JP2015042539A - Helicopter, battery replacement device for helicopter, and helicopter system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a helicopter, a battery replacement device for a helicopter and a helicopter system, which easily enable taking-off, landing and battery replacement of the helicopter.SOLUTION: A helicopter system is formed by combining a helicopter 2 which comprises: a rotor 21; a rotor motor 22; a control device for controlling the rotor motor; a winch having a drum, a wire wound around the drum, an electric conductive weight connected to the wire, and a drum motor for rotating the drum; and a power supply device for supplying electric power, and a battery replacement device 3 for the helicopter, which comprises: a helicopter landing member 31 formed with helicopter guidance slits 3111 and having a landing pad 311 capable of supporting the helicopter; a battery hold member having a battery magazine capable of holding plural batteries; and a battery grasping and moving member having a grasping member for grasping the batteries and a moving member for moving the batteries.

Description

  The present invention relates to a helicopter, a battery exchange device for a helicopter, and a helicopter system. More preferably, the present invention relates to a helicopter system capable of automatically replacing a helicopter battery.

  The small unmanned helicopter is a device that can be operated easily and safely, and can easily realize work performed from the sky. For example, in the field of agriculture, pesticides can be easily sprayed by mounting a pesticide on a helicopter. Of course, it is also popular as a field of entertainment for pure enjoyment of maneuvering.

  A small unmanned helicopter generally uses a battery as a power supply source from the viewpoint of weight reduction, but the travel distance and time are greatly limited by the battery capacity. That is, at present, the battery capacity becomes the upper limit of the flight time and the movement distance. Therefore, attempts have been made to extend the travel distance and flight time by automatically replacing the battery in a small unmanned helicopter.

  As a known technique related to the automatic battery exchange system for the small unmanned helicopter, for example, the following Non-Patent Document 1 discloses an unmanned aerial vehicle (UAV) developed based on a small counter-rotating radio-controlled helicopter and an indoor rooftop In addition, there is disclosed a motion capture system using an infrared camera installed in a room and a plurality of battery exchange devices.

  Non-Patent Document 2 below discloses a UAV and ground battery exchange device that targets a quad-rotor helicopter and can autonomously fly indoors with a motion capture system, similar to the technique described in Non-Patent Document 1 above. ing.

  Non-Patent Document 3 below discloses a small single-rotor helicopter that includes a UAV and a battery exchange device. The heliport of the battery exchange device is wider than the landing pads described in Non-Patent Documents 1 and 2 above, and the UAV landing system is poor, and even if there are some errors in the landing position, After landing, the UAV can be moved to the center of the heliport.

Kurt A.A. Swiringa et al., “Autonomous Battery Swapping System for Small-Scale Helicocopters”, 2010 IEEE International Conference on Robotics and Automation33Antology33 Tuna Toksoz et al., “Automated Battery Swap and Recharge to Enable Persistent UAV Missions”, American Institute of Aeronautics and Aeronautics. Koji A.I. O. Suzuki et al., “Automatic Battery Replacements System for UAV's: Analysis and Design”, J. Am. Intell Robot Syst. , DOI10.1007 / s10846-011-9616-y

  However, all of the techniques described in the above documents are intended for ultra-compact UAVs whose main purpose is indoor flight, and there is no room for a payload for mounting observation equipment, etc. There has been no study in the field that receives the power from the field, and there are still issues to be put into practical use. In particular, the techniques described in Non-Patent Documents 1 and 2 use a motion capture system for landing a helicopter, and require extremely high-precision control, which makes the configuration complicated and limited in advance. There is also a problem that can only be applied in the environment.

  In view of the above problems, an object of the present invention is to provide a helicopter, a helicopter battery exchanging apparatus, and a helicopter system capable of easily taking off and landing a helicopter and exchanging batteries at various outdoor locations.

  A battery replacement device for a helicopter according to one aspect of the present invention that solves the above problems includes: (1) a helicopter landing member including a landing pad on which a helicopter guide slit is formed and which can support the helicopter; A battery holding member having a battery magazine provided at a lower part of the helicopter landing member and capable of holding a plurality of batteries; and (3) a moving member for holding and moving the battery; It is characterized by comprising.

  A helicopter according to another aspect of the present invention includes (1) a rotor, (2) a rotor motor that drives the rotor, (3) a control device that controls the rotor motor, (4) a drum, A winch having a wire wound around a drum, a conductive weight connected to the wire, and a drum motor for rotating the drum, and (4) a power supply device for supplying electric power.

  A helicopter system according to another aspect of the present invention includes: (1) a rotor, a rotor motor that drives the rotor, a control device that controls the rotor motor, a drum, a wire wound around the drum, A helicopter comprising a winch having a conductive weight connected to the wire, a drum motor for rotating the drum, and a power supply device for supplying power; (2) a helicopter guide slit is formed, and the helicopter A helicopter landing member having a landing pad that can be supported, a battery holding member that is provided at a lower portion of the helicopter landing member and that can hold a plurality of batteries, and holds and moves the battery. A battery gripping and moving member having a moving member for the helicopter , Comprising a combination of.

  As described above, according to the present invention, it is possible to provide a helicopter, a helicopter battery exchanging apparatus, and a helicopter system capable of easily taking off and landing of helicopters and battery replacement at various outdoor locations.

1 is a schematic perspective view of a helicopter system according to an embodiment. 1 is a schematic top view of a helicopter system according to an embodiment. 1 is a schematic side view of a helicopter system according to an embodiment. 1 is a schematic side view of a helicopter system according to an embodiment. It is a photograph figure of the helicopter system concerning an embodiment. 1 is a schematic perspective view of a helicopter according to an embodiment. It is a schematic top view of the helicopter according to the embodiment. 1 is a schematic side view of a helicopter according to an embodiment. 1 is a schematic side view of a helicopter according to an embodiment. It is a figure which shows the outline of the winch with which the helicopter which concerns on embodiment is equipped. It is a schematic perspective view of the helicopter landing member according to the embodiment. It is a schematic top view of the helicopter landing member according to the embodiment. It is a schematic perspective view of the battery holding member which concerns on embodiment. It is a schematic top view of the battery holding member according to the embodiment. It is a schematic side view of the battery holding member according to the embodiment. It is a schematic perspective view of the battery holding | grip moving member which concerns on embodiment. It is a schematic front view of the battery holding | grip movement member which concerns on embodiment. It is explanatory drawing at the time of moving the battery holding | grip movement member which concerns on embodiment. It is a schematic perspective view of the battery case which concerns on embodiment. It is a schematic side view of the battery case according to the embodiment. It is a photograph figure of the battery vicinity of the helicopter concerning an embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention can be implemented in many different forms, and is not limited to the following embodiments and examples.

  FIGS. 1 to 4 are diagrams showing an outline of a helicopter system (hereinafter also referred to as “the present system”) 1 according to the present embodiment, and FIG. 5 is a photograph of the actually manufactured helicopter system. 1 is a perspective view, FIG. 2 is a top view, and FIGS. 3 and 4 are side views. As shown in these drawings, the present system 1 includes (I) a rotor 21, a rotor motor 22 that drives the rotor 21, a control device that controls the rotor motor 22, and a drum wound around the drum. A helicopter 2 including a winch having a wire, a conductive weight connected to the wire, and a drum motor for rotating the drum, and a battery for supplying power, and (II) a helicopter guide slit 3111 is formed. And a battery holding unit 31 including a helicopter landing member 31 having a landing pad 311 capable of supporting the helicopter 2 and a battery magazine 321 provided below the helicopter landing member 31 and capable of holding a plurality of batteries B. Battery having member 32 and moving member 331 for holding and moving battery B And lifting the moving member 33, the helicopter battery exchange device 3 consisting comprise, comprising a combination.

  A helicopter (hereinafter referred to as “the present helicopter”) 2 in the present system is a small unmanned helicopter although it is not limited as long as it has the above-described configuration and can fly. Since this system is a small unmanned helicopter, it can be remotely controlled by an operation by a controller and can automatically replace a battery by an operation described in detail later. Schematic diagrams of this helicopter are shown in FIGS.

  As described above, the helicopter 2 is connected to the rotor 21, the rotor motor 22 that drives the rotor 21, the control device that controls the rotor motor 22, the drum, the wire wound around the drum, and the wire. A winch having a conductive weight, a drum motor for rotating the drum, and a battery B for supplying electric power. The helicopter 2 includes a frame body 26, and each of the above components is fixed or supported by the frame body 26.

  In the present helicopter 2, the rotor 21 is connected to the rotor motor 22, rotates based on the rotation of the rotor motor 22, and can give buoyancy to the helicopter. The rotor 21 is not limited as long as it has the above function, and a known configuration can be adopted. In the example of this figure, six examples of the rotor 21 are shown, but the number is not limited as long as stable flight can be realized.

  In the helicopter 2, the rotor motor 22 is used to rotate the rotor 21 as described above, and is provided for each rotor. The rotor motor 22 is connected to the battery B and rotates upon receiving power. The configuration of the rotor motor 22 is not limited as long as it has the above function, and a commercially available one can be adopted.

  In the helicopter 2, the control device 23 is a device for controlling the rotor motor 22. The control device 23 can adjust the buoyancy by controlling the number of rotations of the rotor motor and the like based on an instruction from a person (operator) who operates the helicopter. If there are multiple rotor motors, control each one. The configuration of the control device is not particularly limited, but it is preferable to include a so-called computer, GPS, IMU, etc., control by a computer based on information acquired by the GPS, IMU, etc., helicopter attitude control, etc. I do.

  The helicopter 2 includes a winch. By providing the winch, as will be apparent from the following description, it is possible to easily land on the helicopter battery exchange device. FIG. 10 shows a photograph of a winch installed in the helicopter. In the present embodiment, as described above, the winch includes a drum, a wire wound around the drum, a conductive weight connected to the wire, and a drum motor that rotates the drum.

  In the winch according to the present embodiment, the drum is for winding a wire. By rotating the drum, the wire can be wound or lowered.

  Further, in the winch of the present embodiment, the wire is a thread-like member, and as will be apparent from the following description, the helicopter can be easily landed on the helicopter battery exchange device by hanging down. . The material of the wire is not limited as long as it is a thread-like member, and may be natural fibers such as silk and cotton, for example, synthetic fibers such as nylon, polyester and polyethylene terephthalate, and inorganic such as glass fibers and carbon fibers. It may be a chemical fiber such as a fiber, or may be a metal wire such as iron. However, a metal wire is a preferred form because of the connection of heavy weights. As will be apparent from the following description, it is sufficient for the length of the wire to be able to be hung down to the extent that it can be sandwiched in the helicopter guide slit 3111 of the landing pad 311 in the helicopter battery exchange device, and the size of the helicopter Although it can adjust suitably by etc., it is preferable that it is the range of 50 cm or more and 5 m or less.

  Further, in the winch according to the present embodiment, the weight is connected to the wire, and the lower end position of the wire can be stabilized by being suspended by the wire. The weight of the weight is not limited and can be adjusted as appropriate. However, it is necessary to keep the weight of the helicopter within a range that does not limit the flight capacity.

  Moreover, it is preferable that the weight in the winch which concerns on this embodiment is the material provided with electroconductivity, such as a metal. While the weight is provided with conductivity, the presence / absence of energization is determined by arranging electrodes on the helicopter guide slit 311 and the guide arm, etc., and whether the helicopter wire and weight are sandwiched by the helicopter guide slit 311 or not. It becomes possible to determine whether or not 314 is touched.

  The winch according to the present embodiment includes a drum motor that rotates the drum. By rotating the drum, the wire and weight can be lowered or wound. Further, the winch according to the present embodiment preferably includes a drum control device for controlling the rotation of the drum. The drum control device controls the rotation of the drum so as to obtain an appropriate wire length based on an instruction from the operator.

  The helicopter also includes a battery B that supplies power. The helicopter can drive the rotor 21, the rotor motor 22, the control device, and the winch by the power of the battery B. The battery B is detachable from the helicopter, and when the remaining amount is low, the battery is replaced by the present system. Note that the battery B of the helicopter includes a battery holding member 29, and the battery B can be held and connected via the battery holding member 29.

  The helicopter also includes a conductor connected to an electric circuit to which a battery is connected and a power supply terminal 27 connected to the conductor. Although this effect will become clear from the following description, even when the battery B is being replaced by exposing the power supply terminal 27 and connecting the electrode included in the helicopter battery exchange device to the power supply terminal 27. It becomes possible to supply electric power to the helicopter.

  In addition, the helicopter includes a plurality of ground members 28 that serve as contact points with the ground when landing. As will be apparent from the description below, the grounding member 28 can not only stably install the helicopter, but also can properly land the helicopter in a desired position, whether the helicopter is oriented in a desired direction. It can be a standard of whether or not. This determination may be made through image processing such as a camera, and the method is not limited.

  On the other hand, in the present embodiment, as described above, the helicopter battery exchange device (hereinafter referred to as “the battery exchange device”) 3 includes the landing pad 311 in which the helicopter guide slit 3111 is formed and the helicopter 2 can be supported. Helicopter landing member 31, battery holding member 32 provided at the lower part of helicopter landing member 31 and having battery magazine 321 capable of holding a plurality of batteries B, and movement for gripping and moving battery B A battery gripping / moving member 33 having a member 331. This battery exchange device is also called a so-called heliport.

  First, the battery exchange device 3 includes a helicopter landing member 31 including a landing pad 311 in which a helicopter guide slit 3111 is formed and can support the helicopter 2. An outline of the helicopter landing member 31 is shown in FIGS. FIG. 11 is a schematic perspective view, and FIG. 12 is a top view. The landing pad 311 is supported by a frame such as a column 312 and is disposed at a predetermined distance from the ground.

  In the battery exchange device 3, the helicopter landing member 31 includes an inclined member 313 connected to the landing pad 311. Further, the inclined member 313 is also formed with a helicopter guide slit 3131. In the vicinity of the opening of the helicopter guide slit 3131, a guide arm 314 that can be opened and closed is provided.

  The helicopter landing member 31 in the battery exchange device 3 is for landing the helicopter and stably supporting the helicopter while landing. The material is not particularly limited, but a metal such as iron is preferable from the viewpoint of a sturdy structure, and an aluminum alloy is more preferable for the purpose of weight reduction.

  The landing pad 311 in the battery exchange device 3 is a main member of the helicopter landing member 31 and may have any size that can stably hold the grounding member 28 of the helicopter. When the battery is replaced after landing, it is preferable that the position of the helicopter be accurately determined, so that the shape is substantially the same as the polygonal shape formed with the ground contact member 28 provided in the helicopter 2 as the apex. By doing in this way, the position of the battery of a helicopter can be defined correctly. The landing pad 311 is provided with a marker 3113 at a portion where the grounding member 28 is installed in order to confirm whether or not the landing pad 311 has landed correctly. It is preferable to attach the marker 3113 so that a set of the marker and the ground contact member 28 can be identified and it can be determined whether or not the vehicle has landed accurately in a desired direction.

  In the present embodiment, the landing pad 311 is formed with a helicopter guide slit 3111 toward the center of the landing pad 311. By forming the helicopter guide slit 3111, the wire of this helicopter can be passed through this slit, and the wire can be guided to the center of the landing pad 311. More specifically, the wire that the helicopter is hung by the winch is inserted into the slit 3111, so that the wire can be held and the flight of the helicopter can be limited to a desired range. The helicopter can be reliably landed at a desired position by winding the wire while controlling the attitude of the helicopter.

  In the present embodiment, a part of the landing pad 311 includes an opening / closing member 3112 that can be opened and closed. With this configuration, when the helicopter lands, the opening / closing member is closed to form a stable landing, while the battery provided in the lower battery magazine, which will be described in detail later, is replaced with a used battery. In this case, the opening / closing member 3112 is opened, the replacement battery is grasped and moved from below, and the battery B mounted on the helicopter can be replaced. The opening / closing member 3112 is not limited as long as it can be opened and closed, and may be a sliding type or a door that opens and closes via a shaft member such as a hinge.

  In the present embodiment, as described above, the inclined member 313 is connected to the landing pad 311. More specifically, the landing pad 311 is surrounded by a plurality of inclined plates 313 so that the landing pad 311 is at the lowest position. In the example of this embodiment, since the landing pad 311 has a quadrangular shape, the landing pad 311 is surrounded by four inclined plates connected along each side. By doing in this way, even if the landing position of the helicopter is slightly shifted and the legs land on the inclined plate, the helicopter slides down to the landing pad due to the inclination, so that the landing pad 311 is surely landed. Can do. In particular, when the landing pad 311 has substantially the same shape as the polygon formed with the grounding point of the grounding member 28 as the apex as described above, the helicopter can be landed more accurately.

  In this embodiment, the helicopter guide slit 3131 is also formed in the inclined plate 313. The helicopter guide slit is connected to the helicopter guide slit 3111 formed in the landing pad 311. By doing so, the helicopter can be reliably guided to the center of the landing pad 311 from a farther position. Note that the helicopter guide slits 3111 and 3131 are preferably linear when the landing pad is viewed from the front because the wire can be smoothly guided.

  In the present embodiment, a guide arm 314 that can be opened and closed is provided near the opening of the helicopter guide slit 3131. The guide arm 314 is composed of a pair of arms and is normally open. On the other hand, when the wire and the weight contact the helicopter guide slit 3131 or the arm, the guide arm 314 is closed so as to sandwich the wire, and the wire is reliably captured. can do.

  In the present embodiment, it is preferable that the guide arm 314 includes a conductive member, and the conductive member is disposed along the helicopter guide slit and connected to the sensor. More specifically, by making the pair of arms of the induction arm 314 conductive members, when the helicopter wire and weight come into contact with the induction arm 314, an electrical signal (voltage fluctuation or the like) is generated. By sensing this signal, it can be determined that the wire has entered the supplemental range of the guide arm. Further, when a conductive member is arranged along the helicopter guide slits 3111 and 3131, it is possible to confirm at which position of the slit the weight is located, and as a result, the position of the helicopter can be accurately known.

  In the present embodiment, the landing pad 311 is provided with an electrode 315 and can be supplied with power from a power source (not shown). In the present embodiment, a pair of electrodes 315 are provided, and after the helicopter has landed, they are automatically attached so as to come into contact with the power supply terminal 27 exposed by the helicopter. In addition, in this embodiment, the example connected to the pad for landing as a part of inclined board 313 is shown. By adopting such a configuration, power can be supplied to the helicopter even while the battery B is being replaced as described above.

  In the present embodiment, a battery including a battery magazine (hereinafter referred to as a “book magazine”) 321 capable of holding a plurality of batteries B at the lower portion of the landing member 31, more specifically, the landing pad 311. A holding member 32 is provided. Schematic diagrams of the magazine 321 are shown in FIGS. 13 is a perspective view of the magazine, FIG. 14 is a top view, and FIG. 15 is a side view.

  As shown in the figure, the main magazine 321 includes a turntable 3211 and a plurality of battery holders 3212 provided on the turntable 3211. The battery holder 3212 includes a battery B. Further, the battery holder 3212 is provided with a terminal electrically connected to the power source, and can contact the terminal of the battery B. As a result, the battery B held by the battery holder 3212 is supplied with power from the power source and charged. The magazine 321 can be rotated by a turntable 3211, and the position of one of the battery holders 3212 is when the position of the battery B mounted on the helicopter and the landing pad are viewed from above. It is adjusted so that it becomes the overlapping position. By doing in this way, it becomes possible to attach and detach and replace only by moving the battery up and down.

  In the present embodiment, a battery holding / moving member 33 having a holding member 331 for holding the battery and a moving member 332 for moving the battery is provided. This schematic diagram is shown in FIGS. 16 is a perspective view, FIG. 17 is a side view, and FIG. 18 is a schematic view when the moving member is moved upward. The battery gripping / moving member 33 is for removing the battery mounted on the helicopter after the helicopter has landed, holding the battery in the battery holder of the magazine, and mounting the charged battery on the helicopter.

  The gripping member 331 is configured to be able to grip the battery, and in combination with the battery structure, the battery can be attached to and detached from the helicopter. Here, the structure of the battery is shown in FIGS. 19 is a perspective view of the battery case C, and FIG. 20 is a side view thereof.

  The battery is housed in a battery case C, and the battery case C is attached to the helicopter socket. As shown in the figure, the battery includes a hooking member on a side surface, and is fixed to the helicopter 2 by the hooking member. Each of the hooking members includes a shaft C11, a hook C12 connected to the shaft C11 and hooked to the socket of the helicopter, and a pressing member C13 that is connected to the shaft C11 and opens the hook C12. Yes.鉤 C12 is a leaf spring urged toward the battery case, and is hooked on the helicopter socket by using this urging force, and is released from the socket by pressing the pressing member C13 to open 鉤 C12. Is done.

  On the other hand, the gripping member 331 is constituted by a pinching member that can be opened and closed, and can release the battery by opening and can pinch the holding member of the battery by closing. Specifically, the battery case can be fixed to the helicopter by opening the gripping member, and the pressing member C13 can be sandwiched and the bag C12 can be opened by closing the gripping member. That is, the battery can be released and held by opening and closing the scissors member. In addition, the photograph figure of the helicopter equipped with the battery is shown in FIG. As shown in this figure, the battery case can be removed from the socket of the helicopter by holding the bag C12 of the battery case by being hooked on the socket of the helicopter and holding the pressing member C13 with the gripping member 331.

  In the present embodiment, the gripping member 331 is attached to the moving member 332 and is moved up and down in accordance with the vertical movement of the moving member 332. That is, the battery can be moved up and down along with this up and down.

  Although it is not necessarily limited as a structure of the moving member 332, it is preferable to have the rod-shaped member supported so that it can move up and down, and the drive mechanism for moving this rod-shaped member up and down. Although it is not necessarily limited as a drive mechanism, For example, it is simple and preferable to have a configuration including a wire connected to a rod-shaped member, a shaft member that winds the wire, and a motor that rotates the shaft member. .

  Here, the battery exchange method using the battery exchange apparatus by this system is demonstrated.

  First, the operator moves the helicopter 2 to the sky in the vicinity of the helicopter battery exchange device 3 by remote control. At this time, the helicopter is preferably controlled so as to face a desired landing direction in the air.

  Next, the operator hangs a wire and a weight from a winch provided in the helicopter and brings it close to the helicopter guide slit of the battery exchange device for the helicopter. Specifically, the helicopter guide slit is brought into contact with a guide arm provided near the opening of the helicopter guide slit. Then, the induction arm senses that the weight is in contact with the sensor, starts the closing operation, and pinches the wire between the arms. Thereby, a helicopter can be captured.

  The pilot then moves the helicopter along the direction of the helicopter guide slit and enters the landing system while winding the wire. In this embodiment, since the helicopter guide slit extends to the center of the landing pad, the weight can be easily moved to the center by the movement of the helicopter.

  Then, the operator moves and locks the wire and the weight in the vicinity of the center of the landing pad, and then sufficiently winds the wire to land the helicopter on the landing pad. In this embodiment, an inclined plate is provided around the landing pad, and the landing pad is the bottom, so even if the helicopter legs are not completely on the landing pad during this landing, The board slides down and can stably land at a desired position of the landing pad. If the landing is not successful even with such a configuration, or if the landing is different from the planned orientation, the helicopter is taken off while extending the wire, and the landing operation is performed again.

  Then, after confirming that the helicopter has landed at a desired position, the opening / closing member of the landing pad is opened, and the battery replacement operation is started. In this case, the electrode is connected to the power supply terminal of the helicopter as means for supplying power when the battery is removed from the helicopter.

  After the opening / closing member of the landing pad is opened, the battery exchange device first confirms that the empty battery holder is the same as the position of the battery of the helicopter, and then moves the gripping member of the moving member of the battery gripping moving member The upper part is moved by the member, and the battery of the helicopter is gripped and removed. Then, the battery is moved to the lower part as it is, attached to an empty battery holder, and charging is started.

  Then, the battery magazine is rotated, the charged battery is aligned with the position of the battery cassette of the helicopter, and the battery gripping moving member grips the charged battery. And it moves to an upper part, a battery is inserted in the battery cassette of a helicopter, and it is made to mount. After the mounting, the battery exchange device houses the battery gripping and moving member, closes the opening / closing member of the landing pad, removes the electrode from the helicopter, and completes the battery exchange operation.

  As described above, according to the present embodiment, it is possible to provide a helicopter, a helicopter battery exchanging apparatus, and a helicopter system capable of easily taking off and landing the helicopter and exchanging batteries at various outdoor locations.

The present invention has industrial applicability as a helicopter, a helicopter battery exchange device, and a helicopter system.

Claims (7)

A helicopter landing member having a landing pad formed with a helicopter guide slit and capable of supporting the helicopter;
A battery holding member provided at a lower part of the helicopter landing member and provided with a battery magazine capable of holding a plurality of batteries;
A battery gripping and moving member having a gripping member for gripping the battery and a moving member for moving the battery;
A battery exchange device for a helicopter comprising:   The helicopter battery replacement device according to claim 1, wherein the helicopter landing member includes an inclined member connected to the landing pad.   The helicopter battery exchange device according to claim 2, wherein a helicopter guide slit is also formed in the inclined member. The helicopter landing member is
The battery exchange device for helicopters according to claim 1, further comprising a guide arm that can be opened and closed in the vicinity of the opening of the helicopter guide slit.   The helicopter battery exchange device according to claim 1, further comprising an electrode for supplying electric power to the landing helicopter. With the rotor,
A rotor motor for driving the rotor;
A control device for controlling the rotor motor;
A winch having a drum, a wire wound around the drum, a conductive weight connected to the wire, and a drum motor for rotating the drum;
A helicopter comprising: a power supply device that supplies electric power. A rotor, a rotor motor that drives the rotor, a control device that controls the rotor motor, a drum, a wire wound around the drum, a conductive weight connected to the wire, and a rotating drum A helicopter comprising: a winch having a drum motor to be driven; and a power supply device for supplying electric power;
A battery holding unit including a helicopter landing member having a landing pad formed with a helicopter guide slit and capable of supporting the helicopter, and a battery magazine provided at a lower portion of the helicopter landing member and capable of holding a plurality of batteries A helicopter system formed by combining a battery exchange device for a helicopter comprising a member, a gripping member that grips the battery, and a battery gripping and moving member that includes a moving member for moving the battery.