KR102040047B1 - Method of replacing battery for unmanned aerial vehicle and non-transitory computer-readable recording medium - Google Patents

Abstract

A support device for supporting an unmanned aerial vehicle having a battery module accommodating portion at both ends thereof; A first transfer device connectable to a first end of the battery module accommodating portion of the unmanned aerial vehicle and configured to transfer a battery module discharged from the unmanned aerial vehicle; A second transfer device connectable to a second end of the battery module receptacle of the unmanned aerial vehicle and configured to push the battery module to be discharged from the battery module receptacle and to transfer a charged battery module to the battery module receptacle of the unmanned aerial vehicle ; And a control unit including a communication unit capable of communicating with the unmanned aerial vehicle, and a control unit configured to control at least operations of the first transport device and the second transport device. A replacement method, comprising: (a) generating a first control signal indicating replacement of the battery module when the unmanned aerial vehicle is supported by the support device and transmitting to the unmanned aerial vehicle through the communication unit; (b) a first replacement mode for inserting said charged battery module after discharging said battery module of said unmanned aerial vehicle from said battery module accommodating portion and by said charged battery module pushing said battery module of said unmanned aerial vehicle; Selecting one of the second replacement modes based on the battery module, wherein the battery module of the unmanned aerial vehicle is inserted into the battery module accommodating part while the battery module is ejected from the battery module accommodating part; And (c) controlling the operation of the second transfer device according to the replacement mode selected in step (b).

Description

Battery module replacement method and recording medium {METHOD OF REPLACING BATTERY FOR UNMANNED AERIAL VEHICLE AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM}

The present invention relates to a battery module replacement method and a recording medium, and more particularly, by using a sliding method to discharge the existing battery module mounted on the battery module receiving portion of the unmanned aerial vehicle and inserting the charged battery module into the battery module receiving portion The present invention relates to a battery module replacement method and a recording medium capable of automatically and inexpensively replacing a battery module of an unmanned aerial vehicle and minimizing a waiting time caused by replacing the battery module.

An unmanned aerial vehicle (commonly referred to as a "drone") refers to a vehicle that can fly and adjust by induction or automatic control of radio waves without a pilot. Drones have been developed and used primarily for military purposes such as reconnaissance and attack, but have also been developed and used for civilian or industrial purposes such as leisure, imaging, parcel delivery and disaster monitoring.

For example, U.S. Patent Publication No. US2015 / 120094A1 (Patent Document 1), filed by Amazon Technologies, Inc. and published on April 30, 2015, entitled "UNMANNED AERIAL VEHICLE DELIVERY SYSTEM", automatically discloses a product. Discloses a drone that delivers to various destinations. According to the configuration of US Patent Publication No. US2015 / 120094 A1, there is an advantage that the cargo can be quickly delivered through an unmanned aerial vehicle.

On the other hand, conventional unmanned aerial vehicles, in particular, unmanned aerial vehicles used for civilian or industrial use is usually operated by a battery module. In particular, the conventional unmanned aerial vehicle used for the delivery of cargo, such as courier has a disadvantage that the consumption of the battery module is large, there is a disadvantage that the battery module must be replaced according to the consumption of the battery module. For example, the drone is operated by replacing a battery module while operating an appropriate amount of unmanned aircraft rather than delivering cargo by increasing the number of drones. have. Since battery modules are often replaced by a worker by hand, there is a disadvantage in that a large cost and time are required to replace a battery module of an unmanned aerial vehicle.

In order to improve this, a method of automatically charging a battery module of an unmanned aerial vehicle has been developed.

For example, Korean Patent No. 10-1732713 (Patent Document 2) entitled “Drone Charging System”, filed on December 24, 2015 and registered on April 26, 2017, by Yang Joon-hyeok, Disclosed is a charging system for supplying power to a battery module of an unmanned aerial vehicle after seating in a seat. However, according to the configuration disclosed in Korean Patent Registration No. 10-1732713, the drone has to have a waiting time until the charging is completed while landing on the charging device for charging has a disadvantage that the operation time of the drone is significantly reduced. .

To improve this, a method of automatically replacing the battery module of the drone is also being developed.

For example, Korean Patent No. 10-1687120 (Patent Document 3) entitled "Drone Battery Module Automatic Exchange Charging Device" filed on December 9, 2015 and registered on December 9, 2016 by Korea Aerospace Research Institute. Discloses a device for automatically replacing a battery module of an unmanned aerial vehicle.

However, the configuration disclosed in Korean Patent No. 10-1687120 has a disadvantage in that a plurality of configurations are required for the movement of the battery module, for example, a battery module tong, an X axis transport member, a Y axis transport member, and a Z axis transport member. . In addition, the replacement time of the battery module is long.

1. US Patent Publication No. US2015 / 120094A1. 2. Korean Patent No. 10-1732713. 3. Korean Patent No. 10-1687120.

It is an object of the present invention to automatically and low cost a battery module of an unmanned aerial vehicle by discharging the existing battery module mounted on the battery module receiving portion of the unmanned aerial vehicle by using a sliding method and inserting the charged battery module into the battery module receiving portion. The present invention provides a battery module replacement method and a recording medium capable of replacing the battery module and minimizing a waiting time caused by replacing the battery module.

In order to achieve the above technical problem, the present invention provides a support device for supporting an unmanned aerial vehicle having a battery module accommodating portion is open at both ends; A first transfer device connectable to a first end of the battery module accommodating portion of the unmanned aerial vehicle and configured to transfer a battery module discharged from the unmanned aerial vehicle; A second transfer device connectable to a second end of the battery module receptacle of the unmanned aerial vehicle and configured to push the battery module to be discharged from the battery module receptacle and to transfer a charged battery module to the battery module receptacle of the unmanned aerial vehicle ; And a control unit including a communication unit capable of communicating with the unmanned aerial vehicle, and a control unit configured to control at least operations of the first transport device and the second transport device. A replacement method, comprising: (a) generating a first control signal indicating replacement of the battery module when the unmanned aerial vehicle is supported by the support device and transmitting to the unmanned aerial vehicle through the communication unit; (b) a first replacement mode for inserting said charged battery module after discharging said battery module of said unmanned aerial vehicle from said battery module accommodating portion and by said charged battery module pushing said battery module of said unmanned aerial vehicle; Selecting one of the second replacement modes based on the battery module, wherein the battery module of the unmanned aerial vehicle is inserted into the battery module accommodating part while the battery module is ejected from the battery module accommodating part; And (c) controlling the operation of the second transfer device according to the replacement mode selected in step (b).

According to the present invention, the battery module of the unmanned aerial vehicle is automatically and at low cost by discharging the existing battery module mounted on the battery module accommodating portion of the unmanned aerial vehicle using a sliding method and inserting the charged battery module into the battery module accommodating portion. It can be replaced and minimizes the waiting time for replacing the battery module.

1 shows an exemplary configuration of an unmanned aerial vehicle battery module replacement system according to a first embodiment of the present invention.
2 is a view showing an exemplary appearance of an unmanned aerial vehicle used in the unmanned aerial vehicle battery module replacement system according to the first embodiment of the present invention.
3-6 illustrate exemplary configurations of an unmanned aerial vehicle.
7 is a view exemplarily showing a state in which the battery is discharged from the unmanned aerial vehicle in the unmanned aerial vehicle battery module replacement system according to the first embodiment of the present invention.
8 is a diagram illustrating a state in which a charged battery is inserted into an unmanned aerial vehicle in the unmanned aerial vehicle battery module replacement system according to the first embodiment of the present invention.
9 is a battery module charged in the unmanned aerial vehicle battery module replacement system according to the first embodiment of the present invention by pushing the battery module of the unmanned aerial vehicle by inserting the charged battery module into the unmanned aerial vehicle while ejecting the battery module; A diagram showing an example of a state to be.
FIG. 10 is a diagram illustrating a state in which a battery module charged in FIG. 9 pushes a battery module. FIG.
11 is an exemplary flowchart of a battery module replacement method according to a second embodiment of the present invention.
12 is an exemplary flowchart of step S130 of a battery module replacement method according to the second embodiment of the present invention;
13 is another exemplary flowchart of step S130 of the battery module replacement method according to the second embodiment of the present invention;

Hereinafter, with reference to the accompanying drawings an embodiment of the unmanned aerial vehicle battery module replacement system, a battery module replacement method and a recording medium of the present invention will be described in more detail. Meanwhile, in the drawings for describing the exemplary embodiments of the present disclosure, only some of the actual configurations may be illustrated for the sake of convenience of description, or some may be omitted, the scales may be different, or the like.

<First Embodiment>

1 is a view showing an exemplary configuration of an unmanned aerial vehicle battery module replacement system according to a first embodiment of the present invention.

Referring to FIG. 1, the unmanned aerial vehicle battery module replacement system 1000 according to the first embodiment of the present invention includes a support device 300, a first transport device 400, a second transport device 500, And a control device 600. The control device 600 may include a control unit 610 and a communication unit 630. The unmanned aerial vehicle battery module replacement system 1000 may further include a charging device 700.

The support device 300 supports an unmanned aerial vehicle (100 in FIG. 2).

The unmanned aerial vehicle 100 used in the unmanned aerial vehicle battery module replacement system 1000 according to the first embodiment of the present invention will be described in detail as follows.

2 is a view showing an exemplary appearance of the unmanned aerial vehicle used in the unmanned aerial vehicle battery module replacement system according to the first embodiment of the present invention, Figures 3 to 6 are views showing an exemplary configuration of the unmanned aerial vehicle.

2 to 6, the unmanned aerial vehicle 100 includes a main body 110, a battery module coupling part 120 (more specifically, 121 and 125), a battery module accommodating part 130, and a controller 150. And a wing 160 and a support 170. In addition, the unmanned aerial vehicle 100 may further include an auxiliary power source 180.

The wing 160 is configured to rotate for the flight of the unmanned aerial vehicle 100, and the support unit 170 is configured to support the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 lands.

Since the configuration of the wing 160 and the support 170 is substantially the same as a conventional drone, a description thereof will be omitted.

The main body 110 is configured to include a battery module coupling part 120, a battery module accommodating part 130, a controller 150, a wing 160, and a support part 170, and is formed of, for example, a synthetic resin or a metal material. .

The battery module coupling part 120 is provided in the main body 110, and is configured to fix or release the battery module 200 (FIG. 4). For example, as shown in FIG. 3, the battery module coupling part 120 includes a first fixing part 121 and a second fixing part 125.

The battery module 200 includes, for example, a battery, a case for protecting the battery, and an electrode terminal. The battery module 200 includes a protrusion 210 as shown in FIG. 5 or a recess 221, 225 as shown in FIG. 6. It may be provided.

Referring to FIG. 4, the first fixing part 121 is configured to be capable of fixing the first end of the battery module 200, for example. The second fixing part 125 is configured to be capable of fixing the second end of the battery module 200, for example. That is, as shown in FIG. 4, for example, the first fixing part 121 is configured to be in total contact with the first end of the battery module 200, and the second fixing part 125 is the second end of the battery module 200. Is configured to be in total contact. The battery module 200 may be fixed while the first fixing part 121 and the second fixing part 125 are in contact with the first and second ends of the battery module 200. Meanwhile, in FIG. 4, the first fixing part 121 and the second fixing part 125 are in contact with the first and second ends of the battery module 200, respectively. However, only a part of the fixing parts 121 and 125 may be in contact. . That is, if the battery module 200 can be fixed, only a part of the first fixing part 121 and the second fixing part 125 may contact the first and second ends of the battery module 200, respectively. .

Referring to FIG. 5, the first fixing part 121 is configured to be capable of fixing the first end of the protrusion 210 of the battery module 200, for example. The second fixing part 125 is configured to be capable of fixing the second end of the protrusion 210 of the battery module 200, for example. For example, the first fixing part 121 is configured to be in overall contact with the first end of the protrusion 210 of the battery module 200, and the second fixing part 125 is formed of the protrusion 210 of the battery module 200. It is comprised so that a contact is possible at the 2 end whole. The battery module 200 may be fixed while the first fixing part 121 and the second fixing part 125 contact the first and second ends of the protrusion 210 of the battery module 200. . Meanwhile, in FIG. 3, the first fixing part 121 and the second fixing part 125 may contact a part of each of the first and second ends of the protrusion 210 of the battery module 200. That is, if the battery module 200 can be fixed, the first fixing part 121 and the second fixing part 125 are each partially only with the first end and the second end of the protrusion 210 of the battery module 200. This may be in contact.

Referring to FIG. 6, the first fixing part 121 is configured to be inserted into or discharged from, for example, the first recessed part 221 of the battery module 200. The second fixing part 125 is configured to be inserted into or discharged from the second recessed part 225 of the battery module 200, for example. For example, the first fixing part 121 is configured to be in total contact with the first recessed part 221 of the battery module 200, and the second fixing part 125 is entirely connected to the second recessed part 225 of the battery module 200. It is configured to be contactable. The battery module 200 may be fixed while the first fixing part 121 and the second fixing part 125 are in contact with the first recessed part 221 and the second recessed part 225 of the battery module 200, respectively. Can be. Meanwhile, only a part of the first fixing part 121 and the second fixing part 125 may be in contact with each of the first recessed part 221 and the second recessed part 225 of the battery module 200. That is, if the battery module 200 can be fixed, the first fixing part 121 and the second fixing part 125 are respectively partially with the first recessed part 221 and the second recessed part 225 of the battery module 200. Only may touch.

4 to 6, the battery module coupling part 120, that is, the first fixing part 121 and the second fixing part 125 are in contact with both ends of the battery module 200 or the battery module 200. By contacting both ends of the protrusion 210 of the () or the first recessed portion 221 and the second recessed portion 225 of the battery module 200 is configured to be able to secure the battery module 200.

The battery module accommodating part 130 is provided in the main body 110 to accommodate the battery module 200, and both ends, that is, both ends are opened and the battery is open so that the battery module 200 can be inserted or discharged in a sliding manner. The through holes 137 and 139 and the battery module configured to be movable between the module coupling part 120 may be moved between a first position for fixing the battery module 200 and a second position for releasing the battery module 200. The electronic terminals 131 and 135 are electrically connected to the electrode terminals (not shown) of the battery module 200 while the 200 is accommodated therein and fixed thereto. "Inserting or discharging the battery module 200 in a sliding manner" means inserting or discharging the battery module 200 by pushing the battery module 200 as described below with reference to FIGS. 7 to 10.

Meanwhile, referring to FIG. 2, the through holes 137 and 139 are disposed on the upper surface of the battery module accommodating part 130, and the electrical terminals 131 and 135 are disposed on the side of the battery module accommodating part 130. Although shown as an illustration, the position where the through holes 137 and 139 or the electrical terminals 131 and 135 are disposed is not limited thereto. For example, the through holes 137 and 139 may be disposed on the side surface of the battery module accommodating part 130, and the electrical terminals 131 and 135 may be disposed on the upper surface of the battery module accommodating part 130. The through holes 137 and 139 may be disposed corresponding to the direction in which the battery module coupling part 120 moves, and the electrical terminals 131 and 135 correspond to the positions where the electrode terminals of the battery module 200 are disposed. May be placed in position.

The controller 150 of the unmanned aerial vehicle 100 controls at least operations of the battery module coupling unit 120, that is, the first fixing unit 121 and the second fixing unit 125.

The unmanned aerial vehicle 100 may provide power so that the auxiliary power source 180 may operate, for example, even when the battery module 200 is discharged. The unmanned aerial vehicle 100 may include a power supply terminal that receives electric power from the outside instead of the auxiliary power source 180.

Referring back to FIG. 1, the support device 300 supports the unmanned aerial vehicle 100. For example, as shown in FIG. 7, the unmanned aerial vehicle 100 can land on the support device 300 and is supported by the support device 300. In this case, the support 170 of the unmanned aerial vehicle 100 may be landed and supported at a more accurate position by being inserted into a groove (not shown) provided in the support device 300.

The first transfer device 400 is connectable to the first end of the battery module accommodating part 130 of the unmanned aerial vehicle 100 and is configured to transfer the battery module 200 discharged from the unmanned aerial vehicle 100. The first transfer device 400 can be implemented using a configuration such as, for example, a conveyor belt. That is, when the unmanned aerial vehicle 100 lands and is supported by the support device 300, the first end of the battery module accommodating part 130 of the unmanned aerial vehicle 100 is connected to the first transfer device 400. When the battery module 200 is discharged from the unmanned aerial vehicle 100, the first transfer device 400 transfers the battery module 200. For example, the first transfer device 400 may transfer the battery module 200 to the second transfer device 500 or to the charging device 700 described later.

The second transfer device 500 may be connected to the second end of the battery module accommodating part 130 of the unmanned aerial vehicle 100, and the battery module 200 is discharged from the battery module accommodating part 130 by pushing the battery module 200 and charged. It is configured to push the module (200 ′ in FIG. 8) to the battery module receiver 130 of the unmanned aerial vehicle 100. The charged battery module 200 ′ is substantially the same as the battery module 200, and refers to another battery module having the same configuration as that when the battery module 200 is charged or the battery module 200, for example.

Referring to FIG. 7, the second transfer device 500 is configured to push at least one of the battery module 200 and the charged battery module 200 ′ to move in the horizontal direction, and the charged battery module is charged. The mobile unit 550 may include a moving unit 550 supporting the 200 ′ and configured to move the charged battery module 200 ′ by the pressing unit. The pressurizing part 510 is configured to be able to move by pushing an end of the battery module 200 or the charged battery module 200 'in the form of a rod, for example. The moving part 550 assists the charged battery module 200 ′ supported thereon, such as a conveyor roller, to be moved by the pressing part 510.

Meanwhile, the first transfer device 400 and the second transfer device 500 may further include electrical terminals (not shown) configured to be charged while the battery module 200 is transferred. In this case, the control device 600, that is, the controller 610 is moved through the first transfer device 400 and the second transfer device 500 while charging the battery module 200 charged by the electrical terminal As the module 200 ′, the first transfer device 400 and the second transfer device 500 may be controlled to be transferred to the battery module accommodating part 130 of the unmanned aerial vehicle 100.

The control device 600 includes a communication unit 630 capable of communicating with the unmanned aerial vehicle 100, and a controller 610 for controlling at least operations of the first transfer device 400 and the second transfer device 500.

Meanwhile, as shown in FIG. 1, the unmanned aerial vehicle battery module replacement system 1000 may further include a charging device 700. When the unmanned aerial vehicle battery module replacement system 1000 further includes a charging device 700, the first transfer device 400 and the second transfer device 500 are connected to the charging device 700. The charging device 700 is configured to charge the battery module 200 transferred from the first transfer device 400, and is charged when the battery module 200 is charged by the control of the control device 600. The module 200 ′ is configured to be supplied to the second transfer device 500. That is, the controller 610 transfers the battery module 200 discharged from the unmanned aerial vehicle 100 to the charging device 700 and the battery module 200 charged with the battery module 200 charged by the charging device 700. The charging device 700, the first transfer device 400, and the second transfer device 500 may be controlled to be supplied to the second transfer device 500 as').

The controller 610 may control the movement amount of the pressurizing unit 510 of the second transfer device 500. That is, the controller 610 controls the movement amount of the pressurizing unit 510 to discharge the battery module 200 from the unmanned aerial vehicle 100 or insert the charged battery module 200 ′ into the unmanned aerial vehicle 100. You can control the operation more precisely.

Hereinafter, the operation of the controller 610 will be described in more detail with reference to FIGS. 7 to 9.

FIG. 7 is a view illustrating a state in which a battery is discharged from an unmanned aerial vehicle in the unmanned aerial vehicle battery module replacement system according to the first exemplary embodiment of the present invention, and FIG. 8 is an unmanned aerial vehicle battery according to the first exemplary embodiment of the present invention. Exemplary diagram illustrating a state where a charged battery is inserted into an unmanned aerial vehicle in a module replacement system.

Referring to FIG. 7, when the unmanned aerial vehicle 100 lands on the support device 300, it is supported by the support device 300. For example, the support 170 of the unmanned aerial vehicle 100 may be landed and supported in a more accurate position by being inserted into a groove (not shown) provided in the support device 300. When ready to discharge the battery module 200 mounted on the unmanned aerial vehicle 100, the controller 610 generates a first control signal indicating replacing the battery module 200, and transmits the first control signal to the communication unit ( Transmit to unmanned aerial vehicle 100 through 630.

When the unmanned aerial vehicle 100 receives the first control signal, for example, the battery module coupling unit 120, that is, the first fixing unit 121 and the second fixing unit 150 may discharge the battery module 200 through the control unit 150. The operation of the fixing unit 125 is controlled.

After transmitting the first control signal, the controller 610 controls the second transfer device 500 to discharge the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130. Preferably, the control unit 610 changes the positions of the first fixing unit 121 and the second fixing unit 125 from the control unit 150 of the unmanned aerial vehicle 100 to replace the battery module 200 with the battery module accommodating unit. After receiving the control signal indicating that the vehicle can be discharged from the 130, the second transfer device 500 may be controlled to discharge the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130. Can be. The controller 610 controls the movement amount of the pressurizing unit 510 such that the battery module 200 can be completely moved to the first transfer device 400, for example.

The controller 610 controls the second transfer device 200 to discharge the battery module 200 from the battery module accommodating part 130, and then indicates that the battery module 200 is discharged from the battery module accommodating part 130. The second control signal may be generated and the second control signal may be transmitted to the unmanned aerial vehicle 100 through the communication unit 630. However, if the unmanned aerial vehicle 100 can directly detect that the battery module 200 is discharged, the controller 610 may omit generating the second control signal and transmitting it to the unmanned aerial vehicle 100.

The controller 310 controls the second transfer device 200 to discharge the battery module 200 from the battery module accommodating part 130, and then discharges the charged battery module 200 ′ from the battery module of the unmanned aerial vehicle 100. The second transfer device 500 is controlled to be inserted into the accommodation unit 130. For example, the controller 610 accurately moves the charged battery module 200 ′ to the position of the battery module coupling part 120, that is, the first fixing part 121 and the second fixing part 125 of the unmanned aerial vehicle 100. The amount of movement of the pressing unit 510 may be controlled to such an extent that it may be possible.

The controller 310 inserts the charged battery module 200 ′ into the battery module accommodating part 130 of the unmanned aerial vehicle 100, and then inserts the charged battery module 200 ′ into the battery module accommodating part 130. The third control signal may be generated, and the third control signal may be transmitted to the unmanned aerial vehicle 100 through the communication unit 630. When the unmanned aerial vehicle 100 receives the third control signal, for example, the battery module coupling part 120, that is, the first fixing part 121, may fix the charged battery module 200 ′ through the controller 150. And the operation of the second fixing part 125. However, if the unmanned aerial vehicle 100 can directly detect that the charged battery module 200 ′ is inserted, the controller 610 may omit generating the third control signal and transmitting it to the unmanned aerial vehicle 100. .

Meanwhile, in FIG. 7 to FIG. 8, the configuration in which the battery module 200 is first discharged from the unmanned aerial vehicle 100 and then the charged battery module 200 ′ is inserted into the unmanned aerial vehicle 100 has been described. ) May be simultaneously performed while inserting the charged battery module 200 ′ into the unmanned aerial vehicle 100 while discharging) from the unmanned aerial vehicle 100.

9 is a battery module charged in the unmanned aerial vehicle battery module replacement system according to a first embodiment of the present invention by pushing the battery module of the unmanned aerial vehicle by inserting the charged battery module into the unmanned aerial vehicle while discharging the battery module from the unmanned aerial vehicle; FIG. 10 is a diagram illustrating a state in which the battery module charged in FIG. 9 pushes the battery module.

9 and 10, a battery module 200 having a protrusion 210 and a charged battery module having a protrusion 210 ′ are used.

After the unmanned aerial vehicle 100 lands on the support device 300 and is ready to discharge the battery module 200 mounted on the unmanned aerial vehicle 100, the controller 610 may not replace the battery module 200. A first control signal is generated, and the first control signal is transmitted to the unmanned aerial vehicle 100 through the communication unit 630.

After the control unit 610 transmits the first control signal, the charged battery module 200 ′ pushes the battery module 200 of the unmanned aerial vehicle 100 to push the battery module 200 of the unmanned aerial vehicle 100. The second transfer device 500 is controlled to insert the charged battery module 200 ′ into the battery module accommodating part 130 while being discharged from the battery module accommodating part 130. Preferably, the control unit 610 changes the positions of the first fixing unit 121 and the second fixing unit 125 from the control unit 150 of the unmanned aerial vehicle 100 to replace the battery module 200 with the battery module accommodating unit. After receiving the control signal indicating that the vehicle can be discharged from the 130, the second transfer device 500 may be controlled to discharge the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130. Can be. Meanwhile, the pre-charged battery module 200 ′ is disposed on the second transfer device 500, and the control unit 610 may charge the battery module 200 ′ in which the pressing unit 510 of the second transfer device 500 is charged. The pressure control unit 510 controls the pressing unit 510 to discharge the battery module 200 from the unmanned aerial vehicle 100 by contacting the battery module 200 ′ charged by the battery module 200. For example, the controller 610 accurately moves the charged battery module 200 ′ to the position of the battery module coupling part 120, that is, the first fixing part 121 and the second fixing part 125 of the unmanned aerial vehicle 100. The amount of movement of the pressing unit 510 may be controlled to such an extent that it may be possible. As a result, the time until the battery module 200 is replaced with the charged battery module 200 ′ may be further shortened.

Meanwhile, the controller 610 controls the second transfer device 200 to discharge the battery module 200 from the battery module accommodating part 130, and then transfers the charged battery module 200 ′ to the battery module accommodating part 130. Before the insertion is complete, a second control signal is generated indicating that the battery module 200 has been discharged from the battery module accommodating part 130, and the second control signal is transmitted to the unmanned aerial vehicle 100 through the communication part 630. Can transmit That is, the controller 610 pushes the battery module 200 ′ in which the pressurizing unit 510 is charged, for example, such that the amount of movement of the pressurizing unit 510 can be moved to the first transfer device 400. Can be controlled. For example, as shown in FIG. 10, the battery module 200 is discharged from the battery module accommodating part 130, but the charged battery module 200 ′ is charged and the battery module 200 ′ is the battery module of the unmanned aerial vehicle 100. The coupling part 120, that is, the first fixing part 121 and the second fixing part 125 is not moved to the position. Referring to FIG. 10, when the unmanned aerial vehicle 100 receives the second control signal, for example, the unmanned aerial vehicle 100 fixes the battery module 200 ′ in which the first fixing part 121 is charged through the control unit 150, but the second fixing part is fixed. The control unit 125 may control operations of the battery module coupling unit 120, that is, the first fixing unit 121 and the second fixing unit 125 to be positioned at a position where the charged battery module 200 ′ is not fixed. have. However, as described above, if the unmanned aerial vehicle 100 can directly detect that the battery module 200 is discharged, the controller 610 may omit generating the second control signal and transmitting it to the unmanned aerial vehicle 100. .

The controller 610 inserts the charged battery module 200 ′ into the battery module accommodating part 130 of the unmanned aerial vehicle 100, that is, the charged battery module 200 ′ is connected to the first fixing part 121 and After moving to the position of the second fixing part 125, a third control signal indicating that the charged battery module 200 ′ has been inserted into the battery module accommodating part 130 is generated, and the third signal is transmitted to the communication part 630. Can be transferred to an unmanned aerial vehicle. When the unmanned aerial vehicle 100 receives the third control signal, for example, the battery module coupling part 120, that is, the first fixing part 121, may fix the charged battery module 200 ′ through the controller 150. And the operation of the second fixing part 125. However, as described above, if the unmanned aerial vehicle 100 can directly detect that the charged battery module 200 'is inserted, the controller 610 omits generating the third control signal and transmitting it to the unmanned aerial vehicle 100. You may.

As described above, according to the present invention, the battery module of the unmanned aerial vehicle is discharged by discharging the existing battery module mounted on the battery module accommodating portion of the unmanned aerial vehicle using a sliding method and inserting the charged battery module into the battery module accommodating portion. It can be replaced automatically and at low cost, minimizing the waiting time for battery module replacement.

Second Embodiment

The second embodiment of the present invention uses the unmanned aerial vehicle battery module replacement system 1000 according to the first embodiment of the present invention to convert the battery module 200 of the unmanned aerial vehicle 100 into a charged battery module 200 ′. How to replace. More specifically, the battery module replacement method is performed by the controller 610 of the control device 600 of the unmanned aerial vehicle battery module replacement system 1000.

11 is an exemplary flowchart of a battery module replacement method according to a second embodiment of the present invention.

When the unmanned aerial vehicle 100 is supported by the support device 300, the controller 610 generates a first control signal indicating replacing the battery module 200, and transmits the first control signal through the communication unit 630. Transmit to the unmanned aerial vehicle 100 (S110).

Next, the controller 610 discharges the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130, and then inserts the charged battery module 200 ′ in the first replacement mode and the charged battery. The battery module 200 ′ charged while the module 200 ′ pushes the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130 by discharging the battery module 200 of the unmanned aerial vehicle 100. ) Is selected based on the shape of the battery module 200, one of the second replacement mode in which the battery is inserted into the battery module accommodating part 130 (S120). For example, when the battery module 200 includes the protrusion 210, the second replacement mode is selected, and when the battery module 200 includes the recesses 221 and 225 or does not have the protrusion 210, the second replacement mode is selected. One replacement mode may be selected Step S120 may be performed in advance before step S110 is performed.

Next, the operation of the second transfer device 500 is controlled according to the replacement mode selected in step S120 (S130).

12 is an exemplary flowchart of step S130 of a battery module replacement method according to a second embodiment of the present invention.

12 illustrates the configuration of step S130 when the first replacement mode is selected in step S120.

The controller 610 controls the second transfer device 500 to discharge the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130 (S131).

Thereafter, the controller 610 may discharge the battery module 200 ′ from the battery module accommodating part 130 and then transfer the charged battery module 200 ′ to the battery module accommodating part 130 of the unmanned aerial vehicle 100. The second transfer device 500 is controlled to be inserted (S133).

Referring to FIG. 12, before performing step S133, a second control signal indicating that the battery module 200 is discharged from the battery module accommodating unit 130 is generated, and the second control signal is transmitted through the communication unit 630. A step S132 of transmitting to the unmanned aerial vehicle 100 may be further performed.

12, after performing step S133, a third control signal indicating that the charged battery module 200 ′ is inserted into the battery module accommodating unit 130 is generated, and the third control signal is transmitted to the communication unit ( The step S134 of transmitting to the unmanned aerial vehicle 100 through the 630 may be further performed.

13 is another exemplary flowchart of step S130 of the battery module replacement method according to the second embodiment of the present invention.

13 illustrates the configuration of step S130 when the second replacement mode is selected in step S120.

The charged battery module 200 'discharges the battery module 200 of the unmanned aerial vehicle 100 from the battery module accommodating part 130 by pushing the battery module 200 of the unmanned aerial vehicle 100. The second transfer device 500 is controlled to insert the 200 'into the battery module accommodating part 130 (S135).

Referring to FIG. 13, the charged battery module 200 ′ is inserted into the battery module accommodating part 130 while controlling the second transfer device 500 to discharge the battery module 200 from the battery module accommodating part 130. In the meantime, the battery module 200 is discharged from the battery module accommodating part 130, but before the charged battery module 200 ′ is still inserted into the battery module accommodating part 130, the battery module 200 is discharged. In operation S136, a second control signal indicating that the battery module is received from the battery accommodating part 130 is transmitted to the unmanned aerial vehicle 100 through the communication unit 630.

Referring to FIG. 13, after performing step S135, a third control signal indicating that the charged battery module 200 ′ is inserted into the battery module accommodating unit 130 is generated, and the third control signal is transmitted to the communication unit ( The step S137 of transmitting to the unmanned aerial vehicle 100 through the 630 may be further performed.

A detailed description of the second embodiment of the present invention will be omitted since it overlaps with the description of the first embodiment of the present invention described with reference to FIGS. 1 to 10, for example.

The present invention also provides a computer-readable recording medium having recorded thereon a program for realizing each step of the battery module replacement method according to the present invention described above.

A computer readable recording medium refers to any kind of recording device that stores data, that is, data in code or program form, so that it can be read by a computer system. Such computer-readable recording media include, for example, memories such as ROM and RAM, storage media such as CD-ROM and DVD-ROM, magnetic storage media such as magnetic tape and floppy disk, optical data storage devices, and the like.

However, a detailed description of such a computer-readable recording medium is omitted since it overlaps with the battery module replacement method according to the present invention described with reference to FIGS. 11 to 13.

Although the configuration of the present invention has been described in detail, these are merely illustrative of the present invention, and various modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. This will be possible.

Therefore, the embodiments disclosed herein are not intended to limit the present invention but to describe the present invention, and the spirit and scope of the present invention are not limited by these embodiments. It is intended that the scope of the invention be interpreted by the following claims, and that all descriptions within the scope equivalent thereto will be construed as being included in the scope of the present invention.

According to the present invention, the battery module of the unmanned aerial vehicle is automatically and at low cost by discharging the existing battery module mounted on the battery module accommodating portion of the unmanned aerial vehicle using a sliding method and inserting the charged battery module into the battery module accommodating portion. It can be replaced and minimizes the waiting time for replacing the battery module.

100: drone 110: main body
120: battery module coupling portion 121, 125: fixing portion
130: battery module accommodating part 131, 135: electrical terminal
137 and 139: Through hole 150: Control part
160: wing 170: support
180: auxiliary power 200: battery module
210: protrusion 221, 225: main portion
300: support device 400: first transfer device
500: second transfer device 510: pressurization
550: moving unit 600: control device
610: control unit 610: communication unit
700: charging device

Claims (24)

A support device for supporting an unmanned aerial vehicle having a battery module accommodating portion at both ends thereof; A first transfer device connectable to a first end of the battery module accommodating portion of the unmanned aerial vehicle and configured to transfer a battery module discharged from the unmanned aerial vehicle; A second transfer device connectable to a second end of the battery module receptacle of the unmanned aerial vehicle and configured to push the battery module to be discharged from the battery module receptacle and to transfer a charged battery module to the battery module receptacle of the unmanned aerial vehicle ; And a control unit including a communication unit capable of communicating with the unmanned aerial vehicle, and a control unit configured to control at least operations of the first transfer device and the second transfer device. As a replacement method,
(a) if the unmanned aerial vehicle is supported by the support device, generating a first control signal indicating replacement of the battery module and transmitting it to the unmanned aerial vehicle through the communication unit;
(b) a first replacement mode for inserting said charged battery module after discharging said battery module of said unmanned aerial vehicle from said battery module accommodating portion and by said charged battery module pushing said battery module of said unmanned aerial vehicle; Selecting one of the second replacement modes based on the battery module, wherein the battery module of the unmanned aerial vehicle is inserted into the battery module accommodating part while the battery module is ejected from the battery module accommodating part; And
(c) controlling the operation of the second transfer device according to the replacement mode selected in step (b)
Battery module replacement method comprising a. The method of claim 1,
The step (b) may include selecting the second replacement mode when the battery module has a protrusion, and selecting the first replacement mode when the battery module has a recess or no protrusion. How to replace the battery module. The method of claim 2,
If the first replacement mode is selected in step (b),
Step (c) is,
(c-1) controlling the second transfer device to discharge the battery module of the unmanned aerial vehicle from the battery module accommodating part; And
(c-2) controlling the second transfer device to insert the charged battery module into the battery module accommodating portion of the unmanned aerial vehicle after the battery module is discharged from the battery module accommodating portion;
Battery module replacement method comprising a. The method of claim 3,
Step (c) is,
(c-3) before performing step (c-2), generating a second control signal indicating that the battery module has been discharged from the battery module accommodating unit and transmitting the second control signal to the unmanned aerial vehicle through the communication unit;
Battery module replacement method further comprising. The method of claim 4, wherein
Step (c) is,
(c-4) after performing step (c-2), generating a third control signal indicating that the charged battery module has been inserted into the battery module accommodating unit and transmitting the third control signal to the unmanned aerial vehicle through the communication unit;
Battery module replacement method further comprising. The method of claim 2,
If the second replacement mode is selected in step (b),
Step (c) is,
(c-5) the charged battery module is discharged from the battery module accommodating part while the charged battery module pushes the battery module of the unmanned aerial vehicle while the charged battery module is discharged from the battery module accommodating part. Controlling the second transfer device for insertion
Battery module replacement method comprising a. delete The method of claim 6,
Step (c) is,
(c-6) controlling the second transfer device to discharge the battery module from the battery module accommodating portion, and thereafter, before the completion of inserting the charged battery module into the battery module accommodating portion, Generating a second control signal indicating that the battery module is discharged from the accommodating unit and transmitting the second control signal to the unmanned aerial vehicle through the communication unit;
Battery module replacement method further comprising. The method of claim 6,
Step (c) is,
(c-7) after performing step (c-5), generating a third control signal indicating that the charged battery module has been inserted into the battery module accommodating part and transmitting the third control signal to the unmanned aerial vehicle through the communication part;
Battery module replacement method further comprising. A computer-readable recording medium having recorded thereon a program for realizing each step of the battery module replacement method according to any one of claims 1 to 6, 8, and 9. delete delete delete delete delete delete delete delete delete delete delete delete delete delete

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