KR20190069968A - Battery replacement system for unmanned aerial vehicle, method of replacing battery for unmanned aerial vehicle and non-transitory computer-readable recording medium - Google Patents

Abstract

Disclosed by the present invention is a technology capable of replacing a battery module of an unmanned aerial vehicle automatically at a low cost and minimizing waiting time for the replacement of the battery module by discharging an existing battery module mounted on a battery module accommodating unit of the unmanned aerial vehicle in a sliding method and inserting a charged battery module into the battery module accommodating unit. The present invention provides an unmanned aerial vehicle battery module replacing system to replace a battery module of an unmanned aerial vehicle including a battery module accommodating unit having both open end parts with a charged battery module. The battery module replacing system for an unmanned aerial vehicle provided by the present invention includes: a support device which supports the unmanned aerial vehicle; a first transfer device which can be connected with a first end part of the battery module accommodating unit of the unmanned aerial vehicle, and transfers the battery module discharged from the unmanned aerial vehicle; a second transfer device which can be connected to a second end part of the battery module accommodating unit of the unmanned aerial vehicle, discharges the battery module from the battery module accommodating unit by pushing the battery module, and transfers the battery module to the battery module accommodating unit of the unmanned aerial vehicle by pushing the charged battery module; and a control device which includes a communication unit capable of communicating with the unmanned aerial vehicle and a control unit for controlling at least the operation of the first and second transfer devices.

Description

TECHNICAL FIELD [0001] The present invention relates to a battery module replacement system, a battery module replacement method, and a recording medium. [0001] The present invention relates to a battery module replacement system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for replacing a battery module of an unmanned aerial vehicle, a method of replacing a battery module, and a recording medium. More specifically, A battery module replacement method for automatically replacing a battery module of an unmanned airplane with a low cost by inserting the battery module into a battery module accommodating part, Media.

Unmanned aerial vehicles (also commonly referred to as "drones") refer to airborne vehicles capable of flight and coordination by induction or automatic control of radio waves while the pilot is not on board. Unmanned aerial vehicles have been developed and used mainly for military purposes such as reconnaissance and attack, but they are also being developed and used for civil or industrial purposes such as leisure, image shooting, delivery and disaster observation.

For example, United States Patent Application Publication No. US2015 / 120094A1 (Patent Document 1), entitled " UNMANNED AERIAL VEHICLE DELIVERY SYSTEM, " filed by Amazon Technologies, Inc. on April 30, 2015, To a variety of destinations. According to the structure of U.S. Patent Application Publication No. US2015 / 120094 A1, the cargo can be rapidly delivered through the unmanned airplane.

Meanwhile, a conventional unmanned airplane, particularly a civilian or industrial unmanned airplane, generally operates by a battery module in most cases. In particular, the conventional unmanned aerial vehicle used for delivery of freight such as courier has a disadvantage that the battery module consumes a large amount, and the battery module must be replaced according to the consumption of the battery module. For example, rather than increasing the number of unmanned airplanes and delivering cargo, the unmanned airplane is operated in such a manner that the unmanned airplane is operated by replacing the battery module while operating an appropriate amount of unmanned airplane, have. Since the battery module is mostly manually replaced by an operator, it takes a lot of cost and time to replace the battery module of the unmanned aerial vehicle.

To improve this, a method of automatically charging a battery module of an unmanned aerial vehicle is being developed.

Korean Patent No. 10-1732713 (Patent Document 2) entitled " Drone Filling System "filed on December 24, 2015 and registered on Apr. 26, 2017 by Yang Jun- Discloses a charging system in which electric power is supplied to a battery module of an unmanned aerial vehicle after being placed on a seat portion. However, according to the configuration disclosed in Korean Patent No. 10-1732713, since the UAV has to wait until the charging is completed while the UAV is landing on the charging device for charging, there is a disadvantage that the operating time of the UAV is remarkably reduced .

To improve this, a method of automatically replacing the battery module of the unmanned aerial vehicle is being developed.

Korean Patent No. 10-1687120 (Patent Document 3) entitled " Dron Battery Module Automatic Replacement Charging Device "filed on December 9, 2015 and registered on December 9, 2016 by Korea Aerospace Research Institute, Discloses an apparatus for automatically replacing a battery module of a UAV.

However, the configuration disclosed in Korean Patent No. 10-1687120 is disadvantageous in that a large number of configurations are required for movement of the battery module such as a battery module clamp, an X-axis transfer member, a Y-axis transfer member, and a Z-axis transfer member . Another disadvantage is that the replacement time of the battery module is prolonged.

1. United States 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 provide a battery module of an unmanned airplane that discharges an existing battery module mounted in a battery module accommodating portion of a UAV and inserts the charged battery module into a battery module accommodating portion to automatically and low- A battery module replacement system, a battery module replacement method, and a recording medium, which can replace the battery module and minimize the waiting time for replacing the battery module.

According to another aspect of the present invention, there is provided a system for replacing a battery module of an unmanned air vehicle having a battery module accommodating portion with open ends, A support device for supporting the aircraft; A first transfer device connected to a first end of the battery module receiving part of the unmanned airplane and configured to transfer the battery module discharged from the unmanned airplane; And a second battery module connected to a second end of the battery module receiving portion of the unmanned airplane and configured to push the battery module from the battery module receiving portion and push the charged battery module to the battery module receiving portion of the unmanned airplane, Conveying device; And a control unit including a communication unit capable of communicating with the unmanned airplane, and a control unit for controlling at least an operation of the first transfer device and the second transfer device, and a technology related to the unmanned airplane battery module replacement system.

According to the present invention, by discharging a conventional battery module mounted in a battery module receiving portion of a UAV by using a sliding method and inserting the charged battery module into the battery module receiving portion, the battery module of the UAV is automatically and at low cost And can minimize the waiting time for replacing the battery module.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an exemplary configuration of a system for replacing an unmanned aircraft battery module according to a first embodiment of the present invention; FIG.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an unmanned airplane battery module replacement system, and more particularly,
Figs. 3 to 6 show an exemplary configuration of an unmanned aerial vehicle. Fig.
FIG. 7 is a view illustrating a state in which a battery is discharged from an unmanned airplane in the unmanned aircraft battery module replacement system according to the first embodiment of the present invention; FIG.
8 is a view exemplarily showing a state in which a charged battery is inserted into a UAV in the unmanned aircraft battery module replacement system according to the first embodiment of the present invention.
FIG. 9 is a block diagram illustrating a system for replacing an unmanned airplane battery module according to a first embodiment of the present invention. Referring to FIG. 9, when a battery module charged in the unmanned airplane battery module replacement system pushes the battery module of the unmanned airplane, And Fig.
FIG. 10 is a view exemplarily showing a state in which the battery module charged in FIG. 9 pushes the 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 a second embodiment of the present invention;
13 is another exemplary flow chart of step S130 of the battery module replacement method according to the second embodiment of the present invention.

Hereinafter, an unmanned aerial vehicle battery module replacement system, a battery module replacement method, and a recording medium according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings for explaining embodiments of the present invention, for the sake of convenience of explanation, only a part of the actual structure is shown or a part thereof is omitted or shown, or the scales may be shown differently.

≪ Embodiment 1 >

1 is a view showing an exemplary configuration of a system for replacing an unmanned aircraft battery module according to a first embodiment of the present invention.

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

Support device 300 supports unmanned aerial vehicle (100 of FIG. 2).

The unmanned airplane 100 used in the unmanned aircraft battery module replacement system 1000 according to the first embodiment of the present invention will now be described in detail.

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

2 to 6, the UAV 100 includes a main body 110, a battery module coupling portion 120 (more specifically, 121 and 125), a battery module receiving portion 130, a control portion 150, A wing 160, and a support 170. As shown in Fig. In addition, the UAV 100 may further include an auxiliary power source 180.

The wing 160 is configured to rotate for flight of the UAV 100 and the support 170 is configured to support the UAV 100 when the UAV 100 lands.

The configuration of the wing 160 and the support portion 170 is substantially the same as that of the conventional unmanned aerial vehicle, and therefore, the description thereof will be omitted.

The main body 110 is configured to include a battery module coupling portion 120, a battery module receiving portion 130, a control portion 150, a blade 160, and a support portion 170, and is formed of, for example, .

The battery module coupling portion 120 is provided in the main body 110 and is configured to fix or unlock the battery module 200 (FIG. 4). For example, as shown in FIG. 3, the battery module connector 120 includes a first fixing portion 121 and a second fixing portion 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 protrusions 210 as shown in FIG. 5 or recesses 221 and 225 as shown in FIG. .

Referring to FIG. 4, the first fixing part 121 is configured to fix the first end of the battery module 200, for example. The second fixing portion 125 is configured to fix the second end of the battery module 200, for example. 4, for example, the first fixing part 121 is configured to be capable of being in contact with the first end of the battery module 200 as a whole, and the second fixing part 125 is configured to be in contact with the second end part of the battery module 200, As shown in Fig. The battery module 200 can be fixed while the first fixing part 121 and the second fixing part 125 are in contact with the first end and the second end of the battery module 200. [ 4, the first fixing part 121 and the second fixing part 125 are in contact with the first end and the second end of the battery module 200, respectively, but only a part of the first fixing part 121 and the second fixing part 125 may be in contact with each other . The first fixing part 121 and the second fixing part 125 may contact only part of the first end and the second end of the battery module 200, respectively, if the battery module 200 can be fixed .

Referring to FIG. 5, the first fixing part 121 is configured to fix the first end of the protrusion 210 of the battery module 200, for example. The second fixing portion 125 is configured to fix the second end of the protrusion 210 of the battery module 200, for example. The first fixing part 121 is configured to be capable of being in contact with the first end of the protruding part 210 of the battery module 200 and the second fixing part 125 is configured to be in contact with the protruding part 210 of the battery module 200, And can be entirely contacted with the two end portions. The battery module 200 can be fixed while the first fixing portion 121 and the second fixing portion 125 are in contact with the first end and the second end of the protrusion 210 of the battery module 200 . 3, it is also possible that the first fixing part 121 and the second fixing part 125 are in contact with a part of each of the first end and the second end of the protrusion 210 of the battery module 200. The first fixing part 121 and the second fixing part 125 can be separated from the first and second ends of the protruding part 210 of the battery module 200, .

Referring to FIG. 6, the first fixing part 121 is configured to be inserted into or discharged from the first recess 221 of the battery module 200, for example. The second fixing portion 125 is configured to be inserted into or discharged from the second recess 225 of the battery module 200, for example. The first fixing part 121 is configured to be capable of being in contact with the first concave part 221 of the battery module 200 and the second fixing part 125 is configured to be in contact with the second concave part 225 of the battery module 200 as a whole Respectively. The battery module 200 is fixed in a state where the first fixing portion 121 and the second fixing portion 125 are in contact with the first recess 221 and the second recess 225 of the battery module 200, . The first fixing part 121 and the second fixing part 125 may be in contact with only part of the first recess 221 and the second recess 225 of the battery module 200, The first fixing part 121 and the second fixing part 125 can be separated from the first recess 221 and the second recess 225 of the battery module 200, May be contacted.

4 to 6, the battery module coupling portion 120, that is, for example, the first fixing portion 121 and the second fixing portion 125 may be in contact with both ends of the battery module 200, The battery module 200 can be fixed by contacting both ends of the protrusion 210 of the battery module 200 or contacting the first recess 221 and the second recess 225 of the battery module 200.

The battery module accommodating portion 130 is provided in the main body 110 to receive the battery module 200 and has both ends open at both ends so that the battery module 200 can be inserted or discharged in a sliding manner, Through holes (137, 139) configured to be movable between a first position for fixing the battery module (200) and a second position for releasing the battery module (200), and a battery module And electrical terminals 131 and 135 electrically connected to an electrode terminal (not shown) of the battery module 200 in a state where the battery module 200 is received and fixed therein. The term "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 shown in Figs. 7 to 10, which will be described later.

2, the through holes 137 and 139 are disposed on the upper surface of the battery module receiving portion 130 and the electrical terminals 131 and 135 are disposed on the side surfaces of the battery module receiving portion 130 However, the positions where the through holes 137 and 139 or the electrical terminals 131 and 135 are disposed are not limited thereto. The through holes 137 and 139 may be disposed on the side surface of the battery module receiving portion 130 and the electrical terminals 131 and 135 may be disposed on the upper surface of the battery module receiving portion 130. The through holes 137 and 139 may be disposed corresponding to the direction in which the battery module connector 120 moves, and the electrical terminals 131 and 135 may be disposed corresponding to the positions where the electrode terminals of the battery module 200 are disposed Position.

The control unit 150 of the UAV 100 controls at least the operations of the battery module coupling unit 120, that is, the first and second fixing units 121 and 125.

The assistant power source 180 may provide power to the controller 150 and the battery module connector 120 so that the controller 150 and the battery module connector 120 may operate even when the battery module 200 is discharged. The UAV 100 may have a power supply terminal that receives power from the outside instead of the auxiliary power supply 180. [

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

The first transfer device 400 is connected to the first end of the battery module receiving part 130 of the UAV 100 and is configured to transfer the battery module 200 discharged from the UAV 100. The first transfer device 400 may be implemented using a configuration such as a conveyor belt, for example. The first end of the battery module accommodating part 130 of the UAV 100 is connected to the first transfer device 400 when the UAV 100 is landed and supported on the support device 300. When the battery module 200 is discharged from the UAV 100, the first transfer device 400 transfers the battery module 200. For example, the first transfer device 400 can transfer the battery module 200 to the second transfer device 500 or to the charging device 700, which will be described later.

The second transfer device 500 can be connected to the second end of the battery module receiving portion 130 of the UAV 100 and pushes the battery module 200 out of the battery module receiving portion 130, And to push the module (200 'in FIG. 8) to the battery module receiving portion 130 of the UAV 100. The charged battery module 200 'is substantially the same as the battery module 200, for example, when the battery module 200 is charged or another battery module having the same configuration as the battery module 200.

Referring to FIG. 7, the second transfer device 500 includes a pressing unit 510 configured to move horizontally by pushing at least one of the battery module 200 and the charged battery module 200 ' And a moving unit 550 configured to support the battery module 200 'and move the charged battery module 200' by the pressing unit. The pressing portion 510 is configured to be able to push the end of the battery module 200 or the charged battery module 200 ', for example, in the form of a rod. The moving part 550 helps the charged battery module 200 'supported thereon, such as a conveyor roller, to be moved by the pressing part 510.

The first transfer device 400 and the second transfer device 500 may further include electric terminals (not shown) each configured to be charged while the battery module 200 is being transferred. In this case, the controller 600, that is, the controller 610, moves the battery module 200 charged by the electric terminal while moving through the first transfer device 400 and the second transfer device 500, The first transfer device 400 and the second transfer device 500 can be controlled so as to transfer the module 200 'to the battery module accommodation portion 130 of the UAV 100. [

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

Meanwhile, as shown in FIG. 1, the unmanned aircraft battery module replacement system 1000 may further include a charging device 700. When the unmanned aircraft battery module replacement system 1000 further includes the 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. When the battery module 200 is charged by the control device 600, To the second transfer device 500 as a module 200 '. The control unit 610 controls the charging unit 700 to transfer the battery module 200 discharged from the unmanned airplane 100 to the charging device 700 and the battery module 200 charged by the charging device 700 to the charged battery module 200 The first transfer device 400, and the second transfer device 500 to supply the second transfer device 500 to the second transfer device 500. [

On the other hand, the control unit 610 can control the amount of movement of the pressing unit 510 of the second transfer device 500. That is, the control unit 610 controls the amount of movement of the pushing unit 510 so that the battery module 200 is discharged from the unmanned airplane 100 or the charged battery module 200 'is inserted into the unmanned airplane 100 The operation can be controlled more precisely.

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

FIG. 7 is a view illustrating a state in which a battery is discharged from a UAV in the UAV battery module replacement system according to the first embodiment of the present invention, and FIG. 8 is a cross- FIG. 5 is a diagram illustrating a state in which a battery pack inserted in a module replacement system is inserted into a UAV;

Referring to FIG. 7, when the UAV 100 lands on the support device 300, it is supported by the support device 300. The support portion 170 of the UAV 100 can be landed and supported at a more accurate position by being inserted into a groove (not shown) provided in the support device 300. [ When the battery module 200 mounted on the UAV 100 is ready to be discharged, the control unit 610 generates a first control signal indicating that the battery module 200 is to be replaced and transmits a first control signal to the communication unit 630 to the UAV 100. [

When the unmanned airplane 100 receives the first control signal, the unmanned airplane 100 transmits the battery module 200 to the battery module 200 through the control unit 150, And controls the operation of the fixing unit 125.

After transmitting the first control signal, the controller 610 controls the second transfer device 500 to discharge the battery module 200 of the UAV 100 from the battery module receiving part 130. The control unit 610 may change the position of the first fixing unit 121 and the second fixing unit 125 from the control unit 150 of the UAV 100 to move the battery module 200 to the battery module receiving portion The second transfer device 500 is controlled to discharge the battery module 200 of the UAV 100 from the battery module receiving part 130 after receiving a control signal indicating that the battery module 200 can be discharged from the battery module receiving part 130 . The control unit 610 controls the amount of movement of the pressing unit 510 so that the battery module 200 can be completely moved to the first transfer device 400, for example.

The control unit 610 controls the second transfer device 200 so that the battery module 200 is discharged from the battery module receiving unit 130 and then the battery module 200 is discharged from the battery module receiving unit 130 And transmit the second control signal to the UAV 100 through the communication unit 630. [ However, if the UAV 100 can detect that the battery module 200 is directly discharged, the controller 610 may generate the second control signal and omit transferring the second control signal to the UAV 100.

The control unit 310 controls the second transfer device 200 to discharge the battery module 200 from the battery module accommodation unit 130 and then connect the charged battery module 200 ' And controls the second transfer device 500 to be inserted into the accommodating portion 130. The control unit 610 moves the battery module 200 'to the position of the battery module coupling unit 120 of the unmanned airplane 100, that is, the first fixing unit 121 and the second fixing unit 125, It is possible to control the amount of movement of the pressing portion 510 so that the pressing portion 510 can be moved.

The control unit 310 inserts the charged battery module 200 'into the battery module receiving unit 130 of the UAV 100 and inserts the charged battery module 200' into the battery module receiving unit 130 And transmits the third control signal to the UAV 100 through the communication unit 630. The third control signal may be transmitted to the UAV 100 through the communication unit 630. [ When the unmanned airplane 100 receives the third control signal, the unmanned airplane 100 transmits a control signal to the battery module coupling unit 120, that is, the first fixing unit 121, to fix the charged battery module 200 ' And the second fixing part 125, as shown in FIG. However, if the unmanned airplane 100 can directly detect that the charged battery module 200 'is inserted, the control unit 610 may generate the third control signal and omit transmission to the unmanned airplane 100 .

7 to 8 illustrate a configuration in which the charged battery module 200 'is inserted into the UAV 100 after discharging the battery module 200 from the UAV 100. However, May be performed simultaneously with discharging the battery module 200 'from the unmanned airplane 100 while inserting the charged battery module 200' into the unmanned airplane 100.

FIG. 9 is a block diagram illustrating a system for replacing an unmanned airplane battery module according to a first embodiment of the present invention. Referring to FIG. 9, when a battery module charged in the unmanned airplane battery module replacement system pushes the battery module of the unmanned airplane, And FIG. 10 is a diagram exemplarily showing 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.

When the unmanned airplane 100 lands on the support device 300 and is ready to unload the battery module 200 mounted on the unmanned airplane 100, the control unit 610 changes the battery module 200 And transmits the first control signal to the UAV 100 through the communication unit 630. [

The control unit 610 transmits the first control signal to the battery module 200 of the unmanned airplane 100 by pushing the battery module 200 of the unmanned airplane 100 by the charged battery module 200 ' And controls the second transfer device 500 to insert the charged battery module 200 'into the battery module receiving part 130 while discharging from the battery module receiving part 130. The control unit 610 may change the position of the first fixing unit 121 and the second fixing unit 125 from the control unit 150 of the UAV 100 to move the battery module 200 to the battery module receiving portion The second transfer device 500 is controlled to discharge the battery module 200 of the UAV 100 from the battery module receiving part 130 after receiving a control signal indicating that the battery module 200 can be discharged from the battery module receiving part 130 . On the other hand, the pre-charged battery module 200 'is disposed on the second transfer device 500, and the control unit 610 controls the operation of the battery module 200' in which the pressing unit 510 of the second transfer device 500 is charged. And controls the pressing unit 510 to discharge the battery module 200 from the UAV 100 by contacting the battery module 200 with the battery module 200 ' The control unit 610 moves the battery module 200 'to the position of the battery module coupling unit 120 of the unmanned airplane 100, that is, the first fixing unit 121 and the second fixing unit 125, It is possible to control the amount of movement of the pressing portion 510 so that the pressing portion 510 can be moved. Accordingly, it is possible to further shorten the time required for replacing the battery module 200 with the charged battery module 200 '.

The control unit 610 controls the second transfer device 200 to discharge the battery module 200 from the battery module receiving unit 130 and then connect the charged battery module 200 'to the battery module receiving unit 130 A second control signal indicating that the battery module 200 has been discharged from the battery module accommodating portion 130 and a second control signal to the unmanned airplane 100 through the communication portion 630 Lt; / RTI > That is, the control unit 610 pushes the charged battery module 200 ', for example, by pushing the pushing unit 510 so that the movement amount of the pushing unit 510, for example, to the extent that the battery module 200 can be moved to the first conveying unit 400 Can be controlled. For example, as shown in FIG. 10, the battery module 200 is discharged from the battery module receiving part 130, but the charged battery module 200 ' The first fixing part 121 and the second fixing part 125, as shown in FIG. 10, when receiving the second control signal, the UAV 100 fixes the battery module 200 'charged with the first fixing part 121 through the controller 150, for example, The first fixing part 121 and the second fixing part 125 can be controlled so as to be positioned at a position where the battery module 200 ' have. However, as described above, if the UAV 100 can detect that the battery module 200 is directly discharged, the control unit 610 may generate the second control signal and omit transmission to the UAV 100 .

The control unit 610 inserts the charged battery module 200 'into the battery module receiving unit 130 of the UAV 100. That is, after the charged battery module 200' is inserted into the first fixing unit 121 and / The second control unit 125 generates a third control signal indicating that the charged battery module 200 'is inserted into the battery module receiving unit 130 and transmits a third signal to the communication unit 630 ) To the unmanned aircraft. When the unmanned airplane 100 receives the third control signal, the unmanned airplane 100 transmits a control signal to the battery module coupling unit 120, that is, the first fixing unit 121, to fix the charged battery module 200 ' And the second fixing part 125, as shown in FIG. However, if the unmanned airplane 100 can directly detect that the charged battery module 200 'is inserted as described above, the control unit 610 does not generate the third control signal and transmit the third control signal to the unmanned airplane 100 You may.

As described above, according to the present invention, the existing battery module installed in the battery module accommodating portion of the UAV is discharged and the charged battery module is inserted into the battery module accommodating portion using the sliding method, Automatic and low-cost replacement, and minimizes the waiting time for battery module replacement.

≪ Embodiment 2 >

The second embodiment of the present invention is a method for replacing the battery module 200 of the UAV 100 with the charged battery module 200 'using the unmanned aircraft battery module replacement system 1000 according to the first embodiment of the present invention How to replace it. More specifically, it is a battery module replacement method performed by the control unit 610 of the controller 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 UAV 100 is supported by the support device 300, the control unit 610 generates a first control signal indicating that the battery module 200 is to be replaced and transmits a first control signal through the communication unit 630 To the UAV 100 (S110).

Next, the control unit 610 controls the first replacement mode in which the charged battery module 200 'is inserted after discharging the battery module 200 of the UAV 100 from the battery module receiving unit 130, When the battery module 200 of the unmanned airplane 100 is discharged from the battery module housing part 130 by pushing the battery module 200 of the unmanned airplane 100, Is inserted into the battery module accommodating portion 130 based on the shape of the battery module 200 (S120). For example, when the battery module 200 has the protrusion 210, the second replacement mode is selected. When the battery module 200 has the recesses 221 and 225 or the protrusion 210, 1 replacement mode may be selected. Step S120 may be performed before step S110 is performed.

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

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

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

The control unit 610 controls the second transfer device 500 to discharge the battery module 200 of the UAV 100 from the battery module receiving unit 130 at step S131.

Thereafter, the controller 610 discharges the charged battery module 200 'to the battery module receiving portion 130 of the UAV 100 after the battery module 200 is discharged from the battery module receiving portion 130 And controls the second conveying device 500 to insert it (S133).

12, before performing step S133, a second control signal indicating that the battery module 200 has been discharged from the battery module receiving part 130 is generated, and a second control signal is transmitted through the communication part 630 To the unmanned air vehicle 100 (S132) 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 accommodation part 130 is generated, and a third control signal is transmitted to the communication part 630 to the UAV 100 (S134) 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.

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

The battery module 200 of the unmanned airplane 100 is discharged from the battery module housing part 130 by pushing the battery module 200 of the UAV 100 while the charged battery module 200 ' The second transfer device 500 is controlled so as to insert the battery module 200 'into the battery module receiving portion 130 (S135).

13, when the battery module 200 is discharged from the battery module receiving portion 130 by controlling the second transfer device 500, the charged battery module 200 'is inserted into the battery module receiving portion 130 The battery module 200 is discharged from the battery module receiving portion 130 but before the charged battery module 200 'is yet inserted into the battery module receiving portion 130, A step S136 of transmitting the second control signal to the UAV 100 through the communication unit 630 indicating that the UAV has been discharged from the battery module accommodating unit 130 may be further performed.

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 accommodation part 130 is generated, and a third control signal is transmitted to the communication part 630 to the UAV 100 (S137) may be further performed.

The detailed description of the second embodiment of the present invention will be omitted because it is the same as the description of the first embodiment described with reference to FIGS. 1 to 10, for example.

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

The computer-readable recording medium refers to any kind of recording apparatus in which data, that is, data in the form of a code or a program, is stored so as to be readable by a computer system. Such a computer-readable recording medium is, for example, a memory such as a ROM and a RAM, a storage medium such as CD-ROM and DVD-ROM, a magnetic storage medium such as a magnetic tape and a floppy disk, The present invention is not limited thereto. Such a computer-readable recording medium may also be distributed over a networked computer system so that computer readable data can be stored and executed in a distributed manner.

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

Although the present invention has been described in detail, it should be understood that the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications may be made without departing from the essential characteristics of the present invention. Will be possible.

Therefore, the embodiments disclosed in the present specification are intended to illustrate rather than limit the present invention, and the scope and spirit of the present invention are not limited by these embodiments. The scope of the present invention should be construed according to the following claims, and all the techniques within the scope of equivalents should be construed as being included in the scope of the present invention.

According to the present invention, by discharging a conventional battery module mounted in a battery module receiving portion of a UAV by using a sliding method and inserting the charged battery module into the battery module receiving portion, the battery module of the UAV is automatically and at low cost And can minimize the waiting time for replacing the battery module.

100: Unmanned aerial vehicle 110: Main body
120: battery module coupling portion 121, 125:
130: battery module receiving portion 131, 135: electrical terminal
137, 139: Through hole 150:
160: wing 170:
180: auxiliary power source 200: battery module
210: protrusions 221, 225:
300: supporting device 400: first conveying device
500: second conveying device 510: pressing part
550: moving part 600: control device
610: Control unit 610:
700: Charging device

Claims (24)

There is provided an unmanned aircraft battery module replacement system for replacing a battery module of a unmanned air vehicle having a battery module accommodating portion with both end portions opened by a charged battery module,
A support device for supporting the unmanned aerial vehicle;
A first transfer device connected to a first end of the battery module receiving part of the unmanned airplane and configured to transfer the battery module discharged from the unmanned airplane;
And a second battery module connected to a second end of the battery module receiving portion of the unmanned airplane and configured to push the battery module from the battery module receiving portion and push the charged battery module to the battery module receiving portion of the unmanned airplane, Conveying device; And
A control unit for controlling at least the operation of the first transfer device and the second transfer device;
A battery module replacement system for unmanned aircraft. The method according to claim 1,
A charging device for charging the battery module discharged from the unmanned airplane;
Further comprising:
Wherein the first transfer device and the second transfer device are connected to the charging device,
Wherein the controller controls the charging device, the first transfer device, and the second transfer device to supply the battery module charged by the charging device to the second transfer device as the charged battery module, Replacement system. The method according to claim 1,
Wherein the first transfer device and the second transfer device each further comprise an electric terminal configured to be charged while the battery module is being conveyed,
Wherein the control unit is configured to transfer the battery module, which is charged by the electric terminal while being moved through the first transfer device and the second transfer device, to the battery module accommodation portion of the unmanned airplane as the charged battery module, And an unmanned aircraft battery module replacement system for controlling the second transfer device. The method according to claim 1,
Wherein the first transfer device comprises a conveyor belt. The method according to claim 1,
Wherein the second transfer device comprises:
A pusher configured to push at least one of the battery module and the charged battery module to move in a horizontal direction; And
And a moving unit configured to support the charged battery module and move the charged battery module by the pressing unit,
Wherein the unmanned aircraft battery module replacement system comprises: 6. The method of claim 5,
Wherein the control unit controls the amount of movement of the pressing unit. The method according to claim 1,
Wherein the control unit is configured to generate a first control signal indicating that the unmanned airplane is to be replaced after the support device has been supported by the support device and to transmit the first control signal to the unmanned airplane through the communication unit. . 8. The method of claim 7,
Wherein the control unit controls the second transfer device to discharge the battery module of the unmanned airplane from the battery module accommodating part after transmitting the first control signal. 8. The method of claim 7,
Wherein the control unit controls the second transfer device to discharge the battery module from the battery module accommodating unit and then generates a second control signal indicating that the battery module is discharged from the battery module accommodating unit, To the unmanned aerial vehicle through the first antenna. 8. The method of claim 7,
The controller controls the second transfer device to discharge the battery module from the battery module accommodating portion and then controls the second transfer device to insert the charged battery module into the battery module accommodating portion of the unmanned airplane Unmanned aircraft battery module replacement system. The method as claimed in claim 9, wherein the controller inserts the charged battery module into the battery module accommodating portion of the unmanned airplane, and then generates a third control signal indicating that the charged battery module is inserted into the battery module accommodating portion And to the unmanned airplane through the communication unit. 8. The method of claim 7,
Wherein the controller transmits the first control signal and discharges the battery module of the unmanned airplane from the battery module housing part by pushing the battery module of the unmanned airplane after the charged battery module transmits the first control signal, And controls the second transfer device to insert the battery module into the battery module accommodating portion. 13. The method of claim 12,
Wherein the controller controls the second transfer device to discharge the battery module from the battery module accommodating part and then insert the charged battery module into the battery module accommodating part, And to generate a second control signal indicating that it has been discharged from the module receiving portion and to transmit the second control signal to the unmanned airplane through the communication portion. 13. The method of claim 12,
Wherein the controller inserts the charged battery module into the battery module accommodating portion of the unmanned airplane, generates a third control signal indicating that the charged battery module is inserted into the battery module accommodating portion, Wherein the battery module is configured to transmit to the aircraft. The method according to any one of claims 8, 10 and 12,
Wherein the second transfer device comprises:
A pusher configured to push at least one of the battery module and the charged battery module to move in a horizontal direction; And
And a moving unit configured to support the charged battery module and move the charged battery module by the pressing unit,
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Wherein the control unit controls the amount of movement of the pressing unit. A support device for supporting an unmanned airplane having a battery module accommodating portion with both ends opened; A first transfer device connected to a first end of the battery module receiving portion of the unmanned airplane and configured to transfer a battery module discharged from the unmanned airplane; A second transfer device connected to a second end of the battery module receiving part of the unmanned airplane and configured to push the battery module out of the battery module receiving part and to transfer the charged battery module to the battery module receiving part of the unmanned airplane; ; And a control unit including at least a communication unit capable of communicating with the unmanned airplane and a control unit controlling at least the operations of the first transfer device and the second transfer device. As an alternative method,
(a) generating a first control signal indicating that the battery module is replaced when the unmanned airplane is supported by the support device, and transmitting the first control signal to the unmanned airplane through the communication unit;
(b) a first replacement mode in which the battery module of the unmanned airplane is discharged from the battery module receiving portion and then the charged battery module is inserted, and the charged battery module is pushed by the battery module of the unmanned airplane Selecting one of the second replacement mode based on the battery module while inserting the charged battery module into the battery module accommodating portion while discharging the battery module of the unmanned airplane from the battery module accommodating portion; And
(c) controlling the operation of the second transfer device in accordance with the replacement mode selected in the step (b)
And the battery module is replaced. 17. The method of claim 16,
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 a protrusion How to replace the battery module. 18. The method of claim 17,
If the first replacement mode is selected in step (b)
The step (c)
(c-1) controlling the second transfer device to discharge the battery module of the unmanned airplane from the battery module accommodating portion; And
(c-2) controlling the second transfer device to insert the charged battery module into the battery module receiving portion of the unmanned airplane after the battery module is discharged from the battery module receiving portion
Wherein the battery module includes a battery module. 19. The method of claim 18,
The step (c)
(c-3) generating a second control signal indicating that the battery module is discharged from the battery module accommodating portion before performing the step (c-2), and transmitting the second control signal to the unmanned airplane through the communication portion
Further comprising the steps of: 20. The method of claim 19,
The step (c)
(c-4) generating a third control signal indicating that the charged battery module is inserted into the battery module accommodating portion after performing the step (c-2), and transmitting the third control signal to the unmanned airplane through the communication portion
Further comprising the steps of: 18. The method of claim 17,
If the second replacement mode is selected in step (b)
The step (c)
(c-5) The charged battery module pushes the battery module of the unmanned airplane, thereby discharging the battery module of the unmanned airplane from the battery module accommodating part, while holding the charged battery module in the battery module accommodating part Controlling the second transfer device to insert
Wherein the battery module includes a battery module. 22. The method of claim 21,
The step (c)
(c-6) Before the completion of inserting the charged battery module into the battery module accommodating portion after controlling the second transfer device to discharge the battery module from the battery module accommodating portion, Generating a second control signal indicating that it has been discharged from the battery module accommodation portion and transmitting the second control signal to the unmanned airplane through the communication portion
Further comprising the steps of: 22. The method of claim 21,
The step (c)
(c-7) generating a third control signal indicating that the charged battery module is inserted into the battery module accommodating portion after performing the step (c-5), and transmitting the third control signal to the unmanned airplane through the communication portion
Further comprising the steps of: A computer-readable recording medium storing a program for realizing each step of a battery module replacement method according to any one of claims 16 to 23.

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