WO2025134708A1 - Aerial vehicle, battery replacement method, and program - Google Patents

Abstract

This aerial vehicle has a body part, a first battery, a battery attachment part, and an attachment/detachment mechanism. The body part has a drive part for flying. The first battery is attached to the body part and supplies electrical power to the drive part. During a condition in which a second battery capable of supplying electrical power to the drive part by being attached to a lower surface of the body part is not attached, if the aerial vehicle descends and lands from above the second battery, which has been arranged, the battery attachment part can receive the second battery. In the landed position in which the second battery has been received, the attachment/detachment mechanism can hold and release the second battery. Thus, provided are an aerial vehicle and similar wherein simple battery replacement is possible.

Description

Aircraft, battery replacement method and program

This disclosure relates to an aircraft, a battery replacement method, and a program.

In the field of drones, there is a demand for longer flight distances. To increase flight distances, technology has been proposed that supplies power during flight.

For example, the energy supply method described in Patent Document 1 includes power supply from a battery, reliability evaluation and selection of two types of backup energy sources, and function as an energy source when the battery is disconnected.

JP 2019-172255 A

However, with the above technology, the equipment required to replace the batteries is quite large.

In consideration of the above-mentioned problems, the purpose of this disclosure is to provide an aircraft or the like that allows for easy battery replacement.

The flying object according to the present disclosure has a main body, a first battery, a battery mounting section, and an attachment/detachment mechanism. The main body has a drive section for flight. The first battery is mounted to the main body and supplies power to the drive section. The battery mounting section is capable of receiving the second battery when it descends from above the placed second battery and lands in a state in which a second battery capable of supplying power to the drive section by being mounted on the underside of the main body is not mounted. The attachment/detachment mechanism is capable of retaining and releasing the second battery in a position in which it has received the second battery and landed.

In the battery replacement method disclosed herein, a computer executes the following processes. The computer receives mounting position information relating to the mounting position where a second battery to be attached to the aircraft is placed. The computer sets a release position for the aircraft to release the second battery in use within a range that allows the aircraft to move to the mounting position using the residual power of the first battery. The computer lands at the set release position and releases the second battery in use. The computer takes off with the second battery released and lands at the mounting position. The computer attaches the second battery to be attached at the mounting position and takes off.

The program disclosed herein causes a computer to execute the following battery replacement method. The computer receives mounting position information relating to the mounting position where a second battery to be attached to the aircraft is placed. The computer sets a release position for the aircraft to release the second battery in use within a range that allows the aircraft to move to the mounting position using the residual power of the first battery. The computer lands at the set release position and releases the second battery in use. The computer takes off with the second battery released and lands at the mounting position. The computer attaches the second battery to be attached at the mounting position and takes off.

The present disclosure provides an aircraft that allows for easy battery replacement, a method for easy battery replacement, and a program for performing easy battery replacement.

FIG. 1 is a configuration diagram of an aircraft according to the present disclosure. FIG. 1 is a block diagram of an aircraft according to the present disclosure. 1 is a flowchart showing a battery replacement method for an aircraft. FIG. 13 is a diagram showing the state in which an aircraft is replacing batteries. FIG. 2 is a second configuration diagram of an aircraft according to the present disclosure. FIG. 2 is a second block diagram of an air vehicle according to the present disclosure. FIG. 2 is a diagram showing the center of gravity of an aircraft. FIG. 2 is a block diagram illustrating a hardware configuration of a computer.

The present invention will be described below through embodiments of the invention, but the invention as claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problem. To clarify the explanation, the following description and drawings have been omitted and simplified as appropriate. In addition, the same elements are given the same symbols in each drawing, and duplicate explanations have been omitted as necessary.

<First embodiment>
The aircraft 10 will be described with reference to FIG. 1. The configuration of the aircraft 10 according to the first embodiment will be described with reference to FIG. 1. The aircraft 10 is an unmanned aerial vehicle also called a drone. The aircraft 10 may be called a UAV (Unmanned Aerial Vehicle), a RPAS (Remotely Piloted Aircraft Systems), or a UAS (Unmanned Aircraft Systems). The aircraft 10 according to the present disclosure is configured to allow the second battery 200 to be detachably attached. The aircraft 10 has a main body 100, a first battery 110, a battery mounting section 121, and an attachment/detachment mechanism 122 as main components.

The main body 100 is the housing of the flying object 10 and contains various components. For example, the main body 100 has a drive unit 103 for flight. The drive unit 103 includes a motor that rotates a propeller 104. The main body 100 also has legs 102. The legs 102 come into contact with the landing surface when the flying object 10 lands to support the main body 100. The main body 100 also has a first battery 110, a control circuit, etc.

The first battery 110 is attached to the main body 100 and supplies power to the drive unit 103. The first battery 110 may be a primary battery or a secondary battery. The first battery 110 may be removable.

The battery mounting section 121 is provided on the underside of the main body section 100, and receives the second battery 200 on the underside of the main body section 100. When the second battery 200 is mounted on the flying object 10, the flying object 10 without the second battery 200 mounted descends from above the second battery 200 placed on a specified surface to the second battery 200. In this case, the attachment/detachment mechanism 122 is capable of receiving the second battery 200 when it descends from above the placed second battery 200 and lands. The battery mounting section 121 is provided with an attachment/detachment mechanism 122 and a connector 123.

The detachment mechanism 122 is capable of receiving the second battery 200 and holding and releasing the second battery 200 in a landing position. The detachment mechanism 122 corresponds to the detachment mechanism 202 of the second battery 200. The detachment mechanism 122 engages with the detachment mechanism 202 when the second battery 200 is attached to the battery attachment section 121. In this way, the detachment mechanism 122 holds the second battery 200 without rattling. The detachment mechanism 122 may include, for example, a locking mechanism that uses the elasticity of a spring. The detachment mechanism 122 may include a holding mechanism that uses the attractive force of a magnetic material. The detachment mechanism 122 may also have both of these.

The connector 123 corresponds to the connector 203 of the second battery 200. The connector 123 is configured to be able to supply power from the second battery 200 to the drive unit 103 when the second battery 200 is attached to the underside of the main body unit 100. The connector 123 is configured, for example, to be energized by contacts directly touching the connector 203. The connector 123 may also be configured, for example, to transmit power from the second battery 200 to the aircraft 10 by using short-range electromagnetic induction.

The battery mounting section 121 may have a mechanism for vertical displacement. If such a mechanism is provided, the battery mounting section 121 can be displaced downward, for example, when attaching or detaching the second battery 200. Therefore, after landing above the second battery 200, the flying object 10 can lower the battery mounting section 121 to hold the second battery 200 stably and steadily.

The above describes the flying object 10. The flying object 10 can fly using the power contained in the first battery 110. Furthermore, when the second battery 200 is attached, the flying object 10 can fly by receiving power from the attached second battery 200. When the second battery 200 is attached, the flying object 10 descends from above the second battery 200 and lands above the second battery 200. The flying object 10 then attaches the second battery 200 to the battery attachment section 121. The above-described configuration of the flying object 10 allows for easy battery attachment.

Furthermore, the flying object 10, with the second battery 200 attached, can land at a specified location and release the second battery 200. Furthermore, after releasing the second battery 200, the flying object 10 uses the power of the first battery 110 to take off with the second battery 200 released. The above-mentioned configuration of the flying object 10 allows for easy battery replacement.

<Embodiment 2>
Next, the aircraft 10 will be further described with reference to Fig. 2. A block diagram of the aircraft 10 according to the first embodiment will be described with reference to Fig. 2. The aircraft 10 has a control unit 130 and a power management unit 131 in addition to the above-mentioned configuration.

The control unit 130 is a control circuit including a calculation device such as a CPU (Central Processing Unit). The control unit 130 is communicatively connected to the drive unit 103, the detachment mechanism 122, and the power management unit 131, and controls these configurations. The control unit 130 also includes a non-volatile memory. The non-volatile memory stores programs for realizing the functions disclosed herein. In other words, the control unit 130 controls various movements of the aircraft 10 by executing the programs stored in the non-volatile memory. The various movements of the aircraft 10 include control of operations when replacing the second battery 200, in addition to normal operation.

The control unit 130 is communicatively connected to the power management unit 131 to manage information related to the power supply source in the aircraft 10, and controls the power management unit 131. The aircraft 10 operates by receiving power from either the first battery 110 or the second battery 200. The control unit 130 provides instructions to the power management unit 131 to select the battery source.

The power management unit 131 has the function of selecting whether the power received from the first battery 110 or the power received from the second battery 200 via the connector 123 will be the power supply source for the aircraft 10. The power management unit 131 executes the above-mentioned selection upon receiving instructions from the control unit 130. The power management unit 131 may also receive data regarding the usage status of the first battery 110 and the second battery 200, and supply the received data to the control unit 130. The data regarding the usage status of the first battery 110 and the second battery 200 may include, for example, the supply voltage and the history of the supply voltage.

For example, when the second battery 200 is attached to the main body 100, the power management unit 131 supplies power from the first battery 110 or the second battery 200 to the drive unit 103. On the other hand, when the second battery 200 is removed, the power management unit 131 controls the current of the first battery 110 and the second battery 200 so that power is supplied from the first battery 110 to the drive unit 103.

Next, the battery replacement method executed by the aircraft 10 will be described with reference to FIG. 3. FIG. 3 is a flowchart showing the battery replacement method executed by the aircraft 10. The battery replacement method shown in FIG. 3 shows the processing executed by the control unit 130. The flowchart shown in FIG. 3 starts from a state in which the aircraft 10 is flying while holding the second battery 200.

The control unit 130 receives mounting position information regarding the mounting position where the second battery for mounting to the aircraft is placed (step S11).

Next, the control unit 130 sets a release position for the aircraft to release the second battery in use within a range that can be moved to the mounting position using the residual power of the first battery (step S12).

Then, the control unit 130 lands at the set release position and releases the second battery that is in use (step S13).

Then, the control unit 130 takes off with the second battery disconnected (step S14) and lands at the installation position (step S15).

Then, the control unit 130 attaches the second battery to the attachment position and takes off (step S16).

The above describes the battery replacement method performed by the aircraft 10. The aircraft 10 can also perform only the disconnection of the second battery 200 by performing part of the above-mentioned method or modifying part of the above-mentioned method. Similarly, the aircraft 10 can also only perform the attachment of the second battery 200.

Next, the state of the aircraft 10 undergoing battery replacement will be described with reference to Figure 4. Figure 4 is a diagram showing the state of the aircraft 10 undergoing battery replacement. Figure 4 shows several states of the aircraft 10 superimposed on one figure as time T passes from time T1 to time T5. Note that in the following description, the second battery 200A and second battery 200B installed in the aircraft 10 are both second batteries 200. In Figure 4, the letters "A" and "B" are added after the reference numerals to distinguish between these batteries to indicate that they are different individuals.

First, at time T1, the aircraft 10 is flying while holding the second battery 200A. The aircraft 10 is flying toward release position P1 to release the second battery 200A. Note that in this state, the aircraft 10 may be flying while receiving power from the first battery 110, or may be flying while receiving power from the second battery 200A.

Next, at time T2 after time T1, the aircraft 10 lands at release position P1 and releases the second battery 200A. When releasing the second battery 200A, the battery attachment section 121 may descend. With the second battery 200A released, the aircraft 10 operates by receiving power from the first battery 110. When the second battery 200A is released, the aircraft 10 takes off.

Next, at time T3 after time T2, the aircraft 10 moves from release position P1 to attachment position P2. In this state, the aircraft 10 flies while receiving power from the first battery 110. The distance D1 from release position P1 to attachment position P2 is set to the distance that can be traveled using the residual power of the first battery 110.

Next, at time T4 after time T2, the aircraft 10 lands above the replacement second battery 200B and attaches the second battery 200B to the battery attachment section 121. In this case, the battery attachment section 121 may attach the second battery 200B by descending. Once attachment of the second battery 200B is complete, the aircraft 10 may switch the battery being used from the first battery 110 to the second battery 200B. Once attachment of the second battery 200B is complete, the aircraft 10 takes off from attachment position P2.

Next, at time T5 after time T4, the aircraft 10 is flying with the second battery 200B attached. At this time, the aircraft 10 may be flying while receiving power from the first battery 110, or while receiving power from the second battery 200A.

The above describes the flying object 10. In the present disclosure, the capacity of the first battery 110 of the flying object 10 may be less than the capacity of the second battery 200. That is, for example, the first battery 110 is assumed to be used primarily when replacing the second battery 200, and may have a sufficient capacity to fly the above-mentioned distance D1.

With this configuration, for example, a manager managing the operation of the aircraft 10 can easily replace the battery in the aircraft 10 by securing the release position and the mounting position, and then placing the second battery 200 for mounting in the mounting position.

Also, for example, if only one landing location is available, the flight manager of the aircraft 10 may set the release position and the attachment position to the same position. In this case, after the aircraft 10 releases the second battery 200 and takes off, the flight manager replaces the second battery 200 in the release position with the second battery 200 for attachment. The aircraft 10 then lands again in the same position as the release position, where a new second battery 200 has been placed, attaches the new second battery 200, and takes off.

Note that release position P1 and mounting position P2 may be fixed locations such as the rooftop of a specific building, a plaza, or a vertiport (airport for vertical takeoff and landing), or may be transportable landing and takeoff sites. Release position P1 and mounting position P2 may also be on a moving body such as a ship, truck, or aircraft.

The above describes the battery replacement state of the aircraft 10 in this disclosure. When both the first battery 110 and the second battery 200 are attached to the aircraft 10, the aircraft 10 may control the batteries to share their power with each other. That is, for example, the aircraft 10 may have a function to supply power from the second battery 200 to the first battery 110. By having such a function, the aircraft 10 can ensure that the capacity of the first battery 110 is sufficient to perform a battery replacement.

When the flying object 10 releases or attaches the second battery 200, instead of the battery attachment section 121 descending, the main body section 100 may descend after landing. In this case, for example, the flying object 10 may have a mechanism for displacing the legs 102 and the main body section 100 in the vertical direction.

The control unit 130 of the aircraft 10 may be realized by a general-purpose or dedicated circuit, processor, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and programs. In addition, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (field-programmable gate array), etc. may be used as a processor. Some or all of the functions of the control unit 130 may be built into the aircraft 10, or may be possessed by a computer or server, etc., connected to the aircraft 10 in a state capable of wireless communication.

As described above, this embodiment can provide an aircraft that allows for easy battery replacement, a simple battery replacement method, and a program for performing the simple battery replacement.

<Third embodiment>
Next, a third embodiment will be described. The configuration of an aircraft 20 according to the third embodiment will be described with reference to Fig. 5. The aircraft 20 according to the present embodiment differs from the above-described aircraft 10 in that it has a luggage compartment 105, a positioning unit 124, and a distance measurement sensor 125.

The cargo compartment 105 is provided at the top of the main body 100 and has a lid that can be opened and closed. The aircraft 20 can fly with any cargo loaded in the cargo compartment 105.

The detachment mechanism 122 in this embodiment has a magnetic body on the main body side and a magnetic control unit that controls the magnetic body on the main body side. The magnetic body is, for example, an electromagnet. The magnetic control unit is, for example, a circuit that switches the magnetic properties of the electromagnet. The magnetic body may be a permanent magnet. In this case, the magnetic control unit is a reversing mechanism that reverses the permanent magnet. The magnetic control unit switches the magnetic properties in response to instructions from the control unit 130.

When the second battery 200 is attached, the magnetic control unit of the attachment/detachment mechanism 122 generates an attractive force between the magnetic body on the battery side of the attachment/detachment mechanism 202 of the second battery 200 and the magnetic body on the main body side of the battery attachment unit 121. This allows the flying object 20 to hold the second battery 200 in an appropriate manner.

In addition, the magnetic control unit of the attachment/detachment mechanism 122 generates a repulsive force between the magnetic body on the battery side of the attachment/detachment mechanism 202 and the magnetic body on the main body side of the battery mounting unit 121 when the second battery is released. This allows the flying object 20 to appropriately release the second battery 200 and take off smoothly from the release position. Note that the attachment/detachment mechanism 122 and the attachment/detachment mechanism 202 may also have a mechanical locking mechanism in addition to holding and releasing by the magnetic body.

The positioning portion 124 is a positioning pin that corresponds to the positioning portion 204 of the second battery 200. The positioning portion 124 includes a slope that can absorb misalignment in the planar direction between the main body portion 100 and the second battery 200 when the battery mounting portion 121 mounts the second battery 200. In other words, the tip of the positioning portion 124 has a cone shape. Therefore, even if there is a misalignment between the position of the battery mounting portion 121 and the corresponding position of the second battery 200, the positioning portion 124 can absorb the misalignment and guide the second battery 200 into the battery mounting portion 121 as long as the misalignment is smaller than the width of the slope.

The positioning portion 204 is a positioning hole corresponding to the positioning portion 124. The entrance portion of the positioning portion 204 may have a slope. This further increases the amount of positional deviation absorbed when the battery mounting portion 121 mounts the second battery 200. The relationship between the positioning portion 124 and the positioning portion 204 may be reversed. That is, the positioning portion 124 may be a hole, and the positioning portion 204 may be a pin. Alternatively, the positioning portion 124 may include a slope that can absorb such misalignment in the planar direction in at least one of the battery mounting portion 121 or the second battery 200.

The distance measurement sensor 125 is disposed on the underside of the main body 100. When the flying object 20 lands at the release position, the distance measurement sensor 125 measures the relative position of the second battery 200 and supplies the measurement data to the control unit 130. This enables the control unit 130 to control the drive unit 103 to ensure optimal landing above the second battery 200.

The flying object 20 will be further described with reference to FIG. 6. FIG. 6 is a block diagram of the flying object 20. The control unit 130 of the flying object 20 is communicatively connected to the distance measurement sensor 125 and receives the measurement data generated by the distance measurement sensor 125. Upon receiving the measurement data from the distance measurement sensor 125, the control unit 130 controls the drive unit 103 in accordance with the measurement data.

The magnetic control unit of the attachment/detachment mechanism 122 controls the direction of magnetism of the magnetic body in response to instructions from the control unit 130. As a result, when attaching the second battery 200, the attachment/detachment mechanism 122 generates an attractive force between the magnetic body of the attachment/detachment mechanism 202 that is in close proximity. When releasing the second battery 200, the attachment/detachment mechanism 122 generates a repulsive force between the magnetic body on the main body side and the magnetic body of the second battery 200 that are in contact with or in close proximity to each other.

Next, the change in the center of gravity position of the flying object 20 will be described with reference to Figure 7. Figure 7 is a diagram showing the center of gravity position of the flying object 20. Figure 7 shows centers of gravity G1 to G4.

First, the center of gravity G1 will be described. The center of gravity G1 is the position of the center of gravity of the flying object 20 when it is not holding the second battery 200 and the luggage compartment 105 is empty. The height direction position of the center of gravity G1 is below the height H1 of the plane formed by the propeller 104.

The center of gravity G2 is the position of the center of gravity of the flying object 20 when the second battery 200 is held and the cargo compartment 105 is empty. The heightwise position of the center of gravity G2 is lower than the height H1 of the plane formed by the propeller 104 and is lower than the center of gravity G1.

The center of gravity G3 is the position of the center of gravity of the flying object 20 when the second battery 200 is not being held and the cargo compartment 105 is carrying the heaviest cargo permitted by regulations. The heightwise position of the center of gravity G3 is below the height H1. The center of gravity G3 is also closer to the height H1 than the center of gravity G1.

Center of gravity G4 is the position of the center of gravity of the flying object 20 when the second battery 200 is held and the cargo compartment 105 is carrying the heaviest cargo permitted by regulations. The heightwise position of center of gravity G4 is below height H1. Center of gravity G3 is closer to height H1 than center of gravity G2.

In this way, the position of the center of gravity when cargo is loaded is closer to the plane formed by the propeller 104, whether the second battery 200 is attached or not, compared to the position of the center of gravity when no cargo is loaded. That is, for example, when the second battery 200 is attached, the position of the center of gravity of the flying body 20 is set at a position lower than the plane formed by the multiple propellers 104 rotated by the drive unit 103. The flying body 20 also has a luggage compartment 105 above the position of the center of gravity. With this configuration, the flying body 20's battery can be easily replaced, and the moment of inertia added to the propeller 104 when cargo is loaded is suppressed. Therefore, the flying body 20 can be operated in a stable attitude with the battery easily replaced when cargo is loaded.

The above describes the flying object 10 and the flying object 20, but the flying object 10 and the flying object 20 are not limited to the configuration described above. For example, the first battery 110 and the second battery 200 may have the same configuration, and the battery attachment section 121 may have a first attachment/detachment mechanism capable of holding and releasing the first battery 110, and a second attachment/detachment mechanism capable of holding and releasing the second battery 200.

As described above, this embodiment can provide an aircraft that allows for easy battery replacement, a simple battery replacement method, and a program for performing the simple battery replacement.

<Example of hardware configuration>
Below, a case will be described in which each functional configuration in the present disclosure is realized by a combination of hardware and software.

FIG. 8 is a block diagram illustrating an example of a hardware configuration of a computer. All or part of the functions executed by control unit 130 in this disclosure can be realized by computer 500 including the hardware configuration shown in the figure. Computer 500 may be a portable computer such as a smartphone or tablet terminal, or a stationary computer such as a PC. Computer 500 may be a dedicated computer designed to realize each device, or may be a general-purpose computer. Computer 500 can realize desired functions by installing a specified application.

Computer 500 has a bus 502, a processor 504, a memory 506, a storage device 508, an input/output interface (I/F) 510, and a network interface (I/F) 512. Bus 502 is a data transmission path through which processor 504, memory 506, storage device 508, input/output interface 510, and network interface 512 transmit and receive data to each other. However, the method of connecting processor 504 and the like to each other is not limited to bus connection.

The processor 504 is a variety of processors, such as a CPU, a GPU, or an FPGA. The memory 506 is a main storage device realized using a RAM (Random Access Memory) or the like.

Storage device 508 is an auxiliary storage device realized using a hard disk, SSD, memory card, or ROM (Read Only Memory), etc. Storage device 508 stores programs for realizing desired functions. Processor 504 reads this program into memory 506 and executes it to realize each functional component of each device.

The input/output interface 510 is an interface for connecting the computer 500 to an input/output device. For example, an input device such as a keyboard and an output device such as a display device are connected to the input/output interface 510.

The network interface 512 is an interface for connecting the computer 500 to a network.

The present disclosure has been described above with reference to the embodiments, but the present disclosure is not limited to the above-mentioned embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

The drawings referenced above are merely examples for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but also to one or more other embodiments. As will be appreciated by those skilled in the art, various features or steps described with reference to any one drawing may be combined with features or steps shown in one or more other figures to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessarily required to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes.
(Appendix 1)
A main body having a drive unit for flying;
A first battery that is attached to the main body and supplies power to the drive unit;
a battery mounting section that can receive a second battery when the drone descends from above the second battery and lands in a state in which a second battery that can be mounted on the underside of the main body and supply power to the drive section is not mounted;
An aircraft equipped with an attachment/detachment mechanism that can receive the second battery and hold and release the second battery in a landed attitude.
(Appendix 2)
The attachment/detachment mechanism includes:
A main body side magnetic body,
a magnetic control unit that controls the main body side magnetic body,
the magnetic control unit generates an attractive force between the battery-side magnetic body of the second battery and the main body-side magnetic body when the second battery is attached, and generates a repulsive force between the battery-side magnetic body and the main body-side magnetic body when the second battery is released.
2. The aircraft described in claim 1.
(Appendix 3)
At least one of the battery mounting section and the second battery has a positioning section including a slope that can absorb misalignment in a planar direction between the main body section and the second battery when the battery mounting section mounts the second battery.
2. The aircraft described in claim 1.
(Appendix 4)
When the second battery is attached, the center of gravity of the aircraft is set at a position lower than a plane formed by the plurality of propellers rotated by the drive unit,
A luggage compartment is provided above the center of gravity.
2. The aircraft described in claim 1.
(Appendix 5)
The capacity of the first battery is less than the capacity of the second battery.
2. The aircraft described in claim 1.
(Appendix 6)
The first battery and the second battery have the same configuration,
the battery mounting section has a first attachment/detachment mechanism capable of holding and releasing the first battery, and a second attachment/detachment mechanism capable of holding and releasing the second battery.
2. The aircraft described in claim 1.
(Appendix 7)
a power supply management unit that controls currents of the first battery and the second battery so that, when the second battery is attached to the main body, power is supplied from the first battery or the second battery to the driving unit, and, when the second battery is removed, power is supplied from the first battery to the driving unit.
The aircraft described in any one of appendix 1 to 6.
(Appendix 8)
A control unit that controls the flying object when the second battery is replaced is further provided.
The control unit is
When mounting position information regarding the mounting position where the second mounting battery is placed is received,
setting a release position for releasing the second battery in use by the aircraft within a range in which the aircraft can move to the mounting position using the residual power of the first battery;
Landing at the set release position to release the second battery in use;
Taking off with the second battery released and landing at the mounting position;
Executing a battery exchange method in which the second battery is mounted at the mounting position and the aircraft takes off;
8. The aircraft of claim 7.
(Appendix 9)
The computer
receiving mounting position information regarding a mounting position at which a second battery to be mounted on the aircraft is placed;
setting a release position for releasing the second battery in use by the aircraft within a range that the aircraft can move to the mounting position using the residual power of the first battery;
Land at the set release position to release the second battery in use,
Taking off with the second battery released and landing at the mounting position;
and mounting the second battery at the mounting position and taking off.
How to replace batteries.
(Appendix 10)
The flying object is
A main body having a drive unit for flying;
A first battery that is attached to the main body and supplies power to the drive unit;
a battery mounting section that can receive a second battery when the drone descends from above the second battery and lands in a state in which a second battery that can be mounted on the underside of the main body and supply power to the drive section is not mounted;
A battery replacement method as described in Appendix 9, further comprising: an attachment/detachment mechanism capable of receiving the second battery and holding and releasing the second battery in a landed attitude.
(Appendix 11)
The attachment/detachment mechanism includes:
A main body side magnetic body,
a magnetic control unit that controls the main body side magnetic body,
the magnetic control unit generates an attractive force between the battery-side magnetic body of the second battery and the main body-side magnetic body when the second battery is attached, and generates a repulsive force between the battery-side magnetic body and the main body-side magnetic body when the second battery is released.
11. The battery replacement method according to claim 10.
(Appendix 12)
At least one of the battery mounting section and the second battery has a positioning section including a slope that can absorb misalignment in a planar direction between the main body section and the second battery when the battery mounting section mounts the second battery.
11. The battery replacement method according to claim 10.
(Appendix 13)
When the second battery is attached, the center of gravity of the aircraft is set at a position lower than a plane formed by the plurality of propellers rotated by the drive unit,
A luggage compartment is provided above the center of gravity.
11. The battery replacement method according to claim 10.
(Appendix 14)
The capacity of the first battery is less than the capacity of the second battery.
11. The battery replacement method according to claim 10.
(Appendix 15)
The first battery and the second battery have the same configuration,
the battery mounting section has a first attachment/detachment mechanism capable of holding and releasing the first battery, and a second attachment/detachment mechanism capable of holding and releasing the second battery.
11. The battery replacement method according to claim 10.
(Appendix 16)
a control circuit for controlling the current of the first battery and the second battery so that, when the second battery is attached to the main body, power is supplied from the first battery or the second battery to the driving unit, and, when the second battery is removed, power is supplied from the first battery to the driving unit.
The battery replacement method according to any one of claims 10 to 15.
(Appendix 17)
receiving mounting position information regarding a mounting position at which a second battery to be mounted on the aircraft is placed;
setting a release position for releasing the second battery in use by the aircraft within a range that the aircraft can move to the mounting position using the residual power of the first battery;
Land at the set release position to release the second battery in use,
Taking off with the second battery released and landing at the mounting position;
and mounting the second battery at the mounting position and taking off.
A program that causes a computer to execute a battery replacement method.
(Appendix 18)
The attachment/detachment mechanism includes:
A main body side magnetic body,
a magnetic control unit that controls the main body side magnetic body,
the magnetic control unit generates an attractive force between the battery-side magnetic body of the second battery and the main body-side magnetic body when the second battery is attached, and generates a repulsive force between the battery-side magnetic body and the main body-side magnetic body when the second battery is released.
18. The program according to claim 17.
(Appendix 19)
At least one of the battery mounting section and the second battery has a positioning section including a slope that can absorb misalignment in a planar direction between the main body section and the second battery when the battery mounting section mounts the second battery.
18. The program according to claim 17.
(Appendix 20)
When the second battery is attached, the center of gravity of the aircraft is set at a position lower than a plane formed by the plurality of propellers rotated by the drive unit,
A luggage compartment is provided above the center of gravity.
18. The program according to claim 17.

Some or all of the elements described in Appendix 2 to Appendix 8 that are dependent on Appendix 1 may also be dependent on the method of Appendix 9 and the program of Appendix 17 in a similar dependent relationship. Some or all of the elements described in any appendix may be applied to various hardware, software, recording means for recording software, systems, and methods.

The program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium may include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium may include electrical, optical, acoustic, or other forms of propagated signals.

This application claims priority based on Japanese Patent Application No. 2023-213225, filed on December 18, 2023, the entire disclosure of which is incorporated herein by reference.

REFERENCE SIGNS LIST 10 Aircraft 20 Aircraft 100 Main body 102 Legs 103 Drive unit 104 Propeller 105 Cargo compartment 110 First battery 121 Battery mounting unit 122 Attachment/detachment mechanism 123 Connector 124 Positioning unit 125 Distance measurement sensor 130 Control unit 131 Power management unit 200 Second battery 201 Battery housing 202 Attachment/detachment mechanism 203 Connector 204 Positioning unit 500 Computer 502 Bus 504 Processor 506 Memory 508 Storage device 510 Input/output I/F
512 Network I/F
900 User terminal P1 Release position P2 Mounting position

Claims (20)

A main body having a drive unit for flying;
A first battery that is attached to the main body and supplies power to the drive unit;
a battery mounting section that can receive a second battery when the drone descends from above the second battery and lands in a state in which a second battery that can be mounted on the underside of the main body and supply power to the drive section is not mounted;
An aircraft equipped with an attachment/detachment mechanism that can receive the second battery and hold and release the second battery in a landed attitude. The attachment/detachment mechanism includes:
A main body side magnetic body,
a magnetic control unit that controls the main body side magnetic body,
the magnetic control unit generates an attractive force between the battery-side magnetic body of the second battery and the main body-side magnetic body when the second battery is attached, and generates a repulsive force between the battery-side magnetic body and the main body-side magnetic body when the second battery is released.
The flying vehicle according to claim 1. At least one of the battery mounting section and the second battery has a positioning section including a slope that can absorb misalignment in a planar direction between the main body section and the second battery when the battery mounting section mounts the second battery.
The flying vehicle according to claim 1. When the second battery is attached, the center of gravity of the aircraft is set at a position lower than a plane formed by the plurality of propellers rotated by the drive unit,
A luggage compartment is provided above the center of gravity.
The flying vehicle according to claim 1. The capacity of the first battery is less than the capacity of the second battery.
The flying vehicle according to claim 1. The first battery and the second battery have the same configuration,
the battery mounting section has a first attachment/detachment mechanism capable of holding and releasing the first battery, and a second attachment/detachment mechanism capable of holding and releasing the second battery.
The flying vehicle according to claim 1. a power supply management unit that controls currents of the first battery and the second battery so that, when the second battery is attached to the main body, power is supplied from the first battery or the second battery to the driving unit, and, when the second battery is removed, power is supplied from the first battery to the driving unit.
The flying object according to any one of claims 1 to 6. A control unit that controls the flying object when the second battery is replaced is further provided.
The control unit is
When mounting position information regarding the mounting position where the second mounting battery is placed is received,
setting a release position for releasing the second battery in use by the aircraft within a range in which the aircraft can move to the mounting position using the residual power of the first battery;
Landing at the set release position to release the second battery in use;
Taking off with the second battery released and landing at the mounting position;
Executing a battery exchange method in which the second battery is mounted at the mounting position and the aircraft takes off;
The flying vehicle according to claim 7. The computer
receiving mounting position information regarding a mounting position at which a second battery to be mounted on the aircraft is placed;
setting a release position for releasing the second battery in use by the aircraft within a range that the aircraft can move to the mounting position using the residual power of the first battery;
Land at the set release position to release the second battery in use,
Taking off with the second battery released and landing at the mounting position;
and mounting the second battery at the mounting position and taking off.
How to replace batteries. The flying object is
A main body having a drive unit for flying;
A first battery that is attached to the main body and supplies power to the drive unit;
a battery mounting section that can receive a second battery when the drone descends from above the second battery and lands in a state in which a second battery that can be mounted on the underside of the main body and supply power to the drive section is not mounted;
The battery replacement method according to claim 9 , further comprising: an attachment/detachment mechanism that is capable of holding and releasing the second battery in a landing attitude after receiving the second battery. The attachment/detachment mechanism includes:
A main body side magnetic body,
a magnetic control unit that controls the main body side magnetic body,
the magnetic control unit generates an attractive force between the battery-side magnetic body of the second battery and the main body-side magnetic body when the second battery is attached, and generates a repulsive force between the battery-side magnetic body and the main body-side magnetic body when the second battery is released.
The battery replacement method according to claim 10. At least one of the battery mounting section and the second battery has a positioning section including a slope that can absorb misalignment in a planar direction between the main body section and the second battery when the battery mounting section mounts the second battery.
The battery replacement method according to claim 10. When the second battery is attached, the center of gravity of the aircraft is set at a position lower than a plane formed by the plurality of propellers rotated by the drive unit,
A luggage compartment is provided above the center of gravity.
The battery replacement method according to claim 10. The capacity of the first battery is less than the capacity of the second battery.
The battery replacement method according to claim 10. The first battery and the second battery have the same configuration,
the battery mounting section has a first attachment/detachment mechanism capable of holding and releasing the first battery, and a second attachment/detachment mechanism capable of holding and releasing the second battery.
The battery replacement method according to claim 10. currents of the first battery and the second battery are controlled so that when the second battery is attached to the main body, power is supplied from the first battery or the second battery to the driving unit, and when the second battery is removed, power is supplied from the first battery to the driving unit;
The battery replacement method according to any one of claims 10 to 15. receiving mounting position information regarding a mounting position at which a second battery to be mounted on the aircraft is placed;
setting a release position for releasing the second battery in use by the aircraft within a range that the aircraft can move to the mounting position using the residual power of the first battery;
Land at the set release position to release the second battery in use,
Taking off with the second battery released and landing at the mounting position;
and mounting the second battery at the mounting position and taking off.
A program that causes a computer to execute a battery replacement method. The attachment/detachment mechanism includes:
A main body side magnetic body,
a magnetic control unit that controls the main body side magnetic body,
the magnetic control unit generates an attractive force between the battery-side magnetic body of the second battery and the main body-side magnetic body when the second battery is attached, and generates a repulsive force between the battery-side magnetic body and the main body-side magnetic body when the second battery is released.
18. The program according to claim 17. At least one of the battery mounting section and the second battery has a positioning section including a slope that can absorb misalignment in a planar direction between the main body section and the second battery when the battery mounting section mounts the second battery.
18. The program according to claim 17. When the second battery is attached, the center of gravity of the aircraft is set at a position lower than a plane formed by the plurality of propellers rotated by the drive unit,
A luggage compartment is provided above the center of gravity.
18. The program according to claim 17.

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