battery unit.
FIG. 5 isbase:Sub>A cross-sectional view of the battery unit of FIG. 1 at A-A, with the operation unit clamping and replacing the replacement battery unit.
FIG. 6 isbase:Sub>A cross-sectional view of the battery unit at the position A-A of FIG. 1, and the replacement battery unit is mounted by the electromagnetic unit generating magnetic attraction.
Fig. 7 is a perspective view of a first aircraft according to a second embodiment of the invention.
FIG. 8 is a cross-sectional view of the electromagnetic unit at the position B-B in FIG. 7 and showing the magnetic repulsive force generated by the electromagnetic unit to expel the replaced battery unit.
FIG. 9 is a cross-sectional view of the battery unit at a position B-B shown in FIG. 7, with the operation unit clamping and replacing the replacement battery unit.
FIG. 10 is a cross-sectional view of the battery unit shown in FIG. 7 at a position B-B, and the replacement battery unit is mounted by the electromagnetic unit generating magnetic attraction.
Wherein: 1. a first aircraft, 11, a positioning part, 12, a replaced battery unit, 12', a power supply unit, 13, a first control unit, 131, a sensing unit, 132, a first remote positioning unit, 14, a first power unit, 15, a first positioning unit, 16, a groove body, 17, an electromagnetic unit, 2, a second aircraft, 21, a second control unit, 211, a second remote positioning unit, 22, a second power unit, 23, a second positioning unit, 24, an operation unit, 25, a replacement battery unit, 251, a magnetic part, 26, a driving unit, 27, a receiving part, 3, a guide surface, S001-S004, and steps.
Detailed Description
For the purpose of promoting an understanding of the principles of the invention, reference will now be made in detail to the preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings.
Referring to fig. 1 to 4, a first embodiment of the present invention is a battery replacement method for an unmanned aerial vehicle, which is applied to a battery replacement device for an unmanned aerial vehicle, and includes:
a first aircraft 1, which in a specific embodiment may be an airplane, a quadcopter, or a wing-type drone, and in this embodiment may be a quadcopter, which is only exemplary and not limiting, the first aircraft 1 is provided with at least one positioning component 11, and the positioning component 11 is respectively accommodated in the replaced battery unit 12 of the positioning component 11; the first aircraft 1 is provided with a first control unit 13, the first control unit 13 is coupled to the replaced battery unit 12, a first power unit 14, a first positioning unit 15 and at least one power supply unit 12';
the first power unit 14 is used to control the flight position of the first aircraft 1, and as shown in the figure, the first power unit 14 is a driving mechanism of the first aircraft 1 to drive the first aircraft 1 to fly, for example, if the first aircraft 1 is a quadcopter, the first power unit 14 may be a propeller of four shafts thereof, which is only illustrative and not limiting;
as for the power supply source of the first power unit 14, in an embodiment, the replaced battery unit 12 and the power supply unit 12' are synchronously powered by the first power unit 14, or as shown in this embodiment, only the power supply unit 12' is used for supplying power, and the replaced battery unit 12 is a rechargeable battery and is correspondingly charged in the power supply unit 12';
the first control unit 13 is set with a position value and an electric quantity value corresponding to the replaced battery unit 12, and the first control unit 13 defines a motion state quantity value corresponding to the first power unit 14, specifically, the motion state quantity value can be a direction, a speed and an acceleration of the spatial displacement of the first aircraft 1, it is known that the motion state quantity value is a parameter value used by the first control unit 13 to control the first power unit 14, and thus can be directly obtained, and in another embodiment, since the flight state of the first aircraft 1 is influenced by factors such as air density, flow direction and flow speed when flying in the air, in order to accurately obtain the motion state quantity value, the first aircraft 1 can be provided with a sensing unit 131, and the sensing unit 131 is coupled to the first control unit 13, thereby the motion state quantity value can be measured through the sensing unit 131 to accurately represent the direction, the speed and the acceleration of the first aircraft 1 actually in the spatial displacement;
as far as the first positioning unit 15 is concerned, it is configured to correspond to the position value to define the actual position of the replaced battery cell 12.
A second aircraft 2, which in an embodiment may be an airplane, a quadcopter, or a wing-type drone, and in this embodiment is a wing-type drone, but this is merely an example and is not a limitation; the second aircraft 2 is provided with a second control unit 21, the second control unit 21 is coupled to a second power unit 22, a second positioning unit 23, an operation unit 24, and at least one replacement battery unit 25 with electric power; the second power unit 22 is used to control the flight position of the second aircraft 2, for example, when the second aircraft 2 is a wing-type drone, the second power unit 22 may be an engine, a motor or a propeller thereof to control the lifting of the second aircraft 2;
the operating unit 24 holds a replacement cell 25 corresponding to the replaced cell 12; specifically, the operation unit 24 may be a robot arm, which facilitates the unfolding and folding, and can pick and place and adjust the position of the replacement battery unit 25;
as for the second control unit 21, the signal is connected to the first control unit 13, so it can be known that the first control unit 13 can be provided with a signal transmitter, and the second control unit 21 can be provided with a corresponding signal receiver to receive the signal transmitted by the first control unit 13;
the second positioning unit 23 is configured to be calibrated with respect to the first positioning unit 15, so it can be appreciated that the second positioning unit 23 can be a contact or contactless positioning sensor corresponding to the first positioning unit 15, such as: an image feature recognition device, an ultrasonic ranging device or a laser ranging device; in the case of the image feature recognition device, the second positioning unit 23 can be a camera, and the first positioning unit 15 can be a profile or an image with a specific capturing feature; in the case of the ultrasonic ranging device or the laser ranging device, it can be known that the first positioning unit 15 and the second positioning unit 23 can mutually capture and detect the distance therebetween, so as to achieve the purpose of calibration; the second positioning unit 23 corresponds to the operation unit 24, and the operation unit 24 can mount the replacement battery unit 25 to the positioning member 11 when the second positioning unit 23 corresponds to the first positioning unit 15.
In a preferred embodiment, in order to make the second aircraft 2 fly to the first aircraft 1 exactly and make the second positioning unit 23 align with the first positioning unit 15, the first aircraft 1 is provided with a first remote positioning unit 132, the first remote positioning unit 132 is coupled to the first control unit 13, and the first remote positioning unit 132 detects the spatial coordinate value of the first aircraft 1; the second aircraft 2 is provided with a second remote positioning unit 211, the second remote positioning unit 211 is coupled to the second control unit 21, and the second remote positioning unit 211 detects a spatial coordinate value of the second aircraft 2; when the replaced battery unit 12 is to be replaced, the first control unit 13 transmits the spatial coordinate value of the first aircraft 1 to the second control unit 21, and the second control unit 21 compares the spatial coordinate value of the second aircraft 2 to control the second power unit 22, so that the second aircraft 2 moves to the spatial coordinate value of the first aircraft 1, and the second positioning unit 23 is continuously and synchronously aligned with the first positioning unit 15 of the first aircraft 1.
For the first remote positioning unit 132 and the second remote positioning unit 211, they may be infrared sensors, radar sensors, ultrasonic sensors, laser sensors or GPS positioning devices to actively or passively detect their positions in the space.
Therefore, the implementation steps of the invention are as follows:
s001: defining a position value of each replaced battery unit 12 by the first positioning unit 15, which is used to mark the position of each replaced battery unit 12, so as to facilitate the determination of the specific position of the replaced battery unit 12 with depleted power, and facilitate the synchronous calibration by the second positioning unit 23;
defining a value of the electric quantity according to the electric quantity of the replaced battery unit 12, and in one embodiment, defining the electric quantity to be charged when the replaced battery unit 12 is short of electric power, and in one embodiment, it can be set to any percentage of the interval between 0% and 20% of the total electric quantity, so that the first aircraft 1 can still have buffered power when the replaced battery unit 12 needs to be replaced;
defining a motion state quantity value according to the first power unit 14, wherein the motion state quantity value can be obtained from data operated by a user or data sensed by the sensing unit 131; the spatial coordinate value of the first aircraft 1 is detected by the first remote positioning unit 132.
S002: when the replaced battery unit 12 is to be replaced, if the power supply unit 12 'is not the replaced battery unit 12, the power supply unit 12' is kept supplying power, so as to prevent the replaced battery unit 12 from stalling or crashing due to power failure; the first control unit 13 transmits the position value, the electric quantity value, the spatial coordinate value and the motion state quantity value of one replaced battery unit 12 to the second control unit 21; the judgment of the replaced battery unit 12 can be transmitted to the second control unit 21 after the judgment is performed by the first control unit 13, or can be actively performed by the second control unit 21.
S003: when the second control unit 21 receives the position value, the spatial coordinate value, and the motion state quantity transmitted by the first control unit 13, the second power unit 22 is activated, as shown in fig. 1, so that the second aircraft 2 can fly to the periphery of the first aircraft 1, in this embodiment, the replaced battery unit 12 is disposed at the top end of the first aircraft 1, so the second aircraft 2 flies above the first aircraft 1, but for example only, the replaced battery unit 12 may be disposed at any position of the first aircraft 1, and only the position of the replaced battery unit 12 of the second aircraft 2 needs to be matched; then, the second positioning unit 23 of the second aircraft 2 is continuously calibrated in synchronization with the first positioning unit 15 of the first aircraft 1; it can be known that a plurality of second aircrafts 2 can be arranged according to the initially defined possible flight path of the first aircraft 1, so that when the second control unit 21 of one second aircraft 2 receives the signal transmitted by the first control unit 13, the aircraft can sail to the periphery of the first aircraft 1 at the highest speed.
S004: the second control unit 21 controls the operation unit 24 to attach the replacement battery cell 25 to the positioning member 11 to replace the replaced battery cell 12.
For example, as shown in fig. 1 to 3, the first aircraft 1 is configured with at least one slot 16, which may be recessed or may be formed to be a single accommodating slot, and the slot 16 may be disposed at any position of the first aircraft 1, in an embodiment, as shown in this embodiment, the slot 16 is disposed at the top end of the first aircraft 1 and is recessed to facilitate replacement of the replaced battery unit 12 and the replacement battery unit 25, the slot 16 is respectively provided with an electromagnetic unit 17, the positioning member 11 includes the slot 16 and the electromagnetic unit 17, the electromagnetic unit 17 is coupled to the first control unit 13, and the replaced battery unit 12 is provided with at least one magnetic member 251 corresponding to the electromagnetic unit 17; when one replaced battery unit is to be replaced, as shown in fig. 4, the first control unit 13 makes the electromagnetic unit 17 of the replaced battery unit 12 to be replaced generate magnetism which correspondingly repels the magnetic member 251, so that the replaced battery unit 12 to be replaced exits the tank 16, at this time, the battery unit can be directly removed, or in an embodiment, the second aircraft 2 is further provided with a driving unit 26, the driving unit 26 is coupled to the second control unit 21, and the end of the driving unit 26 is provided with a receiving portion 27 which corresponds to the replaced battery unit 12, the receiving portion 27 can be a container for receiving, and the second aircraft 2 clamps the replaced battery unit 12 exiting the tank 16 by the operation unit 24 and places the receiving portion 27, or a magnetic body can also be arranged on the second aircraft 2 to adsorb the withdrawn replaced battery unit 12, so that the operation unit 24 can clamp the battery unit 25 for replacement as shown in fig. 5; the replacement battery unit 25 can be carried on any position of the second aircraft 2, when the operation unit 24 intends to replace the replaced battery unit 12, the replacement battery unit 25 can be clamped, and when the operation unit 24 intends to mount the replacement battery unit 25 on the positioning member 11, as shown in fig. 6, the first control unit 13 makes the electromagnetic unit 17 of the slot 16 of the replaced battery unit 12 to generate magnetism for correspondingly adsorbing the magnetic member 251, and when the second control unit 21 controls the operation unit 24 to approach the replacement battery unit 25 to the slot 16, the replacement battery unit 25 can be aligned and magnetically adsorbed for positioning, so that the replacement battery unit 25 can be accurately mounted on the positioning member 11, thereby achieving the purpose of replacing the replaced battery unit 12; the second vehicle 2 can then fly back to its original installation location, so that the user can recover and recharge the replaced battery unit 12.
Referring to fig. 7 to 10, a second embodiment of the present invention is different from the first embodiment in that the power supply unit 12' may also be a replaced battery unit 12, and only a single replaced battery unit 12 or power supply unit 12' supplies power, and it can be understood that, as mentioned above, the power supply unit 12' is also the same as the first embodiment, the first aircraft 1 is provided with at least two positioning members 11 and a slot 16, and the replaced battery unit 12 and the power supply unit 12' are respectively accommodated in the slots 16 of the different positioning members 11, and the power supply unit 12' is also regarded as the replaced battery unit 12; the power supply unit 12' is also exemplified as the replaced battery unit 12 in the present embodiment; therefore, when one of the replaced battery units 12 is to be replaced, since the power supply unit 12' of the present embodiment is also the replaceable battery unit 12, the power supply source is switched to the other replaced battery unit 12 or the power supply unit 12', so as to supply power through the other replaced battery unit 12 or the power supply unit 12' to maintain the operation of the first power unit 14, thereby preventing the replaced battery unit 12 from stalling or crashing due to power failure during the replacement process; as described above, when one of the replaced battery units 12 is to be replaced, as shown in fig. 8, the first control unit 13 causes the electromagnetic unit 17 of the replaced battery unit 12 to generate magnetism that correspondingly repels the magnetic member 251, so that the replaced battery unit 12 to be replaced exits the tank 16, and as shown in fig. 9, the second aircraft 2 causes the operation unit 24 thereof to clamp the battery unit 25 for replacement; as shown in fig. 10, when the operation unit 24 intends to mount the replacement battery unit 25 on the positioning member 11, the corresponding electromagnetic unit 17 is made to generate magnetism for correspondingly attracting the magnetic member 251, and when the second control unit 21 controls the operation unit 24 to make the replacement battery unit 25 approach to the slot 16, the replacement battery unit can be aligned and magnetically attracted for positioning.
The above description is only a few preferred embodiments of the present invention, and it should not be construed as limiting the scope of the invention, that is, all equivalent variations and modifications made in the claims and the specification of the present invention are within the scope of the present invention.
Claims (8)
1. An unmanned aerial vehicle battery replacement method is characterized by comprising the following steps:
providing a first aircraft, configuring at least one positioning part and replaced battery units respectively accommodated in the positioning part on the first aircraft, and configuring a first control unit, a first power unit, a first positioning unit and at least one power supply unit on the first aircraft; wherein, the first power unit is used for controlling the flight position of the first aircraft; the replaced battery unit and the power supply unit supply power to the first power unit;
a first positioning unit defining a position value for each of the replaced cells; defining an electric quantity value according to the electric quantity of the replaced battery unit; defining a motion state quantity value according to the first power unit;
providing a second aircraft, and configuring a second control unit, a second power unit, a second positioning unit, an operation unit and at least one replacement battery unit with electric power on the second aircraft; wherein the second power unit is used for controlling the flight position of the second aircraft;
transmitting the position value and the electric quantity value of one replaced battery unit and the motion state quantity value to the second control unit;
the second control unit controls the second power unit to continuously and synchronously calibrate a second positioning unit of the second aircraft to the first positioning unit of the first aircraft; and
the second control unit controls the operation unit to mount the replacement battery unit on the positioning member to replace the replaced battery unit.
2. The UAV battery replacement method of claim 1, wherein the replaced battery unit is charged correspondingly to the power supply unit, and the power supply unit supplies power to the first power unit.
3. The unmanned aerial vehicle battery replacement method of claim 1, wherein the steps further comprise:
at least two positioning parts are arranged on the first aircraft, and the power supply unit is replaced by a battery unit and is respectively accommodated in the positioning parts; and
and switching the power supply source to another replaced battery unit, and transmitting the position value and the electric quantity value of one replaced battery unit and the motion state quantity value to the second control unit.
4. The unmanned aerial vehicle battery replacement method of any of claims 1-3, further comprising:
at least one groove body is arranged on the first aircraft, an electromagnetic unit is respectively arranged on the groove bodies, so that the positioning component comprises the groove bodies and the electromagnetic units, and the replaced battery unit and the replacement battery unit are respectively provided with at least one magnetic piece corresponding to the electromagnetic units;
the first control unit enables the replaced battery unit to generate magnetism which correspondingly repels the magnetic piece, so that the replaced battery unit to be replaced exits the groove body; and
when the operation unit is to mount the replacement battery unit on the positioning component, the first control unit enables the electromagnetic unit of the replaced battery unit to generate magnetism for correspondingly adsorbing the magnetic piece, and the second control unit controls the operation unit to mount the replacement battery unit on the positioning component so as to replace the replaced battery unit.
5. The unmanned aerial vehicle battery replacement method of any of claims 1-3, further comprising:
configuring a first remote positioning unit on the first aircraft to detect a spatial coordinate value configured by the first aircraft;
and a second remote positioning unit is configured on the second aircraft to detect the space coordinate value of the second aircraft;
transmitting the spatial coordinate value of the first aircraft to the second control unit; and
and controlling the second power unit by the second control unit, moving the second aircraft to the space coordinate value of the first aircraft, and continuously and synchronously calibrating the second positioning unit to the first positioning unit of the first aircraft.
6. The UAV battery replacement method as claimed in any one of claims 1 to 3, wherein the first positioning unit and the second positioning unit are corresponding contact or non-contact positioning sensors; and the first aircraft and the second aircraft are four-axis aircraft or wing-type unmanned aerial vehicles.
7. The unmanned aerial vehicle battery replacement method of any of claims 1-3, further comprising:
configuring a sensing unit coupled to the first control unit at the first aircraft; and
the motion state quantity of the first aircraft is detected through the sensing unit, and the motion state quantity is the direction, the speed and the acceleration of the space displacement of the first aircraft.
8. An unmanned aerial vehicle battery replacement method as claimed in any one of claims 1-3, wherein the steps further comprise:
a driving unit coupled to the second control unit is arranged on the second aircraft, and a bearing part corresponding to the replaced battery unit is arranged at the tail end of the driving unit; and
when the second control unit controls the operation unit to replace the replaced battery unit, the driving unit is synchronously controlled to extend, and the replaced battery unit is placed on the bearing part by the operation unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044642.4A CN111439380B (en) | 2019-01-17 | 2019-01-17 | Unmanned aerial vehicle battery replacement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044642.4A CN111439380B (en) | 2019-01-17 | 2019-01-17 | Unmanned aerial vehicle battery replacement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111439380A CN111439380A (en) | 2020-07-24 |
| CN111439380B true CN111439380B (en) | 2023-04-18 |
Family
ID=71627136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910044642.4A Active CN111439380B (en) | 2019-01-17 | 2019-01-17 | Unmanned aerial vehicle battery replacement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111439380B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389651B (en) * | 2020-11-19 | 2023-12-05 | 北京京东乾石科技有限公司 | Non-contact unmanned aerial vehicle power conversion method and system |
| CN115808186B (en) * | 2023-01-29 | 2023-05-23 | 中国空气动力研究与发展中心高速空气动力研究所 | Correction method for distance measurement result of ornithopter |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6196861B2 (en) * | 2013-09-20 | 2017-09-13 | 日立マクセル株式会社 | Mobile battery |
| DE102014003417B4 (en) * | 2014-03-13 | 2020-05-14 | Uwe Gaßmann | Charging or battery changing station for aircraft |
| EP3246776B1 (en) * | 2014-05-30 | 2020-11-18 | SZ DJI Technology Co., Ltd. | Systems and methods for uav docking |
| EP3748805A3 (en) * | 2014-08-08 | 2021-03-03 | SZ DJI Technology Co., Ltd. | Systems and methods for uav battery exchange |
| FR3039519B1 (en) * | 2015-07-30 | 2019-01-25 | Airbus | DRONE HOSTING STATION AND MANAGEMENT ASSEMBLY OF SUCH A RECEPTION STATION. |
| KR101765038B1 (en) * | 2016-01-09 | 2017-08-03 | 김성호 | Battery auto change system for uav |
| EP3232533B1 (en) * | 2016-04-15 | 2019-09-18 | Airbus Operations GmbH | Ground support equipment for an aircraft video surveillance system |
| WO2018042927A1 (en) * | 2016-09-02 | 2018-03-08 | ソニー株式会社 | Circuit, terminal device, base station device and method |
| JP2018073173A (en) * | 2016-10-31 | 2018-05-10 | 株式会社エンルートＭ’ｓ | Work system, and method and program of the same |
| JP6884941B2 (en) * | 2017-02-02 | 2021-06-09 | 国立大学法人大阪大学 | Battery replacement method in flight of multicopter, supply side multicopter, and supply side multicopter |
| CN107380136B (en) * | 2017-04-28 | 2021-01-15 | 蔚来(安徽)控股有限公司 | Method and device for mobile replacement of battery |
| GB2572549A (en) * | 2018-03-28 | 2019-10-09 | Sony Corp | Unmanned aerial vehicle |
-
2019
- 2019-01-17 CN CN201910044642.4A patent/CN111439380B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111439380A (en) | 2020-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10870479B2 (en) | Multi-architecture modular unmanned aerial system | |
| US10611252B2 (en) | Systems and methods for UAV battery power backup | |
| US10850838B2 (en) | UAV battery form factor and insertion/ejection methodologies | |
| JP6538214B2 (en) | Method of supplying energy to UAV, and UAV | |
| CN103144770B (en) | A kind of entirely keep away barrier navigation minute vehicle from master control environment of entering the room | |
| AU2019377041B2 (en) | Power communication to regulate charge of unmanned aerial vehicle | |
| EP3748805A2 (en) | Systems and methods for uav battery exchange | |
| CN107014255B (en) | A kind of method and apparatus of auxiliary unmanned boat capture unmanned plane | |
| CN101866180A (en) | Flight control system | |
| JP6791561B2 (en) | Methods and devices for supplying energy to UAVs | |
| CN111439380B (en) | Unmanned aerial vehicle battery replacement method | |
| KR20190125130A (en) | The drone docking station vehicle configured to automatically take off, landing and charging the drones in the vehicle | |
| CN206865192U (en) | Aerial unmanned plane charging platform | |
| CN112918676B (en) | Continuation of journey construction robot of easy dismouting power | |
| US11435743B2 (en) | Throwable unmanned aerial vehicle and method of operation | |
| TWI694660B (en) | Method for replacing drone battery | |
| CN215895281U (en) | Control device of spherical robot | |
| CN216805836U (en) | Modular unmanned aerial vehicle that hangs down | |
| CN205983224U (en) | Unmanned aerial vehicle's control system | |
| CN107783542A (en) | The control method and control system of unmanned plane | |
| Mandal et al. | Low-cost bluetooth-arduino hover control design of a quad copter | |
| TWM579138U (en) | Unmanned aerial vehicle battery replacement device | |
| CN210882615U (en) | Miniature reconnaissance flapping wing aircraft | |
| CN205959072U (en) | Unmanned aerial vehicle power line inspection device | |
| CN117742384A (en) | Multi-rotor unmanned aerial vehicle cluster system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |