Flying robot storage device

Abstract

To provide a storage device of a flight robot (a drone) that is configured to change a battery of the flight robot when the robot returns, which can shorten a time during which the drone stays in the device in order to change the battery.SOLUTION: A storage device 1 comprises a storage part 13 for a battery 30, a battery replacement part 12 comprising XY-linear mechanisms 20 and 21 and a rotating mechanism 19, and a control part 7. The control part, when obtaining information about returning from a drone 2, calculates a predicted time for returning during which the drone returns from a current position to a replacement position in the device, and determines a timing for starting a conveyance of a battery at which a waiting time for the battery is short and executes the conveyance, on the basis of a conveyance time during which the battery replacement part conveys the battery from the storage part to the replacement position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a storage device for a flying robot that has the function of replacing used batteries with charged batteries when the flying robot, which is powered by a battery, returns and is stored, and in particular to a storage device for a flying robot that can shorten the time the flying device stays in the storage device for battery replacement. [Background technology]

[0002] In recent years, patrol services using drones have been provided. For example, these patrol services involve flying a drone autonomously along a predetermined route to check for any abnormalities within a monitored area. Patent Document 1 listed below discloses an invention of a monitoring system that provides the above-mentioned patrol service. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-55362 Summary of the Invention [Problem to be solved by the invention]

[0004] In the drone patrol service disclosed in Patent Document 1, if the battery capacity falls below a predetermined value during flight, the drone returns to a storage device called a drone port to recharge, and once charging is complete, it resumes patrol flight, repeating this process.

[0005] Therefore, conventional drone patrol services had the problem that monitoring operations could not be carried out while the drones were charging unless multiple drones were available.

[0006] The present invention has been made in consideration of the problems with conventional technology, and aims to provide a storage device for a battery-powered flying robot (drone) that can replace the battery when the flying robot returns, and that can shorten the time the flying robot needs to stay in the storage device for battery replacement. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the storage device for the flying robot of the present invention is provided with a battery replacement section inside for replacing the battery of the flying robot, and when the flying robot is in a state where it is about to return to the storage device (return mode), the charged battery is grasped by a holding section and transported to the battery replacement position of the flying robot in time with the return, so that the battery can be replaced immediately when the flying robot enters the storage device and arrives at the battery replacement position.

[0008] The flying robot storage device according to the present invention comprises: A flying robot storage device that stores a flying robot that can fly autonomously using a battery as a power source, a communication unit that communicates with the flying robot; a storage section for storing a battery of the flying robot; a battery exchange unit that exchanges a battery attached to the flying robot with a battery in the storage unit; a control unit that controls the battery exchange unit and acquires return information of the flying robot; When the control unit acquires the return information, the control unit controls the battery exchange unit so that the returned flying robot transports the battery in the storage unit to an exchange position where the battery can be exchanged. death , The battery replacement unit includes: a holding section that holds a battery; a linear motion mechanism that moves the holding section linearly between a storage position where the battery is stored and the replacement position; and a rotation mechanism that rotates the holding section about a rotation axis that is perpendicular to a movement plane of the linear motion mechanism, The control unit the holding unit holds the replacement battery in the storage unit, the linear motion mechanism and the rotation mechanism move the holding unit to transport the replacement battery to the replacement position, remove the battery attached to the flying robot, and control the battery replacement unit to attach the replacement battery to the flying robot; The holding portion is two holding means arranged at two positions on opposite sides of the rotation axis of the rotation mechanism so as to face the opposite side of the rotation axis; The control unit controlling the battery replacement unit so that after the battery attached to the flying robot is removed by one of the holding means, the battery replacement unit rotates the holding unit to attach a replacement battery held by the other holding means to the flying robot; at least first and second battery exchange units; The control unit The holding portion of the second battery replacement unit is retracted at the timing when the holding portion of the first battery replacement unit rotates, and multiple batteries are simultaneously attached to the flying robot. It is characterized by the following. This allows the battery replacement unit inside the storage device to transport a replacement battery to the replacement position for replacing the battery of the flight device in time with the flight device's return to the storage device, thereby shortening the time the flight device spends in the storage device for battery replacement and reducing the time lost during battery replacement, thereby minimizing gaps in the flight device's patrol operations as much as possible. Furthermore, by operating the holding part of the battery replacement part and the linear motion mechanism and rotation mechanism that drive it in accordance with the return timing of the flight device, the replacement battery can be transported to the replacement position, the battery attached to the flight device can be removed, and the replacement battery can be attached to the flight device reliably. In addition, the two holding means rotated by the rotation mechanism are located on opposite sides of the rotation axis of the rotation mechanism and face the opposite side of the rotation axis.Therefore, after removing the battery attached to the flight device using one of the holding means, the replacement battery held by the other holding means can be quickly attached to the flight device by rotating the holding part.This allows battery replacement to be performed efficiently with simplified and simple operations, thereby shortening the time required for battery replacement. In addition, there are at least two sets of holding parts each having two holding means, and while one holding part is rotating, the other holding part is retracted to a position where it does not interfere with the operation of the other holding part, so that battery replacement can be performed more efficiently using two holding means.

[0009] The flying robot storage device according to the present invention comprises: A flying robot storage device that stores a flying robot that can fly autonomously using a battery as a power source, a communication unit that communicates with the flying robot; a storage section for storing a battery of the flying robot; a battery exchange unit that exchanges a battery attached to the flying robot with a battery in the storage unit; a control unit that controls the battery exchange unit and acquires return information of the flying robot; When the control unit acquires the return information, the control unit controls the battery exchange unit so that the returned flying robot transports the battery in the storage unit to an exchange position where the battery can be exchanged. , The control unit When the return information is acquired, a return predicted time required for the flying robot to reach the exchange position from the current position acquired from the flying robot is calculated; The timing for starting transport of the battery is determined based on the predicted return time and the transport time required for the battery exchange unit to transport the battery from the storage unit to the exchange position. By completing the replacement preparation at an appropriate time in this manner, it is possible to prevent the discharge of the charged replacement battery. [Effects of the Invention]

[0013] According to the flying robot storage device of the present invention, the battery replacement unit inside the storage device transports a replacement battery to the replacement position for replacing the flying robot's battery in accordance with the timing when the flying robot returns to the storage device.This shortens the time the flying robot spends in the storage device for battery replacement, reducing the time lost during battery replacement and thereby minimizing gaps in the flying robot's patrol operations as much as possible. [Brief explanation of the drawings]

[0014] [Figure 1] 10A to 10C are sequential diagrams showing the operation of the storage device of the embodiment when the drone lands. [Figure 2] FIG. 2 is a plan view showing the main structure inside the frame of the storage device according to the embodiment. [Figure 3] 1 is a perspective view showing a battery storage section and a battery replacement section provided in a frame of the storage device of the embodiment. FIG. [Figure 4] 10A to 10C are process diagrams schematically illustrating, in plan view, the battery replacement work in the storage device of the embodiment. [Figure 5] 10A to 10C are process diagrams schematically illustrating, in plan view, the battery replacement work in the storage device of the embodiment. [Figure 6] 10A to 10C are process diagrams schematically illustrating, in plan view, the battery replacement work in the storage device of the embodiment. [Figure 7] FIG. 1 is an explanatory diagram showing a time-series flow of the interrelationship between the operations of the storage device and the drone in an embodiment. [Figure 8] FIG. 1 is an explanatory diagram showing a schematic time series of the state and operation of the drone and the operation of the storage device in an embodiment. [Figure 9] An explanatory diagram showing the time series of the correspondence between changes in the state of the drone and the start timing of battery replacement work in an embodiment (when the predicted return time of the drone is calculated to determine the start timing of battery replacement work). [Figure 10]FIG. 10 is an explanatory diagram showing, in time series, the correspondence between changes in the state of the drone and the start timing of the battery replacement work in an embodiment (when the predicted return time of the drone is not calculated). DETAILED DESCRIPTION OF THE INVENTION

[0015] A storage device according to an embodiment of the present invention will be described with reference to FIGS. This storage device 1 is a launching and landing base for a flying robot (hereinafter referred to as a drone 2) that is powered by a battery and does not require remote control by a human, and is capable of autonomous flight, and can store the drone 2 inside. This storage device 1 is installed at a predetermined location within a monitored area as a base for the drone 2 that performs the aforementioned patrol service that does not require remote control by a human, and when the patrolling drone 2 returns and lands, it can store it inside the device and automatically replace the used battery attached to the drone 2 with a charged battery that has been prepared. This storage device 1 is constantly connected to the drone 2 via communication, and can obtain information such as the current location and remaining battery power from the drone 2.

[0016] First, with reference to FIG. 1, the basic structure and function of the storage device 1 and an overview of the landing and takeoff operations of the drone 2 in the storage device 1 will be described. The basic structure of the storage device 1 will be described with reference to FIG. As shown in Fig. 1, the storage device 1 has a frame 3 which is the main body, a takeoff and landing pad 4 provided inside the frame 3, and a storage section 6 which is made up of a ceiling 5 which opens and closes the opening on the top surface of the frame 3. The storage device 1 also has a control section 7 (not shown in Fig. 1) which controls communication with the drone 2 and the operation of the mechanical section (see Fig. 7).

[0017] As shown in Figure 1, the frame 3 of the storage section 6 has a framework in the shape of a roughly hexagonal prism with a hexagonal opening on the top surface. Although not shown in Figure 1 to show the internal mechanism, exterior panels are actually attached to the outer periphery and bottom surface of the framework to protect the internal mechanism and the drone 2 stored inside.

[0018] As shown in Figure 1, a ceiling 5 that can be opened and closed is provided over the opening at the top of the frame 3. The ceiling 5 is made up of six equilateral triangular cover plates 5a, which are formed by dividing a regular hexagon into six parts, and the cover plates 5a can be assembled into a regular hexagon to close the opening, as shown in Figure 1(1). The opening can be opened by moving each cover plate 5a in a direction parallel to its outer edge, as shown by the arrows in Figures 1(1) and 1(2), and can be closed by moving each cover plate 5a in a direction parallel to its outer edge, as shown by the arrows in Figures 1(7) and 1(8).

[0019] As shown in Figure 1, particularly (4), the takeoff and landing pad 4 provided inside the frame 3 has a hexagonal plate-like base part 8 that moves up and down inside the frame 3, six plate-like movable parts 9 that are pivotally supported on each side of the base part 8 and swing or open and close as needed, and a circular rotating part 10 that is rotatably provided in the center of the base part 8. The takeoff and landing pad 4 can move up and down inside the frame 3, and when retracted into the frame 3, the movable parts 9 are raised (see Figures 1 (2) and (7)), and when protruding from the opening of the frame 3, the movable parts 9 are deployed outward to provide a large circular landing space for the drone 2 to land (see Figure 1 (4)).

[0020] The landing operation of the storage device 1 will be explained for each of the sub-figure numbers (1) to (8) with reference to FIGS. (1) When the drone 2 is flying, the takeoff and landing pad 4 is within the frame 3 and the ceiling 5 is closed. (2) When drone 2 approaches for landing, ceiling 5 opens. (3) Platform 4 rises. (4) The movable section 9 of the takeoff and landing platform 4 is deployed and preparations for landing are completed. (5) Drone 2 lands on takeoff and landing pad 4. (6) The movable part 9 of the takeoff and landing pad 4 closes, guiding the drone 2 to the center of the base part 8. (7) The rotating unit 10 (not shown) rotates to position the drone 2 at the center of the rotating unit 10, and the takeoff and landing pad 4 descends. This operation will be described in detail later with reference to Figures 2 to 5. (8) The takeoff and landing pad 4 descends and sets the drone 2 at a replacement position where the battery can be replaced. The drone 2 is fixed at the replacement position, where the battery is replaced. The mechanism installed at this replacement position and its operation will be described in detail later. After the battery replacement is complete, the drone 2 takes off in the reverse order of steps (1) to (8) described above.

[0021] Next, with reference to Figures 2 and 3, the fixing section 11 for the drone 2, the battery replacement section 12 for replacing the battery 30, and the battery storage section 13 provided inside the storage device 1 will be described.

[0022] 2 is a plan view showing the main structure inside the storage section 6, and shows the drone 2 placed on the rotating section 10 of the takeoff and landing pad 4 and set at the exchange position EP, the fixing section 11 for the drone 2 provided around it, the battery exchange sections 12, 12, and the storage sections 13, 13 for the battery 30. FIG. 3 is a perspective view showing one of the pair of battery exchange section 12 and storage section 13 shown in FIG. 2.

[0023] As shown in FIG. 2, a fixing portion 11 is provided in the frame 3 adjacent to one side (upper side in FIG. 2) of the drone 2 that is in the exchange position EP.

[0024] As shown in FIG. 2, the fixing unit 11 is movable in the X direction (up and down in FIG. 2) within a horizontal plane. It includes a guide rail 14 that is parallel to the Y direction (left and right in FIG. 2) within the horizontal plane, and a pair of fixing devices 15, 15 attached to the guide rail 14 so as to be movable in the Y direction. The fixing device 15 mechanically fixes the drone 2 and also serves as a power supply device equipped with electrodes for supplying power to the drone 2. If the drone 2 is not powered by a separate means while the battery 30 is being replaced, the drone 2's built-in control system will shut down, requiring extra power and time to restart. However, with this storage device 1, the drone 2 can be fixed with the fixing device 15 to replace the battery 30, and power can be supplied by the fixing device 15, eliminating the above-mentioned inconvenience. Meanwhile, a pair of electrodes 16, 16 are provided on both sides of the drone 2's body (both left and right sides in FIG. 2), serving as fixed locations for the fixing devices 15, 15 to grip.

[0025] According to the above-described configuration of the fixing unit 11, when the takeoff and landing pad 4 descends within the storage unit 6 and the drone 2 is set to the exchange position EP shown in FIG. 2, the fixing devices 15, 15 of the fixing unit 11 operate in the X and Y directions to grasp the two electrode devices 16, 16 located on the left and right sides of the body of the drone 2, securely fixing the drone 2 to the exchange position EP. This fixation also allows the drone 2 to receive power even while the battery 30 is being replaced. Note that the fixing device 15 of the fixing unit 11 is structured to clamp and fix the electrode device 16 of the drone 2, but various fixing structures may be employed, such as a fixing device with a convex structure inserted into a recess in the drone 2, or a fixing device that clamps and fixes the drone 2 from both sides with elastic fixing devices.

[0026] As shown in FIG. 2, a pair of sets of a battery replacement unit 12 and a storage unit 13 are provided in the storage unit 6 adjacent to the other side (lower side in FIG. 2) of the drone 2 at the replacement position EP. These two sets of battery replacement units 12 and storage units 13 are arranged symmetrically about a center line parallel to the X direction of the drone 2 at the replacement position EP. This corresponds to the fact that two batteries 30 are attached to the drone 2. Although not shown in FIG. 2, two batteries 30 are attached to the bottom of the main body of the drone 2 so that they can be freely inserted and removed in the X direction.

[0027] 3, the storage section 13 for the battery 30 has a hanging structure that allows the battery 30 to be inserted and removed in the Y direction, and can store four batteries 30 lined up in the X direction. The batteries 30 stored in the storage section 13 are charged by a power supply facility (not shown).

[0028] As shown in FIG. 3 , the battery replacement unit 12 includes a holding unit 17 that holds a battery 30. The holding unit 17 includes two holding means 18. In this embodiment, the holding means 18 is a gripper that opens and closes a pair of claws to release and grip the battery 30. However, the holding means may be any holding mechanism, such as a locking mechanism, a concave-convex engagement mechanism, or a clamping mechanism using pressure. The holding unit 17, which includes the two holding means 18, is attached to a rotation mechanism 19 that rotates the battery 30 in any direction and by any angle in the θ direction, which indicates rotation within a virtual XY (two-dimensional) plane. The two holding means 18 are arranged at two positions on opposite sides of a rotation axis (not shown) of the rotation mechanism 19, which is perpendicular to the XY plane formed by the X-movement mechanism 20 and the Y-movement mechanism 21, so that they face away from the rotation axis.

[0029] As shown in Figure 3, the holding unit 17 and the rotation mechanism 19 are mounted on an X-movement mechanism 20 as a linear motion mechanism, and as shown in Figure 2, the X-movement mechanism 20 can move the holding unit 17 in a direction approaching and moving away from the drone 2.

[0030] As shown in FIG. 3, X-movement mechanism 20 equipped with holding unit 17 and rotation mechanism 19 is mounted on Y-movement mechanism 21 as a linear motion mechanism, and as shown in FIG. 2, Y-movement mechanism 21 can move holding unit 17 and X-movement mechanism 20 in directions toward and away from storage unit 13.

[0031] According to the configuration of the fixing part 11 and the battery replacement part 12 shown in Figure 2, the drone 2 is fixed in its position in the X direction by the fixing part 11, which is movable in the X direction, which is the direction in which the battery 30 is inserted or removed from the drone 2, and both sides of the body are fixed in the Y direction, which is perpendicular to this. Therefore, even if a force in the X direction is applied to the drone 2 when the battery 30 is inserted or removed from the drone 2 in the X direction, the position is unlikely to shift.

[0032] Next, the battery 30 replacement operation by the battery replacement unit 12 will be described with reference to Figures 4 to 6. Note that in Figures 4 to 6, the structure of the battery replacement unit 12 shows only the holding unit 17, which is shown schematically as a small black rectangle, and other components are omitted. The drone 2 is also shown schematically as a circle. Furthermore, a charged battery 30 (battery 30F) is shown with diagonal lines (hatching), and a used battery 30 (battery 30E) is shown with a white outline.

[0033] First, although not shown in the figure, each holding section 17 moves in the Y direction from a predetermined starting position to approach the storage section 13, holds the charged battery 30F in the storage section 13, then moves in the Y direction away from the storage section 13 and pulls out the battery 30F from the storage section 13.

[0034] As shown in Figure 4 (1), the holding portion 17 then rotates in the θ direction, facing the battery 30F opposite the replacement position EP of the battery 30 attached to the drone 2, and waits for the drone 2 to arrive at the waiting position WP, which is in front of the replacement position EP.

[0035] As shown in Figures 4(2) and (3), when drone 2 receives the return information, returns, lands, and arrives at the replacement position EP, holding part 17 moves in the X direction toward drone 2 to grasp drone 2's used battery 30E, and then moves in the X direction away from drone 2 to pull out drone 2's battery 30E.

[0036] As shown in Figures 4(4) and 5(5), one (left) holding portion 17 moves in the Y direction away from the other (right) holding portion 17, ensuring space for the other (right) holding portion 17 to rotate in the θ direction.

[0037] As shown in Figures 5(6) and (7), the other (right) holding part 17 is rotated half a turn in the θ direction by the rotation mechanism 19, so that the charged battery 30F faces the drone 2 side.

[0038] As shown in Figure 5 (7), the other (right) holding part 17, which has been rotated half a turn in the θ direction so that the charged battery 30F faces the drone 2, moves in the Y direction away from the one (left) holding part 17, ensuring space for the one (left) holding part 17 to rotate in the θ direction.

[0039] As shown in Figure 5 (8) and Figure 6 (9), one (left) holding part 17 is rotated half a turn in the θ direction by the rotation mechanism 19, so that the charged battery 30F faces the drone 2 side.

[0040] As shown in FIG. 6(9), the other (right) holding portion 17 that has been retracted moves in the Y direction in a direction approaching one (left) holding portion 17.

[0041] As shown in FIG. 6(10), the two holders 17, 17 are lined up at the standby position WP with the charged battery 30F facing the drone 2. The two holders 17, 17 are moved in the X direction toward the exchange position EP.

[0042] As shown in FIG. 6(11), the two charged batteries 30F, 30F held by the two holders 17, 17 are inserted into the drone 2. After that, the two holders 17, 17 are moved in the direction away from the drone 2 along the X direction.

[0043] As shown in Figure 6 (12), the two charged batteries 30F, 30F are attached to the drone 2, and the two holders 17, 17 holding the used batteries 30E, 30E, respectively, are separated from the drone 2. This completes the drone 2's preparations for takeoff.

[0044] Thereafter, although not shown, the two holding parts 17, 17 perform linear motion in the X and Y directions and rotational motion in the θ direction to store the two used batteries 30E, 30E pulled out from the drone 2 in the storage parts 13, 13. These batteries 30E, 30E are charged and will be used the next time the battery is replaced.

[0045] According to the storage device 1 of this embodiment, it is possible to reliably remove a used battery 30E attached to the drone 2 and attach a charged replacement battery 30F to the drone 2. In particular, the two holding means 18, 18 are provided on opposite sides of the rotation axis (not shown) of the rotation mechanism 19, and both face the opposite side of the rotation axis. Therefore, after the battery 30E attached to the drone 2 is held by one of the holding means 18 and removed, the replacement battery 30F held by the other holding means 18 can be quickly attached to the drone 2 by rotating the holding part 17. This allows the battery 30 to be replaced efficiently with a simplified and simple operation that combines linear motion and rotational motion, and shortens the time required for battery 30 replacement. Moreover, in this embodiment, there are two sets of holding parts 17 each including two holding means 18, 18, and while one holding part 17 is rotating, the other holding part 17 is retracted to a position where it does not interfere with the operation of the other holding part 17. Therefore, the two holding means 18, 18 can be operated efficiently in a relatively small working area (the installation area of ​​the equipment), and the battery 30 can be replaced more efficiently.

[0046] Next, with reference to Figure 7, the interrelationship between the operation of the storage device 1 and the operation of the drone 2 will be explained in chronological order. When the drone 2 in flight determines that it should return to the storage device 1 based on its own position and remaining battery power, it transmits return information to the storage device 1. Alternatively, the storage device 1 constantly receives remaining battery power and position information from the drone 2 in flight, and when it determines that it should return based on the position and remaining battery power of the drone 2, it transmits a return instruction to the drone 2. Then, the drone 2 that has received the return instruction transmits return information to the storage device 1. When a flying drone 2 returns to the storage device 1, the drone 2 transmits return information to the storage device 1 and then prepares to land (D1). The return information is received by the control unit 7 via the receiver of the storage unit 6, and the storage unit 6 and battery replacement unit 12 accept the return of the drone 2 under the control of the control unit 7 as described below, replace the battery 30, and begin preparations for takeoff.

[0047] In the storage unit 6, the ceiling 5 is opened (H1), the takeoff and landing pad 4 rises, and the movable section 9 is deployed (H2). When landing permission information is sent from the transmitter in the storage unit 6 to the drone 2, the drone 2 receives this and lands on the takeoff and landing pad 4 (D2). In the storage unit 6, once landing is complete, the movable section 9 closes and positions the drone 2 above the rotating section 10 (H3), the takeoff and landing pad 4 descends (H4), and the drone 2 is fixed in the exchange position EP and power is supplied (H5).

[0048] In the battery exchange unit 12, when the control unit 7 selects a battery 30F that satisfies the conditions from among the batteries 30F (B1), the selected battery 30F is removed from the storage unit 13 (B2), transported (B3), and waits at the standby position WP for the drone 2 to land and be transported and fixed to the exchange position EP (B4). The selected battery 30F is selected from batteries that are fully charged, have a shorter time to full charge than others, and are used less frequently (H5), etc. When the drone 2 lands and is transported and fixed to the exchange position EP (H5), the battery 30F is exchanged (B5).

[0049] Drone 2 takes off after battery 30 is replaced (B5, D3).

[0050] In the above procedure, to increase the availability of the drone 2, it is preferable to shorten the time from landing (D2) to takeoff (D3), i.e., the stay time Tw that the drone 2 spends in the storage device 1, as much as possible. To achieve this, after the storage device 1 receives the return information and it is determined that the drone 2 will return to the storage device 1, it is necessary to replace the battery 30 of the landed drone 2 as quickly as possible and allow the drone 2 to take off. To achieve this, it is preferable to shorten the replacement time T2 required for battery replacement (B5) and to prepare a charged battery 30F to be attached to the drone 2 early. However, if the transport time T1 required to remove the battery 30F from the storage section 13 and transport it to the standby position WP is long, or if the battery 30 waits at the standby position WP for a long time, the battery 30 will discharge during that time, so it is preferable to shorten the time T1 required for transport and standby as much as possible.

[0051] As explained above, the battery replacement unit 12 of this embodiment has two sets of holding units 17, each including two holding means 18, 18, and the two holding means 18, 18 are operated efficiently by linear movement in the XY directions and rotational movement in the θ direction. Therefore, it can be said that the structure of the device achieves high efficiency and sufficiently shortens the replacement time T2 of the battery 30.

[0052] Therefore, in this embodiment, a control example (Figure 9) is described in which the predicted return time of drone 2 is calculated based on the return information and the timing to start the battery replacement work is optimally determined, thereby minimizing the discharge of battery 30F and replacing battery 30 at the appropriate time to allow drone 2 to take off quickly, and another control example (Figure 10) is described in which the discharge of battery 30 may be slightly increased compared to the control example of Figure 9, but the battery 30 is replaced at the appropriate time to allow drone 2 to take off quickly.

[0053] 8 is an explanatory diagram showing the state and operation of the drone 2 and the operation of the storage device 1 in a time series according to an embodiment. When the flying drone 2 enters a return preparation state (return mode) as shown at (1), it lands on the prepared storage device 1 as shown at (2), is stored in the storage device 1 as shown at (3), is set to the replacement position EP, and the battery 30 is replaced, and then takes off from the storage device 1 as shown at (4). The numbers (1) to (4) above correspond to the numbers (1) to (4) shown in the time series timing diagrams in FIGS. 9 and 10.

[0054] Figure 9 shows an example of control in which the predicted return time of drone 2 is calculated to determine the start timing of battery replacement work. When a drone 2 in patrol mode needs to return due to battery exhaustion or other reasons, it transmits return information to the storage device 1. Alternatively, the control unit 7 of the storage device 1 monitors the status of the drone 2 and issues a return request to the drone 2. Upon receiving the request, the drone 2 transmits the return information. As shown in (1), when the control unit 7 of the storage device 1 acquires the return information, the calculation means of the control unit 7 calculates the estimated return time TR of the drone 2. The estimated return time TR is the time required to move between the drone 2's current position information acquired from the drone 2 and the pre-stored exchange position EP in the storage device 6 shown in (3). The estimated return time may be subject to errors due to various factors, such as fluctuations in flight speed, fluctuations due to weather, and time fluctuations associated with guiding the landed drone 2 (Figure 1 (5) (6)). For example, in strong winds, the time required for landing may be significantly longer than in calm conditions. Therefore, the estimated return time may be calculated using past average values ​​or maximum values ​​for safety reasons. Alternatively, the estimated return time may be corrected using learning results based on weather (rain, wind, etc.) and other conditions.

[0055] Furthermore, the comparison means of the control unit 7 determines the optimal start timing for starting the transport of the battery 30F based on the predicted return time TR and the transport time T1 required for the battery exchange unit 12 to transport the battery 30F from the storage unit 13 to the exchange position EP. The transport time T1 depends mainly on the transport distance and transport speed within the storage device 1, which are determined by the mechanical configuration and control method of the storage device 1, and is therefore usually a constant value for each storage device 1. The storage device 1 starts the work of removing and transporting the battery 30F at the transport timing indicated by "Transport" in Figure 9, and starts the work of replacing the battery 30F at the exchange timing indicated by "Exchange."

[0056] Meanwhile, the drone 2 that transmitted the return information sets its flight mode to return mode and heads toward the storage device 1. After landing at the storage device 1 as shown in (2), it is stored in the storage section 6 and descends within the frame 3, and is set to the replacement position EP as shown in (3). The battery replacement unit 12 begins removing and transporting the battery 30F just before the drone 2 is set to the replacement position EP, and immediately after the drone 2 is set to the replacement position EP, the battery replacement unit 12 immediately begins replacing the battery 30. After completing the replacement of the battery 30, the drone 2 takes off from the storage device 1 as shown in (4), sets its flight mode to patrol mode again, and resumes patrol.

[0057] 9, the control unit 7 predicts the return time of the drone 2 and determines the optimal timing for the battery replacement unit 12 to start the battery replacement operation. Therefore, the battery replacement unit 12 completes preparations for battery replacement at the optimal timing, just before the drone 2 reaches the replacement position EP, minimizing the waiting time of the charged battery 30F removed from the storage unit 13 and minimizing discharge from the charged battery 30F. Furthermore, because the replacement time T2 required to replace the battery 30 is mechanically sufficiently shortened, the overall stay time Tw that the drone 2 spends in the storage device 1 can be shortened.

[0058] FIG. 10 shows an example of control in which the predicted return time of the drone 2 is not calculated. When the drone 2 flying in patrol mode needs to return due to battery exhaustion or other reasons, it transmits return information. As shown in (1), when the control unit 7 of the storage device 1 acquires the return information, the control unit 7 immediately starts the work of removing and transporting the battery 30F at the timing of acquiring the return information, i.e., the transport timing indicated by "Transport" in Fig. 10, and starts the work of replacing the battery 30 at the replacement timing indicated by "Replacement."

[0059] Meanwhile, the drone 2 that transmitted the return information sets its flight mode to return mode and heads toward the storage device 1. After landing on the storage device 1 as shown in (2), it is stored in the storage section 6 and descends within the frame 3, and is set to the replacement position EP as shown in (3). The battery replacement unit 12 begins removing and transporting the battery 30F immediately after the storage device 1 receives the return information and is already prepared, so once the drone 2 is set to the replacement position EP, the battery replacement unit 12 immediately begins replacing the battery 30. After completing the battery 30 replacement, the drone 2 takes off from the storage device 1 as shown in (4), sets its flight mode to patrol mode again, and resumes patrol.

[0060] As described above, according to the control example shown in FIG. 10 , the control unit 7 immediately removes the replacement battery 30F from the storage unit 13 and transports it to the replacement position EP upon detecting that the battery 30 needs to be replaced. Therefore, even if the distance between the drone 2 and the storage device 1 is quite short, there is little chance that the battery 30F will be ready by the time the drone 2 returns to the storage device 1 and is set at the replacement position EP. This reduces the time lost during battery replacement. Furthermore, the replacement time T2 required for battery replacement is also mechanically sufficiently shortened. This allows the overall stay time Tw of the drone 2 at the storage device 1 to be shortened, minimizing gaps in the drone 2's patrol operations. [Explanation of symbols]

[0061] 1...Storage device 2. Drones as flying robots 6...Storage section 7...Control unit 12...Battery replacement section 13...Storage area 17...Holding part 18...Holding means 19...Rotation mechanism 20...X-movement mechanism as a linear motion mechanism 21... Y-movement mechanism as a linear motion mechanism 30...Battery 30F... fully charged battery 30E...Used battery EP…Exchange position WP…Standby position

Claims

1. A flying robot storage device that stores a flying robot that can fly autonomously using a battery as a power source, a communication unit that communicates with the flying robot; a storage section for storing a battery of the flying robot; a battery exchange unit that exchanges a battery attached to the flying robot with a battery in the storage unit; a control unit that controls the battery exchange unit and acquires return information of the flying robot; When the control unit acquires the return information, the control unit controls the battery exchange unit so that the returned flying robot transports the battery in the storage unit to an exchange position where the battery can be exchanged, The battery replacement unit includes: a holding section that holds a battery; a linear motion mechanism that moves the holding section linearly between a storage position where the battery is stored and the replacement position; and a rotation mechanism that rotates the holding section about a rotation axis that is perpendicular to a movement plane of the linear motion mechanism, The control unit the holding unit holds the replacement battery in the storage unit, the linear motion mechanism and the rotation mechanism move the holding unit to transport the replacement battery to the replacement position, remove the battery attached to the flying robot, and control the battery replacement unit to attach the replacement battery to the flying robot; The holding portion is two holding means arranged at two positions on opposite sides of a rotation axis of the rotation mechanism so as to face the opposite side of the rotation axis; The control unit controlling the battery replacement unit so that after the battery attached to the flying robot is removed by one of the holding means, the battery replacement unit rotates the holding unit to attach a replacement battery held by the other holding means to the flying robot; at least first and second battery exchange units; The control unit A storage device for a flying robot, characterized in that the holding portion of the second battery replacement unit is retracted at the same time as the holding portion of the first battery replacement unit rotates, thereby simultaneously attaching multiple batteries to the flying robot.

2. A flying robot storage device for storing a flying robot capable of autonomous flight using a battery as a power source, comprising: a communication unit that communicates with the flying robot; a storage section for storing a battery of the flying robot; a battery exchange unit that exchanges a battery attached to the flying robot with a battery in the storage unit; a control unit that controls the battery exchange unit and acquires return information of the flying robot; When the control unit acquires the return information, the control unit controls the battery exchange unit so that the returned flying robot transports the battery in the storage unit to an exchange position where the battery can be exchanged, The control unit When the return information is acquired, a return predicted time required for the flying robot to reach the exchange position from the current position acquired from the flying robot is calculated; A storage device for a flying robot, characterized in that it determines the start timing for starting battery transportation based on the predicted return time and the transportation time it takes for the battery replacement unit to transport the battery from the storage unit to the replacement position.

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