KR20220099603A - Battery Moudle Replacement Device and Method for Drone, and Drone therewith - Google Patents

Abstract

Provided is a device for replacing a battery module for a drone, comprising: a body portion which has a through hole penetrating from the top to the bottom for replacing a battery module, and a plurality of protrusions formed on the inner surface of the through hole to get in contact with the battery module; a laser communication unit which corrects a distance and a position for docking between a supply drone and a receiving drone when replacing the battery module, and switches into a laser communication mode when non-contact docking between the supply drone and the receiving drone is completed; a drop speed detection unit which detects a drop speed of the battery module thrown by the supply drone when the battery module is thrown, and transmits a release signal for the battery module installed previously on the receiving drone; a battery mounting unit which fixes and mounts the battery module thrown from the supply drone and releases the mounted battery module according to a control signal when replacing the mounted battery module; and a replacement control unit which outputs a control signal to control the battery mounting unit to drop the mounted battery module according to a communication unit control signal which controls the laser communication unit to send a drop request signal to the supply drone according to the distance and position correction information and the release signal of the drop speed detection unit. The present invention can maintain flight by the internal modules without external supply of voltage even during battery replacement and can prevent property/human damage and explosion accidents due to falling batteries by deploying a parachute when the battery is dropped.

Description

Battery Module Replacement Device and Method for Drone, and Drone therewith

The present invention relates to an apparatus and method for replacing a battery module for a drone, and more particularly, to an apparatus and method for replacing a battery module for a drone capable of replacing a battery module without power failure during flight.

A drone is an aircraft that can navigate without a pilot on board, and it means a powered vehicle that can be used for single use or reuse while flying automatically or remotely. Conventionally, such a vehicle was referred to as an unmanned aerial vehicle (UAV), but in recent years it is mainly used as a term drone.

Drones can be broadly classified into military and civilian use according to their use. In the early days of military use, drones were used for target aircraft and reconnaissance purposes, but in recent years, they are being developed into various civilian fields based on the characteristics of aviation and information and communication convergence technology.

Recently, various types of drones have been developed and released, and they can perform specific tasks such as lifesaving, surveillance and reconnaissance, and cargo transportation for military or civilian use. These drones are operated using various power sources according to their characteristics.

Conventionally, in the case of a method in which a drone in a low battery state returns to a certain place to replace or charge the battery, the inconvenience of returning the drone to a certain place and inefficiency of having to stop performing a mission are accompanied. Even when the user replaces the battery, it takes a lot of time because it is disassembled and removed one by one.

In the method of supplying power and replacing the battery, it is complicated and there are many replacement processes, so many devices are embedded in replacing the battery, resulting in shortening of the flight time. In addition, the power supply is exposed to the outside and is vulnerable to weather conditions, and the mechanical method has difficulties in replacement time, stability of flight, and maintenance of power supply when replacing the battery during flight of the drone.

An object of the present invention is to provide an apparatus and method for replacing a battery module for a drone that can replace batteries at high speed without special external power supply during flight in a non-contact surrender type uninterruptible manner.

In addition, the present invention is a battery module replacement device for drones that can be safely seated on the ground without an explosion accident due to impact and preventing damage to property and human life due to a falling battery by deploying a parachute using a voltage detection sensor when replacing a battery and The purpose is to provide a method.

A battery module replacement device for a drone according to an embodiment of the present invention includes a through hole penetrating from the top to the bottom for replacement of the battery module, and a plurality of protrusions in contact with the battery module are provided on the inner surface of the through hole. one body; a laser communication unit that corrects the entry distance and location for docking between the supply drone and the receiving drone when replacing the battery module, and switches to a laser communication mode when the non-contact docking between the supply drone and the receiving drone is completed; a delivery speed detection unit for detecting and transmitting the delivery speed of the battery module when the supply drone releases the battery module, and for transmitting a fix release signal for the battery module already mounted on the receiving drone; a battery mounting unit that fixedly mounts a replacement battery module dropped from the supply drone and releases the fixed battery module according to a control signal when replacing the already mounted battery module; and a communication unit control signal for controlling the laser communication unit to send a drop request signal for the battery module to the supply drone according to the entry distance and position correction information, and the battery mounting unit according to the release signal of the release speed sensing unit. It includes a replacement control unit for outputting a release control signal for controlling to drop the pre-installed battery module.

As an embodiment, the battery module replacement device for a drone according to an embodiment of the present invention includes a shock mitigating unit that mitigates the impact of the dropped battery module to the receiving drone when receiving the battery module dropped from the supply drone It is possible to include more.

As an embodiment, the laser communication unit may request the replacement control unit to initiate the battery module replacement process by the supply drone and the receiving drone when the non-contact docking is completed.

As an embodiment, the replacement control unit is configured to supply power to the receiving drone in the battery module replacement device without colliding between the dropped battery module and the pre-mounted battery module while supplying power to the receiving drone. It is possible to control the discharge of the battery module.

As an embodiment, the replacement control unit may control the discharge of the pre-installed battery module based on the release speed of the dropped battery module detected by the delivery speed detection unit.

As an embodiment, the dropped battery module and the pre-mounted battery module maintain contact with a plurality of protrusions of the body portion in a slide manner in the battery module replacement device to supply power to the receiving drone. .

In one embodiment, the battery module has an upper cross-sectional area larger than a lower cross-sectional area in a cross-sectional area in a direction perpendicular to the dropping direction so as to be easily inserted into the battery replacement device during dropping, and the upper end surface of the battery module in the vertical direction has a lower end surface It is possible to be formed to include.

As an embodiment, the replacement control unit provides the dropping speed and insertion of the dropped battery so that the flight control unit of the receiving drone can remove the receiving drone according to the weight reduction and increase due to the insertion and discharge of the battery module. it is possible to do

In one embodiment, the delivery speed detection unit includes a detection sensor formed to protrude from the upper surface of the upper portion of the body, the detection sensor is capable of detecting that the dropped battery module is inserted into the battery replacement device do.

A method of replacing a battery module for a drone according to an embodiment of the present invention includes: transmitting a docking request and a flight control signal between a supply drone and a receiving drone upon recognizing the battery module replacement; Correct the entry distance and location for docking between the supply drone and the receiving drone through laser communication, and request dropping of a replacement battery module for battery module replacement by laser communication from the receiving drone to the supply drone when confirming the laser docking to do; Detecting whether the battery module is dropped according to the drop request and the delivery speed, and when the drop of the battery module is recognized and the delivery speed is normal, separating and discharging the pre-loaded battery module based on the sensed delivery speed ; performing weight reduction flight control so that the receiving drone can fly according to the reduced weight due to the discharge of the pre-installed battery module; and fixing the dropped battery module to the battery replacement device of the receiving drone.

As an embodiment, in the step of discharging and separating the battery module, at least one battery module supplies power to the receiving drone in the battery module replacement device without mutual collision between the dropped battery module and the pre-loaded battery module. It is possible to control the discharge of the preloaded battery module while supplying.

As an embodiment, the step of discharging the battery module may include supplying power to the receiving drone in a slide manner in which the dropped battery module and the pre-loaded battery module are in the battery module replacement device. .

The device and method for replacing a battery module for a drone according to an embodiment of the present invention utilize a non-contact surrender type uninterruptible method to maintain flight airspeed by an internal module without a special external supply of voltage even during high-speed battery replacement and battery replacement. can have an effect.

In addition, the battery module replacement apparatus and method for a drone according to an embodiment of the present invention uses a voltage detection sensor to prevent damage to property and human life when power is consumed and the discharged battery recognizes that voltage is not supplied. It has the effect of preventing damage to property and human life by deploying a parachute, and can safely land on the ground without an explosion accident due to the impact of the battery.

1 is a schematic diagram of a battery module replacement device for a drone according to an embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a control signal relationship between the battery module replacement device for a drone of FIG. 1 and a drone control module.
3 is a flowchart of a method for replacing a battery module for a drone according to an embodiment of the present invention.
4 and 5 show a sequence from the docking of the receiving drone equipped with the battery module replacement device for the drone of FIG. 1 to the fixing of the dropped battery module.
Figure 6 (A) shows the exterior of the battery module, 6 (B) shows the exterior of the body of the battery replacement device for the drone of Figure 1 .
7 (A) is a diagram illustrating a process in which the supply drone and the receiving drone replace the battery module with the battery module replacement apparatus and method for the drone according to an embodiment of the present invention, and 7 (B) is the drone of FIG. 1 It is a conceptual diagram of a process in which the dropped battery module and the preloaded battery module are replaced in the battery replacement device.
8(A) is an arrangement diagram of a transceiver for laser communication of a laser communication unit according to an embodiment, and 8(B) is a conceptual diagram for laser communication between a supply drone and a receiving drone.
Figures 9 (A) and 9 (C) are one embodiment and a plan view of the body part of the slide method of the battery module replacement device for the drone of Figure 1, 9 (B) and 9 (D) of the spring / bearing method An embodiment and a plan view of the body part.
Figures 10 (A) and 10 (B) show the release speed communication unit installed on the upper end of the body of the slide type of Fig. 9 (A) and Fig. 9 (B) of the spring/bearing type, respectively.
11(A) and 11(B) show examples in which the top views of the battery module are octagonal and quadrangular, respectively, and 11(C) and 11(D) are hemispherical and triangular at the lower end of the side view of the battery module, respectively. An example is shown.
12 is a schematic diagram of a battery module applied to an apparatus for replacing a battery module for a drone according to an embodiment of the present invention.
13(A) and 13(B) are schematic views of the battery module of FIG. 12 before and after parachute deployment, respectively.
14 is a flowchart of deploying a parachute when the battery module of FIG. 12 falls.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments published below, but may be implemented in various different forms, and only these embodiments allow the publication of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains. It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

In the present specification, terms such as “first” and “second” are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

In the present specification, identification symbols (eg, a, b, c, etc.) in each step are used for convenience of description, and identification symbols do not describe the order of each step, and each step is clearly Unless a specific order is specified, the order may differ from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

In this specification, expressions such as “have”, “may have”, “include” or “may include” indicate the existence of a corresponding feature (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.

In addition, the term '~ unit' as used herein means software or a hardware component such as a field-programmable gate array (FPGA) or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. '~unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' denotes components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data structures and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'.

Hereinafter, an apparatus and method for replacing a battery module for a drone according to an embodiment of the present invention will be described in detail with reference to related drawings.

1 is a schematic diagram of an apparatus for replacing a battery module for a drone according to an embodiment of the present invention, and FIG. 2 is a schematic diagram illustrating a control signal relationship between the battery module replacement apparatus for a drone of FIG. 1 and a drone control module.

3 is a flowchart of a battery module replacement method for a drone according to an embodiment of the present invention, and FIGS. 4 and 5 are the battery module dropped from the docking of the receiving drone equipped with the battery module replacement device for the drone of FIG. The sequence up to the fixation is shown.

FIG. 6(A) shows the exterior of the battery module, and FIG. 6(B) shows the exterior of the body of the battery replacement device for the drone of FIG. 1 . Figure 7 (A) shows a process in which the supply drone and the accommodation drone replace the battery module with the battery module replacement apparatus and method for a drone according to an embodiment of the present invention, and Figure 7 (B) is for the drone of Figure 1 It is a conceptual diagram of a process in which the dropped battery module and the preloaded battery module are replaced in the battery replacement device.

8(A) is an arrangement diagram of a transceiver for laser communication of a laser communication unit according to an embodiment, and 8(B) is a conceptual diagram for laser communication between a supply drone and a receiving drone. Figures 9 (A) and 9 (C) are one embodiment and a plan view of the body part of the slide method of the battery module replacement device for the drone of Figure 1, 9 (B) and 9 (D) of the spring / bearing method It is an embodiment and a plan view of the body part. Figures 10 (A) and 10 (B) show the release speed communication unit installed on the upper end of the body of the slide type of Fig. 9 (A) and Fig. 9 (B) of the spring/bearing type, respectively.

11(A) and 11(B) show examples in which the top views of the battery module are octagonal and quadrangular, respectively, and 11(C) and 11(D) are hemispherical and triangular at the lower end of the side view of the battery module, respectively. An example is shown.

12 is a schematic diagram of a battery module applied to an apparatus for replacing a battery module for a drone according to an embodiment of the present invention. 13(A) and 13(B) are schematic views of the battery module of FIG. 12 before and after parachute deployment, respectively. 14 is a flowchart of deploying a parachute when the battery module of FIG. 12 falls.

1 and 2, the battery module replacement apparatus 100 for a drone according to an embodiment of the present invention includes a laser communication unit 110, a delivery speed detection unit 120, a battery mounting unit 130, and a replacement control unit ( 150), including the body portion 160, it is also possible to further include a shock mitigation portion (140).

As shown in FIG. 6 , the body 160 has a through hole 162 penetrating from the top to the bottom for replacement of the battery module 300 , and the inner surface of the through hole is in contact with the battery module 300 . A plurality of protrusions 161 are provided. The battery module 300 also includes a plurality of protrusions 311 formed at positions of the outer surfaces in contact with the plurality of protrusions 161 on the inner surface of the body.

The laser communication unit 110 corrects the entry distance and location for docking between the supply drone 10a and the receiving drone 10b when the battery module 300 is replaced, and a non-contact point between the supply drone 10a and the receiving drone 10b When docking is complete, it is possible to switch to laser communication mode.

The supply drone 300a that supplies the battery module 300 or the reception drone 300b that receives the battery module 300 may all have the same internal configuration. In addition, in the case of the supply drone 300a that supplies the battery module, the internal battery module may have n instead of one.

The delivery speed detection unit 120 detects and transmits the delivery speed of the battery module when the supply drone 10a drops the battery module 300, and releases the fixation for the battery module 300b pre-installed in the receiving drone 10b. transmit a signal

The battery mounting unit 130 fixedly mounts the replacement battery module 300a dropped from the supply drone 10a, and fixes the mounted battery module 300b according to the control signal when replacing the pre-mounted battery module 300b. release and release

The replacement control unit 150 controls the laser communication unit 110 to send a drop request signal for the battery module 300 to the supply drone 10a according to the entry distance and position correction information. 120) outputs a release control signal for controlling the battery mounting unit 130 to discharge the pre-mounted battery module 300b according to the fixing release signal.

The battery module replacement device for drone 100 is a shock mitigation that mitigates the impact of the dropped battery module 300a on the receiving drone 10b when accommodating the battery module 300a dropped from the supply drone 10a). It is possible to further include a portion 140 .

The laser communication unit 110 may request the replacement control unit to initiate the battery module replacement process by the supply drone and the receiving drone when the non-contact docking is completed.

The replacement control unit 150 supplies power to the drone 10b in which the dropped battery module 300a and the mounted battery module 300b do not collide with each other, and at least one battery module is installed in the battery module replacement device 100 . While it is possible to control the discharge of the pre-mounted battery module (300b).

The replacement control unit 150 is capable of controlling the discharge of the pre-installed battery module 300b based on the dropping speed of the dropped battery module 300a detected by the delivery speed detecting unit ( ).

The dropped battery module 300a and the pre-mounted battery module 300b maintain contact with the plurality of protrusions 161 of the body 160 in a slide manner in the battery module replacement device 100 to accommodate the drone 10b. ) can be supplied with power.

The battery module 300 has an upper cross-sectional area larger than a lower cross-sectional area in a cross-sectional area perpendicular to the dropping direction so that it is easy to insert into the battery replacement device when dropped, and the upper surface of the battery module 300 in the vertical direction includes a lower surface It is possible to be formed to do so.

In the drone control module 200, a weight change such as a decrease or increase in the weight of the receiving drone 10b occurs due to the replacement of the battery module 300, and in this case, the receiving drone 10b is stably stable despite the weight change Perform flight control so that flight can be performed.

The replacement control unit 150 is a battery module 300a dropped so that the flight control unit 200 of the receiving drone 10b can remove the receiving drone 10b according to the weight reduction and increase due to the insertion and discharge of the battery module 300 . ), it is possible to provide the rate of delivery and whether or not it is inserted.

The drop rate detection unit 120 includes a detection sensor 121 formed to protrude from the upper surface of the upper portion of the body 160 than the upper surface, and the detection sensor 121 is a battery replacement device ( 100), it is possible to detect the insertion into

The method for replacing a battery module for a drone according to an embodiment of the present invention transmits a docking request and a flight control signal between the supply drone and the receiving drone when the battery module replacement is recognized (S110), and the supply drone and the receiving drone through laser communication Corrects the entry distance and location for docking between the two, and requests the drop of a replacement battery module for battery module replacement through laser communication from the receiving drone to the supply drone when the laser docking is confirmed. (S120)

Detects whether the battery module is dropped according to the drop request and the delivery speed, and when the drop of the battery module is recognized and the delivery speed is normal, the pre-loaded battery module is separated and discharged based on the sensed delivery speed. (S130~140) If the delivery speed of the battery module is not normal, the delivery of the replacement battery module for replacing the battery module is requested again.

Weight reduction flight control is performed so that the receiving drone can fly according to the reduced weight due to the discharge of the pre-installed battery module (S150), and the dropped battery module is fixedly mounted to the battery replacement device of the receiving drone (S180) , it is determined whether power is normally supplied to the receiving drone 10b. (S190)

The supply drone 10a and the receiving drone 10b are provided with a battery replacement device 100 , a drone control module 200 , and a battery module 300 , respectively. When the battery module 300 is dropped from the supply drone 10a, the receiving drone 10b detects it and discharges the battery module 300, and maintains a slide-type contact point until completely discharged in the battery replacement device 100 Power is normally supplied through

7 to 10 , the dropped battery module 300a also enters through the slide-type contact maintenance, and even if the pre-mounted battery module 300b is completely discharged, power is supplied through the contact maintenance from the beginning of entry. . 7(B) shows the configuration of the upper dropped battery module 300a and the lower discharged battery module 300b when replacing the battery module.

The upper battery module 300a discharges the lower battery module 300b at the same time as the entry is detected by the detection of entry and the calculation of the speed sensor, and the entry time is calculated by calculating the speed in order to prevent contact between the two.

At this time, one of the dropped battery module 300a and the discharged battery module 300b must be present in the battery replacement device 100 to provide power to the receiving drone 10b through slide-type contact maintenance.

6 (A) shows the external appearance of the drop-type battery module (300). Metal contact parts 311 of (+) side and (-) side current protrude from each of the four outer surfaces of the drop-type battery module 300 .

Figure 6 (B) is a schematic diagram of mounting the battery module 300 inside the body portion 160 of the battery replacement device 100, each of the metal contacts of (+), (-) current on the four inner sides of the battery replacement device The portion 161 protrudes in a sliding manner or in a suitable manner.

11(A) and (B), as seen from the elevation, it can be manufactured not only in a rectangular shape, but also in an octagonal elevation shape for the insertion, seating, and smooth discharge of batteries. 11 (C) and (D), as shown in (D), the battery module 300 is manufactured in a different form on the side can be manufactured so that the entry is smooth when dropping.

The laser communication unit 110 may correct the entry distance and position for docking between the drop drone 10a and the demand drone 10b. (S) Also, when the non-contact proximity docking between positions is completed, the laser communication unit 110 The laser sensor mounted on converts tx and rx into laser communication, and it is possible to perform a drop request of the battery module 300 between the dropping drone 10a and the receiving drone 10b with the replacement control unit 150 .

The battery drop speed detection unit 120 detects whether the battery module 300a dropped from the dropping drone 10a is accepted and transmits it to the battery replacement control unit 150, and the existing battery module of the receiving drone 10b is dropped. The battery module 300b to which the battery mounting unit 130 is pre-mounted is separated. At the same time, the dropped battery module 300a may be fixed.

The shock mitigating unit 130 performs an operation to alleviate the shock when receiving the dropped battery module 300a, and the battery mounting unit 140 is a mounting unit that receives the battery module 300a entering the body 160.

The flight control unit of the dropping drone 10a enables flight control according to the docking signal between the replacement control units 150, a weight reduction flight upon discharge according to battery drop detection, and a weight increase flight upon receiving the input battery.

The power supply unit 220 receives power from the battery mounting unit 140 and serves to supply power to each device of the receiving drone 10b.

Referring to FIG. 8A , the shape of the laser communication unit 110 attached to the outside of the body 160 of the battery replacement device 100 is shown. Here, TX indicates the laser transmitter side, and RX indicates the laser reception side.

As shown in FIG. 8(B) , when the battery supply body (dropping drone) is located at the top and the battery supply body (accommodating drone) is located at the bottom, RX and TX signals are exchanged.

A signal is transmitted to the battery replacement device 100 to control the distance and flight between drones between non-contact docking by using the laser communication unit 110 , which is transmitted to the drone flight control unit 210 .

In addition, when docking, it can utilize tx, rx communication to send drop request and completion communication to complete the mission.

The speed sensor 121 recognizes this when the dropped battery 300a enters the upper part of the through hole 162 of the body 160 and transmits a signal to the replacement control unit 150 to discharge the battery and control the flight. let it be

Referring to FIG. 9A , an internal power supply slide 163 formed adjacent to the outer surface and the inner side of the body 160 of the slide-type battery replacement device 100 is shown.

Even if the discharge of the battery module 300b is carried out simultaneously with the entry of the drop battery module 300a, the contact point of the power supply is maintained, so that the power supply and flight of the drone are possible.

Referring to FIG. 9B , it shows an internal power supply spring/bearing 163 formed adjacent to the outer surface and the inner side of the body 160 of the spring/bearing type battery replacement device 100 . The operation is the same as the slide method, and the number of springs/bearings is n, so the contact area can be widened.

12 to 14 , the battery module 300 includes a battery 310 , a battery protection circuit 320 , an output low voltage detection sensor 330 , and a parachute deployment driver 340 .

When the battery 310 is completely separated from the battery module 300 , the battery 310 is completely cut off from supplying power to the battery module 300 ( S410 ). The low voltage detection sensor 330 is connected to the battery protection circuit 320 . Detects such a power supply cut-off state by the (S420), and then performs a deployment command to the parachute deployment driving unit 340) (S430).

The parachute 400 is mounted on the upper part of the battery module as in the form of FIG. 13(A), and is deployed in the form of 13(B) through the parachute deployment command (S430), so that it can be safely seated on the ground. (S440)

110: laser communication unit
120: release speed sensing unit
130: battery mounting part
140: shock mitigation unit
150: battery replacement control unit
160: body part
161: protrusion
200: drone control module
210: drone flight control unit
220: power supply
300: battery module
310: battery
400 : parachute

Claims (13)

a body portion having a through hole penetrating from the upper portion to the lower portion for replacement of the battery module, and having a plurality of protrusions in contact with the battery module on an inner surface of the through hole;
a laser communication unit that corrects the entry distance and location for docking between the supply drone and the receiving drone when replacing the battery module, and switches to a laser communication mode when the non-contact docking between the supply drone and the receiving drone is completed;
a delivery speed detection unit for detecting and transmitting the delivery speed of the battery module when the supply drone releases the battery module, and for transmitting a fix release signal for the battery module already mounted on the receiving drone;
a battery mounting unit for fixing the replacement battery module dropped from the supply drone and releasing the fixed battery module according to a control signal when replacing the already mounted battery module; and
According to the approach distance and the position correction information, the battery mounting unit is the battery mounting unit according to the communication unit control signal for controlling the laser communication unit to send a drop request signal to the supply drone to send the battery module drop request signal and the release speed detection unit fixing release signal a replacement control unit for outputting a release control signal for controlling the mounted battery module to be dropped;
A battery module replacement device for a drone comprising a. According to claim 1,
Battery module replacement device for drones, characterized in that it further comprises a shock mitigating unit for alleviating the impact of the dropped battery module to the receiving drone when receiving the battery module dropped from the supply drone. According to claim 1,
The laser communication unit requests the replacement control unit to initiate the battery module replacement process by the supply drone and the receiving drone when the non-contact docking is completed. According to claim 1,
The replacement control unit discharges the pre-mounted battery module while at least one battery module supplies power to the receiving drone in the battery module replacement device without mutual collision between the dropped battery module and the pre-mounted battery module A battery module replacement device for drones, characterized in that it controls. 5. The method of claim 4,
The replacement control unit is a battery module replacement device for a drone, characterized in that for controlling the discharge of the pre-mounted battery module based on the delivery speed of the dropped battery module detected by the delivery speed detection unit. 5. The method of claim 4,
The battery module for drones, characterized in that the dropped battery module and the pre-mounted battery module maintain contact with the plurality of protrusions of the body in a slide manner in the battery module replacement device to supply power to the receiving drone replacement device. According to claim 1,
The battery module has an upper cross-sectional area larger than a lower cross-sectional area in a cross-sectional area in a direction perpendicular to the dropping direction so that it is easy to insert into the battery replacement device during dropping, and an upper surface of the battery module in the vertical direction is formed to include a lower surface Battery module replacement device for drones characterized by. 5. The method of claim 4,
The replacement control unit provides the dropping speed and insertion of the dropped battery so that the flight control unit of the receiving drone can remove the receiving drone according to the weight reduction and increase due to the insertion and discharge of the battery module, characterized in that Battery module replacement device for drones. According to claim 1,
The delivery speed detection unit includes a detection sensor formed to protrude from the upper surface of the body portion than the upper surface,
The detection sensor is a battery module replacement device for a drone, characterized in that for detecting that the dropped battery module is inserted into the battery replacement device. A drone having a battery module replacement device for a drone according to any one of claims 1 to 9 and a drone flight control unit connected thereto. Transmitting a docking request and flight control signal between the supply drone and the receiving drone when the battery module replacement is recognized;
Correct the entry distance and location for docking between the supply drone and the receiving drone through laser communication, and request dropping of a replacement battery module for battery module replacement by laser communication from the receiving drone to the supply drone when confirming the laser docking to do;
Detecting whether the battery module is dropped according to the drop request and the delivery speed, and when the drop of the battery module is recognized and the delivery speed is normal, separating and discharging the pre-loaded battery module based on the detected delivery speed ;
performing weight reduction flight control so that the receiving drone can fly according to the reduced weight due to the discharge of the pre-installed battery module; and
fixing the dropped battery module to a battery replacement device of the receiving drone;
A method of replacing a battery module for a drone comprising a. 12. The method of claim 11,
In the step of separating and discharging the battery module, at least one battery module supplies power to the receiving drone in the battery module replacement device without colliding between the dropped battery module and the pre-loaded battery module while the pre-mounted battery module is installed A battery module replacement method for a drone, characterized in that controlling the discharge of the old battery module. 13. The method of claim 12,
In the step of separating and discharging the battery module, the dropped battery module and the pre-mounted battery module supply power to the receiving drone in a slide manner in the battery module replacement device. Battery module replacement for a drone Way.

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