Flight station

Abstract

The present invention relates to a flight station. The flight station may comprise: a main body; a transfer module on which an object is to be seated, and which transfers the object inside or outside the main body; and a battery module which receives the object from the transfer module and replaces a battery equipped in the object.

Description

flight station

[0001] The present invention relates to a flight station.

[0002]

[0003] The content described in this section merely provides background information for the present embodiment and does not constitute prior art.

[0004] Recently, with the advent of the Fourth Industrial Revolution, drones are being utilized in various ways across various industries. For example, drones are being utilized to inspect large industrial structures and ground-level locations that are difficult for humans to access. In particular, small drones, with their superior mobility and availability of diverse sensors, can perform a variety of missions in environments difficult for humans to access. Their low cost and low complexity also allow for mass deployment.

[0005] Meanwhile, drones face battery capacity issues, requiring them to return to a flight station after a certain period of flight to recharge. Typically, users land the drone, place it in the flight station, and then manually replace the battery. Consequently, technology development is steadily progressing to automate drone landing and battery replacement processes.

[0006] Furthermore, drones contain magnetic sensors. This magnetic field information is significantly affected not only by the sensor's own errors but also by surrounding electronic equipment and conductors. Consequently, correction of the magnetic field information is necessary. However, previously, this magnetic field correction was performed manually, requiring users to measure the magnetic field data while holding the drone in various positions. Consequently, there was a significant need to automate magnetic field correction to enhance user convenience.

[0007]

[0008] An object of the present invention is to provide a flight station capable of automatically performing battery replacement and magnetometer calibration for an object after the object lands on the flight station.

[0009]

[0010] A flight station according to some embodiments of the present invention may include a main body, a transport module on which an object is mounted, transporting the object inside or outside the main body, and a battery module that receives the object from the transport module and replaces a battery mounted on the object.

[0011] In addition, the transport module may include a mounting portion on which the object is mounted, and a transport portion connected to the mounting portion and configured to move the mounting portion.

[0012] In addition, the mounting part may include a body that comes into contact with the object, and a grip part that fixes the object in contact with the body.

[0013] Additionally, the grip portion may include a first grip that fixes the object based on pressure applied as the object moves downward.

[0014] Additionally, the grip portion may include a second grip that is controlled by at least one of a motor and an actuator to secure the object.

[0015] In addition, the battery module may include a slot portion for accommodating the battery, a lock portion for locking or unlocking the battery accommodated in the slot portion, and a driving portion for driving at least one of the slot portion and the lock portion.

[0016] In addition, the slot portion may include a plurality of slots into which the battery is inserted, and a rotation portion that changes the positions of the plurality of slots through rotational movement.

[0017] Additionally, the rotation unit may include a turn table.

[0018] Additionally, the driving unit can control the locking unit to lock or unlock the battery accommodated in the slot unit by rotating the locking unit at a predefined angle.

[0019] In addition, one side of the locking portion includes a cut surface, and the driving portion can rotate the locking portion so that the cut surface moves to a position corresponding to the unlocking slot when controlling any one of the plurality of slots included in the slot portion as an unlocking slot.

[0020] Additionally, the battery module may further include a charging terminal for charging the battery and a discharging terminal for discharging the battery.

[0021] In addition, the battery module includes a plurality of charging terminals including the charging terminal, and the plurality of charging terminals can be arranged to be spaced apart from each other by a predetermined angle on the locking part.

[0022] In addition, the flight station may further include a magnetometer correction module that performs magnetometer correction for the object mounted on the transfer module, and the magnetometer correction module may include a direction information generation unit that generates direction information for the object, and a processing unit that receives magnetic field information from a sensor included in the object, generates magnetometer correction information based on the direction information and the magnetic field information, and performs the magnetometer correction.

[0023] In addition, the direction information generation unit may include a GNSS (Global Navigation Satellite System) antenna, and the GNSS antenna may include a first antenna and a second antenna.

[0024] In addition, the direction information generation unit can measure the yaw angle of the flight station and generate the yaw angle of the flight station as the direction information, and the processing unit can generate the difference between the yaw angle of the object obtained through the direction information and the magnetic field information as the magnetic field correction information.

[0025] In addition, the direction information generation unit can measure the yaw angle of the flight station and generate the direction information based on the yaw angle of the flight station and the rotation angle of the transfer module, and the processing unit can generate the magnetic field correction information based on the direction information and the magnetic field information.

[0026] In addition, the direction information generation unit generates the direction information by combining the yaw angle of the flight station and the rotation angle of the transfer module, and the processing unit calculates a rotation matrix for converting the coordinate system of the pre-stored magnetic field model into the coordinate system of the sensor based on the direction information, and generates the magnetic field correction information based on the rotation matrix, the magnetic field information acquired through the sensor, and the magnetic field information acquired through the magnetic field model.

[0027] In addition, the direction information generation unit can generate a plurality of direction information through different rotation angles, and the processing unit can generate the magnetic field correction information based on the plurality of direction information and the plurality of magnetic field information acquired through the sensor at each of the different rotation angles.

[0028]

[0029] A flight station according to some embodiments of the present invention has a novel effect of being able to automate battery replacement for a subject after the subject has landed on the flight station.

[0030] Additionally, the flight station according to some embodiments of the present invention has a novel effect of being able to automate magnetometer calibration after an object lands on the flight station.

[0031] In addition, the flight station according to some embodiments of the present invention can increase user convenience and ease of object management by automating the landing process in which the object lands on the flight station, the transfer process in which the object is transferred after landing, the battery replacement process in which the battery of the object is replaced, and the magnetometer correction process in which the magnetometer of the object is corrected.

[0032] In addition to the above-described contents, specific effects according to some embodiments of the present invention are described together with specific details for carrying out the invention below.

[0033]

[0034] FIG. 1 is a block diagram of a flight station according to some embodiments of the present invention.

[0035] FIG. 2 is a conceptual diagram of a flight station according to some embodiments of the present invention.

[0036] FIG. 3 is a block diagram of a transport module according to some embodiments of the present invention.

[0037] FIGS. 4A to 4C are conceptual diagrams illustrating a transport module according to some embodiments of the present invention.

[0038] FIG. 5 is a block diagram of a battery module according to some embodiments of the present invention.

[0039] FIGS. 6A to 6C are drawings for explaining a slot portion included in a battery module according to some embodiments of the present invention.

[0040] FIGS. 7A to 7D are drawings for explaining a locking part included in a battery module according to some embodiments of the present invention.

[0041] FIGS. 8A to 8C are drawings for explaining a locking part included in a battery module according to some other embodiments of the present invention.

[0042] FIG. 9 is a drawing for explaining a locking part included in a battery module according to some other embodiments of the present invention.

[0043] FIGS. 10A to 10F are drawings for explaining step-by-step the operation of a transport module and a battery module according to some embodiments of the present invention.

[0044] FIG. 11 is a block diagram of a magnetometer correction module according to some embodiments of the present invention.

[0045] FIG. 12 is a conceptual diagram illustrating a magnetic field correction module according to some embodiments of the present invention.

[0046]

[0047] The terms and words used in this specification and claims should not be interpreted based on their general or dictionary meanings. In accordance with the principle that inventors can define the concepts of terms and words to best describe their inventions, they should be interpreted in a way that is consistent with the technical concept of the present invention. Furthermore, the embodiments described in this specification and the configurations depicted in the drawings are merely examples of how the present invention can be realized and do not fully represent the technical concept of the present invention. Therefore, it should be understood that various equivalents, modifications, and applicable examples may exist as of the time of filing.

[0048] Terms such as "first," "second," "A," and "B" used in this specification and claims may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, the first component could be referred to as the "second component," and similarly, the second component could also be referred to as the "first component."

[0049] The terminology used in this specification and claims is for the purpose of describing specific embodiments only and is not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. It should be understood that terms such as "comprise" or "have" in this application do not preclude the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification.

[0050] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0051] Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

[0052] In addition, each configuration, process, procedure or method included in each embodiment of the present invention may be shared within a scope that is not technically inconsistent with each other.

[0053] Hereinafter, flight stations according to some embodiments of the present invention will be described with reference to FIGS. 1 to 12.

[0054]

[0055] FIG. 1 is a block diagram of a flight station according to some embodiments of the present invention. FIG. 2 is a conceptual diagram of a flight station according to some embodiments of the present invention.

[0056] Referring to FIGS. 1 and 2, a flight station (1) according to some embodiments of the present invention is a station where an object (hereinafter referred to as “OJ”) can take off, stop, perform maintenance, and land. In this case, the object (OJ) may include a drone, but embodiments of the present invention are not limited thereto.

[0057] As some examples, the flight station (1) may include a body (hereinafter referred to as “BD”), a transport module (100), a battery module (200), and a magnetometer correction module (300). However, the embodiment of the present invention is not limited thereto, and it is obvious that any one of the transport module (100), the battery module (200), and the magnetometer correction module (300) included in the flight station (1) may be omitted or other configurations not shown in FIG. 1 may be included in the flight station (1) and implemented.

[0058] The main body (BD) may include a plurality of surfaces that define and distinguish the flight station (1) from the outside. For example, the main body (BD) may have a rectangular parallelepiped or a cube shape as illustrated in FIG. 2, but the embodiments of the present invention are not limited thereto.

[0059] As some examples, the body (BD) may include devices to assist the object (OJ) in landing on the flight station (1).

[0060] For example, the main body (BD) may include a GPS (Global Positioning System) sensor. The GPS sensor included in the main body (BD) may be used during the landing process for the flight station (1) of the object (OJ).

[0061] As another example, the main body (BD) may include a landing guidance device. In other words, the landing guidance device may be arranged on at least one surface of the main body (BD). For example, the landing guidance device may include an ArUco marker, an infrared beacon, an electromagnetic beacon, etc., but the embodiments of the present invention are not limited thereto. In this case, the landing guidance device may serve to guide the landing of the object (OJ) when it lands on the flight station (1) by outputting light of a predefined intensity or brightness. That is, the landing guidance device of the main body (BD) can be recognized by the object (OJ), and the object (OJ) can accurately determine the location of the flight station (1) based on the landing guidance device. For example, the landing guidance device of the main body (BD) can be recognized by a camera mounted on the object (OJ). Additionally, the landing guidance device may serve as a warning light that visually indicates to the surroundings when the object (OJ) lands on the flight station (1). Meanwhile, the main body (BD) may include a first guidance device arranged on the upper surface of the main body (BD), a second guidance device arranged on the front of the main body (BD), etc., but the embodiment of the present invention is not limited thereto, and a landing guidance device may also be arranged on the side of the main body (BD).

[0062] The landing process of the object (OJ) using the GPS sensor, landing guidance device, etc. included in the main body (BD) will be described in detail later through Fig. 10d.

[0063] The transport module (100) can transport the object (OJ). In other words, the object (OJ) can be mounted on the transport module (100), and the transport module (100) can transport the object (OJ) inside or outside the main body (BD) while the object (OJ) is mounted thereon.

[0064] As some examples, the transport module (100) can transport the object (OJ) located inside the main body (BD) to the outside of the main body (BD) during the take-off process of the object (OJ).

[0065] As some other examples, the transport module (100) can guide the landing of the object (OJ) from the outside of the main body (BD) during the landing process of the object (OJ) and transport the landed object (OJ) to the inside of the main body (BD). At this time, the transport module (100) can transport the landed object (OJ) to the battery module (200) to perform battery replacement for the object (OJ).

[0066] Hereinafter, the transport module (100) according to some embodiments of the present invention will be described in more detail with reference to FIGS. 3 to 4c.

[0067]

[0068] Figure 3 is a block diagram of a transport module according to some embodiments of the present invention. Figures 4a to 4c are conceptual diagrams illustrating a transport module according to some embodiments of the present invention.

[0069] Referring to FIGS. 1 to 3, a transport module (100) according to some embodiments of the present invention may include a transport section (110) and a settling section (120). However, the embodiments of the present invention are not limited thereto, and it is obvious that either the transport section (110) or the settling section (120) included in the transport module (100) may be omitted or other configurations not shown in FIG. 3 may be included in the transport module (100).

[0070] The transfer unit (110) is connected to the mounting unit (120) and can move the mounting unit (120). In other words, the transfer unit (110) can contact the mounting unit (120) and move the mounting unit (120) inside or outside the main body (BD).

[0071] As some examples, the transport unit (110) may include a robot arm. In other words, the transport unit (110) may be in the form of a robot arm including a predetermined number of joints, axes, etc. so as to be able to move the mounting unit (120) in multiple directions.

[0072] The landing pad (120) may be configured to accommodate the object (OJ). In other words, the landing pad (120) may accommodate the object (OJ). The landing pad (120) may also be referred to as a landing pad.

[0073] At this time, the mounting portion (120) may be formed to be rotatable left and right (x-axis, y-axis). Accordingly, when the object (OJ) lands at an angle facing the flight station (1), the mounting portion (120) may be rotated left or right at a predetermined angle (e.g., 180°), and the transfer portion (110) may provide the rotated mounting portion (120) to the battery module (200), thereby allowing the battery of the object (OJ) to be accommodated in the battery module (200). A detailed description thereof will be described in detail later with reference to FIG. 10e.

[0074] As some examples, the mounting portion (120) may include a body (121) that contacts the object (OJ) and a grip part (122) that fixes the object (OJ) contacted to the body (121).

[0075] Hereinafter, the body (121) and grip portion (122) included in the mounting portion (120) will be described with further reference to FIGS. 4a to 4c.

[0076] Referring to FIGS. 1 to 4C, the body (121) can accommodate the object (OJ). That is, the body (121) can support the object (OJ) from the bottom of the object (OJ). At this time, the body (121) can have a circular or polygonal shape. Although FIG. 4A illustrates a case where the body (121) has a rectangular shape, the embodiment of the present invention is not limited thereto.

[0077] The grip portion (122) can hold an object (OJ) in contact with the body (121). At this time, the grip portion (122) may be configured to be physically connected to the body (121). In other words, the grip portion (122) is connected to the body (121) and can serve to hold the object (OJ) in contact with the body (121).

[0078] For example, the grip portion (122) can be fixed by contacting the object (OJ) from the side of the object (OJ) as illustrated in FIG. 4B, but the embodiment of the present invention is not limited thereto. At this time, the height of the grip portion (122), that is, the distance at which the end of the grip portion (122) is spaced from the body (121), can be freely set. For example, the height of the grip portion (122) can be formed as much as the height of the body of the object (OJ) or as much as the height of the wing (drone arm) included in the object (OJ).

[0079] Meanwhile, the grip portion (122) may include a first grip (122a) as illustrated in FIG. 4c and a second grip (122b) as illustrated in FIG. 4d. The first grip (122a) may be referred to as a “passive grip,” and the second grip (122b) may be referred to as an “active grip.”

[0080] The first grip (122a) can manually fix the object (OJ) according to the movement of the object (OJ). At this time, the first grip (122a) can include an upper part (122a_1) and a lower part (122a_2). For example, as illustrated in FIG. 4c, when the object (OJ) moves downward, the lower part (122a_2) receives a force that is pressed downward, and accordingly, the upper part (122a_1) connected to the lower part (122a_2) receives a force that is pushed toward the center in the left and right directions. Accordingly, the upper part (122a_1) of the first grip (122a) can come into contact with the object (OJ) and fix the object (OJ).

[0081] The second grip (122b) can automatically fix the object (OJ). At this time, the second grip (122b) can be linked to a motor, an actuator, etc. For example, as illustrated in FIG. 4d, when the object (OJ) moves downward, the second grip (122b) automatically receives a force that pushes it toward the center from the left and right directions by the motor, the actuator, etc. Accordingly, the second grip (122b) can come into contact with the object (OJ) and fix the object (OJ).

[0082] At this time, since the grip portion (122) of the present invention is implemented as a second grip (122b), the flight station (1) can accommodate and operate a plurality of objects (OJ). For example, when the flight station (1) includes a plurality of battery modules (200) and a single transfer module (100), after the transfer module (100) transfers one of the plurality of objects (OJ) and provides it to one of the battery modules (200), the transfer module (100) can be separated from the one of the objects, and thereafter, the transfer module (100) can move to take off or land another of the plurality of objects (OJ).

[0083] Meanwhile, the grip portion (122) may include a landing guidance device. In other words, a landing guidance device may be arranged on at least one surface of the grip portion (122). For example, the landing guidance device may include an ArUco marker, an IR beacon, an electromagnetic beacon, etc., but the embodiment of the present invention is not limited thereto. At this time, the landing guidance device may perform a role of guiding the landing of the object (OJ) when it lands on the flight station (1) by outputting light of a predefined intensity or brightness. That is, the landing guidance device of the grip portion (122) can be recognized by the object (OJ), and the object (OJ) can accurately determine the location of the flight station (1) according to this landing guidance device. For example, the landing guidance device of the grip portion (122) can be recognized by a camera arranged below the object (OJ). Additionally, the landing guidance device may also function as a warning light that visually indicates to the surroundings when the object (OJ) lands on the flight station (1). Meanwhile, the grip portion (122) may include a first guidance device arranged on the upper surface of the grip portion (122), a second guidance device arranged on the front of the grip portion (122), etc., but the embodiment of the present invention is not limited thereto, and a landing guidance device may also be arranged on the side of the grip portion (122).

[0084] The landing process of the object (OJ) using the landing guidance device included in the grip portion (122) will be described in detail later with reference to FIG. 10d.

[0085]

[0086] Referring again to FIGS. 1 and 2, the battery module (200) can charge and replace a battery placed on the object (OJ). In other words, the battery module (200) can charge a battery mounted on the object (OJ) and replace a battery mounted on the object (OJ) by receiving the object (OJ) from the transport module (100).

[0087] Hereinafter, a battery module (200) according to some embodiments of the present invention will be described in more detail with reference to FIGS. 5 to 9.

[0088]

[0089] FIG. 5 is a block diagram of a battery module according to some embodiments of the present invention.

[0090] Referring to FIGS. 1, 2, and 5, a battery module (200) according to some embodiments of the present invention may include a slot portion (210), a lock portion (220), a charging terminal (230), a discharge terminal (240), and a driving portion (250). However, the embodiments of the present invention are not limited thereto, and it is understood that any one of the slot portion (210), the lock portion (220), the charging terminal (230), the discharge terminal (240), and the driving portion (250) included in the battery module (200) may be omitted or other configurations not shown in FIG. 5 may be included in the battery module (200).

[0091] The slot (210) can accommodate a battery mounted on the object (OJ). In other words, the slot (210) can receive a battery mounted on the object (OJ) by the transport module (100). A detailed description of the slot (210) will be described later with reference to FIGS. 6A to 6C.

[0092] The locking unit (220) can lock or unlock the battery accommodated in the slot unit (210). In other words, the locking unit (220) can control the battery accommodated in the slot unit (210) from being removed from the slot unit (210). A detailed description of the locking unit (220) will be described later with reference to FIGS. 7A to 9.

[0093] The charging terminal (230) can charge the battery accommodated in the slot portion (210), and the discharging terminal (240) can discharge the battery accommodated in the slot portion (210).

[0094] The driving unit (250) can drive at least one of the slot unit (210) and the locking unit (220). In other words, the driving unit (250) can control movement, rotation, etc. of the slot unit (210), the locking unit (220), etc. For example, the driving unit (250) can include a motor, an actuator, etc., but the embodiment of the present invention is not limited thereto.

[0095] Hereinafter, with further reference to FIGS. 6A to 6C, a slot portion (210) according to some embodiments of the present invention will be described, and with further reference to FIGS. 7A to 9, a configuration and operation of a lock portion (220), a charging terminal (230), a discharge terminal (240), and a driving portion (250) according to some embodiments of the present invention will be described.

[0096]

[0097] FIGS. 6A to 6C are drawings for explaining a slot portion included in a battery module according to some embodiments of the present invention.

[0098] Referring to FIGS. 1, 2, 5, and 6a to 6c, a slot portion (210) according to some embodiments of the present invention may include a slot (211) and a rotation portion (212).

[0099] A battery (hereinafter referred to as “BA”), which is a component of the object (OJ), can be inserted into the slot (211).

[0100] The slot (211) may include a plurality of slots (211a to 211d). In other words, the slot (211) may include a first slot (211a) to a fourth slot (211d). At this time, the first slot (211a) to the fourth slot (211d) may be arranged to be spaced apart from each other at a predefined angle. 6B and 6C illustrate that the first slot (211a) to the fourth slot (211d) are arranged at positions of 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock with respect to a clock at a separation angle of 90°, but the embodiments of the present invention are not limited thereto.

[0101] Meanwhile, as illustrated in FIG. 6b, the slot (211) may include a temperature part (hereinafter referred to as “TP”). In other words, a temperature part (TP) may be arranged in the slot (211). At this time, the temperature part (TP) may be arranged on any one of a plurality of outer walls of the slot (211), but the embodiment of the present invention is not limited thereto. For example, the temperature part (TP) may include a Peltier part, but the embodiment of the present invention is not limited thereto. The temperature part (TP) may perform a function of increasing or decreasing the temperature of the battery (BA).

[0102] On the other hand, as illustrated in FIG. 6c, the slot (211) may include a guide element (Guide Part, hereinafter referred to as “GP”). In other words, the guide element (GP) may be arranged and formed in the slot (211). At this time, the guide element (GP) may be arranged on at least one of a plurality of inner walls of the slot (211), for example, an upper wall, but the embodiment of the present invention is not limited thereto. For example, the guide element (GP) may include a protrusion formed at a predefined height, but the embodiment of the present invention is not limited thereto. At this time, a fitting area or the like that can be coupled with the guide element (GP) may be formed in the object (OJ), and the fitting area of ​​the object (OJ) and the guide element (GP) of the slot (211) may be fitted to each other.

[0103] The rotation unit (212) can change the positions of a plurality of slots (211a to 211d). In other words, the rotation unit (212) can change the coordinates and areas in which each slot (211a to 211d) is located within the slot unit (210) by moving each slot (211a to 211d).

[0104] For example, the rotation unit (212) can change the positions of a plurality of slots (211a to 211d) through rotational movement. At this time, the rotation unit (212) may include a turn table, but the embodiment of the present invention is not limited thereto.

[0105] For example, the rotation unit (212) can change the positions of the slots (211a to 211d) by rotating the first slot (211a) to the fourth slot (211d) arranged at 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock positions with respect to the clock at a separation angle of 90°. For a specific example, if the first slot (211a) is positioned at the 12 o'clock direction and the second slot (211b) is positioned at the 3 o'clock direction, the rotation unit (212) can control each slot (211a to 211d) to rotate in a predetermined direction (e.g., clockwise) so that the first slot (211a) is positioned at the 3 o'clock direction and the second slot (211b) is positioned at the 6 o'clock direction.

[0106]

[0107] FIGS. 7A to 7D are drawings for explaining a locking part included in a battery module according to some embodiments of the present invention.

[0108] Referring to FIGS. 1, 5, and 7a to 7d, the locking unit (220) can lock (hereinafter referred to as “L”) or unlock (hereinafter referred to as “UL”) the battery accommodated in the slot unit (210). In other words, the locking unit (220) can control the battery accommodated in each slot (211a to 211d) of the slot unit (210) from being removed from the slot unit (210).

[0109] At this time, the locking unit (220) can be controlled to move by the driving unit (250), and can lock (L) or unlock (UL) the battery accommodated in the slot unit (210) according to the control of the driving unit (250). In other words, the driving unit (250) can lock or unlock the battery accommodated in each slot (211a to 211d) of the slot unit (210) by controlling the movement of the locking unit (220).

[0110] As some examples, the driving unit (250) can lock (L) or unlock (UL) the battery accommodated in the slot unit (210) by rotating the locking unit (220). In other words, the driving unit (250) can control the locking unit (220) to lock or unlock the battery accommodated in the slot unit (210) by rotating the locking unit (220) at a predefined angle.

[0111] At this time, the locking part (220) may have a predefined shape. For example, the locking part (220) may be in the shape of a circle, a polygon (e.g., a triangle, a square, a pentagon, etc.), a predefined symbol, etc. At this time, the locking part (220) may have a shape in which one side is cut off. In other words, one side of the locking part (220) may include a cutting plane (Cutting Phase, hereinafter referred to as “C”). For example, in FIG. 7a <a1>, Fig. 7a <a2>and Fig. 7b <b1>A locking part (220) having a circular shape with one side cut off is shown in FIG. 7b. <b2>A locking part (220) having a “T” shape is shown with one side cut off in the shape of a “+” or a “cross”. However, the embodiment of the present invention is not limited thereto.

[0112] In this case, the driving unit (250) can lock (L) or unlock (UL) a plurality of slots (211a to 211d) based on the position of the cutting surface (C) included in the locking unit (220).

[0113] For example, when the driving unit (250) wants to control one of the plurality of slots (211a to 211d) included in the slot unit (210) as an unlock slot (e.g., the first slot (211a)), the driving unit (250) can rotate the locking unit (220) so that the cutting surface (C) included in the locking unit (220) moves to a position corresponding to the unlocking slot (e.g., the first slot (211a)). Taking FIGS. 7a and 7b as an example, as shown in FIGS. 7a and 7b, when the cut surface (C) of the locking part (220) is positioned in the 12 o'clock direction, and thus the slot in the 12 o'clock direction (e.g., the first slot (211a)) is an unlock slot, if the driving part (250) wants to control the slot in the 3 o'clock direction (e.g., the second slot (211b)) as an unlock slot, the locking part (220) can be rotated to the right so that the cut surface (C) of the locking part (220) faces the 3 o'clock direction.

[0114] At this time, the locking part (220) may be built into the main body (BD_200) of the battery module (200) as illustrated in FIG. 7c. In other words, the locking part (220) may be placed inside the main body (BD_200) of the battery module (200).

[0115] Through this, the driving unit (250) can control the locking unit (220) built into the main body (BD_200) of the battery module (200) to be locked in the groove (Groove, hereinafter referred to as “G”) formed in the battery (BA) or not locked, thereby locking (L) or unlocking (UL) the battery (BA) accommodated in the slot (211). Specifically, as illustrated in FIG. 7c, when the cut surface (C) of the locking part (220) is located in the slot (211), and the locking part (220) is not caught in the groove (G) of the battery (BA) accommodated in the slot (211), when the driving part (250) wants to lock (L) the slot (211), the locking part (220) can be rotated in a predetermined direction so that the cut surface (C) of the locking part (220) is not located in the slot (211), and accordingly, the other side of the locking part (220) other than the cut surface (C) is located in the slot (211), and the other side of the locking part (220) is caught in the groove (G) of the battery (BA) accommodated in the slot (211), so that the battery (BA) can be locked (L).

[0116] Meanwhile, as illustrated in FIG. 7d, the battery (BA) of the object (OJ) may include a groove (G) capable of accommodating a locking portion (220), a magnet (hereinafter referred to as “MG”) that generates a magnetic force with the slot (211), a fitting area (not shown) that may be coupled with a guide element (GP) of the slot (211), etc. At this time, the battery (BA) and the slot (211) may be coupled due to the fitting of the fitting area of ​​the battery (BA) and the guide element (GP) of the slot (211), the magnetic force of the magnet (MG), etc. In addition, as described above, the cut surface (C) or other surface of the locking portion (220) may be positioned in the groove (G) of the battery (BA), and accordingly, the battery (BA) may be locked (L) or unlocked (UL).

[0117] As an example, the charging terminal (230) and the discharging terminal (240) may be placed in one area of ​​the slot (211). In other words, the charging terminal (230) and the discharging terminal (240) may be attached or connected to any one of a plurality of locations or areas included in the slot (211).

[0118] However, the embodiment of the present invention is not limited thereto, and the charging terminal (230) may be placed in one area of ​​the locking portion (220).

[0119] Hereinafter, with reference to FIGS. 8A to 9, an embodiment in which the charging terminal (230) is positioned in one area of ​​the locking portion (220) and the charging terminal (230) and the locking portion (220) are connected will be described.

[0120]

[0121] FIGS. 8A to 8C are drawings for explaining a locking part included in a battery module according to some other embodiments of the present invention.

[0122] Referring to FIGS. 1, 5, and 8a to 8c, a structure (hereinafter referred to as “ST”) may be arranged in a locking unit (220) according to some embodiments of the present invention, and the structure (ST) may include a charging terminal (230) and a cover (hereinafter referred to as “CV”). At this time, the cover (CV) may play a role of supporting the charging terminal (230) from below, i.e., physically connecting the charging terminal (230) and the locking unit (220).

[0123] At this time, the structure (ST) can be connected to the center of the locking part (220) using elastic force. In other words, the locking part (220) can include an elastic body (e.g., a spring) that connects the center of the structure (ST) and the locking part (220) using elastic force.

[0124] As some examples, a plurality of structures (ST) may be arranged on the locking unit (220) as shown in FIGS. 8A and 8B, and each structure (ST) may include a charging terminal (230) and a cover (CV). At this time, each structure (ST) may be arranged at a predetermined angle on the locking unit (220). Although FIGS. 8A and 8B illustrate that each structure (ST) is arranged at 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock positions based on a clock with a separation angle of 90°, embodiments of the present invention are not limited thereto.

[0125] At this time, as shown in FIGS. 8a and 8b, one of the plurality of structures (ST) may be placed on the cut surface (C), and other structures (ST) other than the structure (ST) may be placed on the locking part (220) at a predetermined separation angle (e.g., 90°) with respect to the structure (ST) placed on the cut surface (C).

[0126] When the charging terminal (230) is arranged on the locking part (220), when the rotation process of the locking part (220) described above through FIGS. 7a to 7d occurs, if the structure (ST) comes into contact with the battery (BA), the charging terminal (230) charges the battery (BA).

[0127] At this time, as shown in Fig. 8b, a height difference occurs between the structure (ST) placed on the cut surface (C) of the locking portion (220) and the structure (ST) placed on the other surface of the locking portion (220) based on the 12 o'clock direction.

[0128] Accordingly, in the case of the structure (ST) placed on the cut surface (C) of the locking portion (220), the height limit due to the cut surface (C) cannot be reached to the catch height for the groove (G) of the battery (BA), and in the case of the structure (ST) placed on the other surface of the locking portion (220), the catch height is reached as shown in FIG. 8c, so that the corresponding charging terminal can come into contact with the battery (BA), and charging proceeds.

[0129]

[0130] FIG. 9 is a drawing for explaining a locking part included in a battery module according to some other embodiments of the present invention.

[0131] Referring to FIGS. 1, 5, 8a to 9, a structure (ST) may be arranged in a locking portion (220) according to some embodiments of the present invention, and the structure (ST) may include a charging terminal (230) and a cover (CV).

[0132] As some examples, a plurality of structures (ST) may be arranged on the locking portion (220) as illustrated in FIG. 9. At this time, each structure (ST) may be arranged spaced apart from the locking portion (220) by a predetermined angle.

[0133] For example, in Fig. 9 <d1>As shown in , a plurality of structures (ST) can be arranged on the locking portion (220) at a predetermined separation angle (e.g., 90°) on other surfaces except the cutting surface (C).

[0134] As another example, in Fig. 9 <d2>As illustrated, the plurality of structures (ST) may include a structure pair (ST_P) in which two structures (ST) are arranged adjacent to each other to form a pair, and the structure pair (ST_P) may be arranged on a surface other than the cutting surface (C) on the locking portion (220) with a predetermined separation angle (e.g., 90°).

[0135] In the arrangement of the structures (ST) shown in FIGS. 8A to 8C, as described above, the structure (ST) placed on the cut surface (C) of the locking portion (220) cannot charge the battery (BA) due to the height limit, and only the structure (ST) placed on the other surface of the locking portion (220) can charge the battery (BA).

[0136] In contrast, in the arrangement of the structures (ST) illustrated in FIG. 9, all structures (ST) are arranged on the other surface of the locking part (220), so that all structures (ST) can charge the battery (BA) regardless of the rotation of the locking part (220).

[0137]

[0138] Hereinafter, with reference to FIGS. 10A to 10F, a stepwise operation according to the position of the object (OJ) of the transport module (100) and the battery module (200) according to some embodiments of the present invention will be described.

[0139]

[0140] FIGS. 10A to 10F are drawings for explaining step-by-step the operation of a transport module and a battery module according to some embodiments of the present invention.

[0141] First, referring to FIGS. 1, 2, and 10a, the object (OJ) can be stored inside the flight station (1). At this time, the object (OJ) can be charged by the battery module (200).

[0142] Next, referring to FIGS. 1, 2, 5, 6a and 10b, in order for the object (OJ) to take off, the door (hereinafter referred to as “D”) of the flight station (1) can be opened, and the transfer unit (110) included in the transfer module (100) can move the object (OJ) provided in the battery module (200) to the outside of the flight station (1).

[0143] At this time, the battery module (200) can unlock the battery (BA) of the object (OJ) from the slot (e.g., the first slot (211a)) by rotating the locking part (220).

[0144] Next, referring to FIGS. 1, 2 and 10c, the object (OJ) can take off from outside the flight station (1).

[0145] Next, referring to FIGS. 1, 2 and 10d, the object (OJ) can return to the flight station (1) after performing the mission. At this time, the object (OJ) can be seated on the mounting portion (120) by recognizing the location of the flight station (1). In other words, the object (OJ) can be seated on the mounting portion (120) by performing a recognition process for the flight station (1). At this time, the recognition process of the object (OJ) can include a first recognition step to a third recognition step. At this time, the object (OJ) can sequentially perform each of the first recognition step to the third recognition step as it approaches the flight station (1).

[0146] More specifically, the object (OJ) can receive a GPS signal through a GPS sensor included in the main body (BD) of the flight station (1) as a first recognition process, and recognize the location of the flight station (1) based on the received GPS signal. At this time, the first recognition process can be performed, for example, when the distance between the object (OJ) and the flight station (1) is 20 m or more, but it is obvious that the embodiment of the present invention is not limited thereto.

[0147] Next, the object (OJ) can recognize a landing guidance device arranged on the main body (BD) of the flight station (1) as a second recognition process. At this time, the landing guidance device may include an ArUco marker, an IR beacon, an electromagnetic beacon, etc. as described above with reference to FIG. 1, but the embodiment of the present invention is not limited thereto. At this time, the second recognition process may be performed, for example, when the distance between the object (OJ) and the flight station (1) is 10 m or more and 20 m or less, but it is obvious that the embodiment of the present invention is not limited thereto.

[0148] Next, the object (OJ) can recognize the landing guidance device arranged in the mounting portion (120) included in the transfer module (100) of the flight station (1) as a third recognition process. At this time, the landing guidance device may include an ArUco marker, an IR beacon, an electromagnetic beacon, etc., but the embodiment of the present invention is not limited thereto. For example, the landing guidance device may be arranged in the grip portion (122 of FIGS. 4A to 4D) of the mounting portion (120). At this time, the third recognition process may be performed when the distance between the object (OJ) and the flight station (1) is 10 m or less, for example, 1 m or more and 2 m or less, but it is obvious that the embodiment of the present invention is not limited thereto.

[0149] Next, referring to FIGS. 1, 2 and 10e, after the object (OJ) is mounted on the mounting portion (120), the mounting portion (120) can be rotated so that the battery (BA) of the object (OJ) is positioned in a direction facing the battery module (200). That is, when the object (OJ) lands at an angle facing the flight station (1), the mounting portion (120) can be rotated to the left or right by a predetermined angle (e.g., 180°), and accordingly, the battery (BA) of the object (OJ) can be positioned in the direction toward the battery module (200).

[0150] Thereafter, the transfer unit (110) can provide the rotated mounting unit (120) to the battery module (200) so that the battery of the object (OJ) can be accommodated in the battery module (200).

[0151] Next, referring to FIGS. 1, 2, 5, 6A to 7D and 10F, the object (OJ) is provided to the battery module (200) so that charging and replacement of the battery (BA) can be performed.

[0152] In more detail, Fig. 10f <e1>As shown in , first, the transfer unit (110) moves the object (OJ) rearward so that the battery (BA) can be mounted in the slot (211), and then, when the battery (BA) is fixed in the slot (211), the transfer unit (110) moves the object (OJ) forward again so that the battery (BA) can be separated from the object (OJ). At this time, the fixing of the slot (211) and the battery (BA) can be performed due to the fitting engagement of the fitting area of ​​the battery (BA) and the guide element (GP) of the slot (211), the magnetic force by the magnet (MG), etc.

[0153] Next, in Fig. 10f <e2>As shown in , the rotation part (212) of the slot part (210) can be rotated so that the used battery is moved to a position other than the 12 o'clock direction, and instead the charged battery is positioned in the 12 o'clock direction.

[0154] Next, the transport unit (110) can move the object (OJ) rearward so that the battery (BA) can be separated from the slot (211) and mounted on the object (OJ). At this time, the battery module (200) can unlock the battery (BA) of the object (OJ) from the slot (e.g., the first slot (211a)) by rotating the locking unit (220).

[0155]

[0156] Referring again to FIGS. 1 and 2, the magnetometer correction module (300) can perform magnetometer correction for an object (OJ) located inside the flight station (1).

[0157] Hereinafter, the operation of the magnetic field correction module (300) will be described in more detail with reference to FIGS. 11 and 12.

[0158]

[0159] FIG. 11 is a block diagram of a magnetometer correction module according to some embodiments of the present invention. FIG. 12 is a conceptual diagram illustrating a magnetometer correction module according to some embodiments of the present invention.

[0160] Referring to FIGS. 1, 2, 11, and 12, the magnetometer correction module (300) may include a direction information generation unit (310) and a processing unit (320).

[0161] The direction information generation unit (310) can generate direction information for the object (OJ). In other words, the direction information generation unit (310) can obtain direction information for the object (OJ). At this time, the direction information may include the yaw angle of the object (OJ) built into the flight station (1), but the embodiment of the present invention is not limited thereto.

[0162] For example, the direction information generation unit (310) may include a plurality of antennas (311, 312) and may generate first direction information for the target object (OJ) using the plurality of antennas (311, 312). At this time, the plurality of antennas (311, 312) may include a first antenna (311) and a second antenna (312). As an example, the antenna may include a GNSS (Global Navigation Satellite System) antenna, but the embodiment of the present invention is not limited thereto. At this time, the direction information generation unit (310) may measure the yaw angle of the flight station (1) itself using the plurality of antennas (311, 312) and determine the measured yaw angle of the flight station (1) as direction information for the target object (OJ).

[0163] As another example, the direction information generation unit (310) can measure the rotation angle of the mounting portion (120) on which the object (OJ) is mounted, and generate direction information for the object (OJ) based on the measured rotation angle of the mounting portion (120) and the yaw angle of the flight station (1) measured through the antennas (311, 312). That is, as described below, the mounting portion (120) can be rotated by the transfer portion (110), and at this time, the direction information generation unit (310) can generate direction information for the object (OJ) by combining the rotation angle of the mounting portion (120) and the yaw angle of the flight station (1) measured through the antennas (311, 312). That is, when the mounting part (120) rotates, the yaw angle of the flight station (1) does not match the yaw angle of the object (OJ), so the direction information generation part (310) can determine the yaw angle (i.e., direction information) of the object (OJ) by compensating the rotation angle of the mounting part (120) to the yaw angle of the flight station (1).

[0164] The processing unit (320) can generate magnetic field correction information based on the direction information generated from the direction information generating unit (310) and the magnetic field information transmitted from the object (OJ), and transmit the generated magnetic field correction information to the object (OJ). At this time, the magnetic field correction information can include navigation algorithms utilized when the object (OJ) flies using the sensed magnetic field information, parameters in a navigation model, etc.

[0165] However, the operation of the processing unit (320) may also be performed by the correction unit included in the object (OJ). That is, the correction unit of the object (OJ) may generate a magnetic field correction result using the direction information received from the direction information generating unit (310) and the magnetic field information measured by the sensor included in the object (OJ). Hereinafter, for the convenience of explanation, the magnetic field correction result will be described assuming that it is generated by the processing unit (320).

[0166] As some examples, the processing unit (320) may generate magnetometer correction information based on a state in which the object (OJ) is oriented fixedly within the flight station (1). In other words, the processing unit (320) may generate magnetometer correction information based on magnetic field information measured while the object (OJ) is oriented and angled within the flight station (1) does not change. In this case, the processing unit (320) may generate magnetometer correction information based on the direction information generated by the direction information generating unit (310).

[0167] For example, the processing unit (320) can generate magnetic field correction information through a formula such as <Mathematical Formula 1> below.

[0168] <Mathematical Formula 1>

[0169]

[0170] In the above <Mathematical Formula 1>, refers to the direction information for the object (OJ) generated by the antenna (311, 312) of the direction information generating unit (310), i.e., the yaw angle of the object (OJ) according to the combination of the yaw angle of the measured flight station (1) or the rotation angle of the mounting unit (120) and the yaw angle of the flight station (1) measured through the antenna (311, 312). refers to the yaw angle of the object (OJ) measured using the magnetic field information sensed by the sensor included in the object (OJ). is the directional information (i.e., yaw angle) for the object (OJ). ) and the target (OJ)'s yaw angle obtained through the target (OJ)'s magnetic field information. ) means the error with respect to the original.

[0171] At this time, the processing unit (320) has an error ( ) can be generated as magnetic field correction information and transmitted to the target (OJ). Afterwards, the target (OJ) can finally measure the error ( in the magnetic field information measured from the target (OJ)'s magnetic field sensor during flight. ) can be used to fly according to magnetic field correction.

[0172] Meanwhile, the processing unit (320) generates the target object (OJ)'s yaw angle ( ) can be controlled to drive the motor included in the object (OJ), and the yaw angle () obtained under this motor driving process ) based on the error ( ) can be calculated. By this motor driving process, the magnetic field change that may occur due to the current flowing in the wire when the motor rotates can be reflected in advance in the magnetometer correction information, and accordingly, the accuracy of the magnetometer correction during the actual flight of the object (OJ) can be improved.

[0173]

[0174] As some other examples, the processing unit (320) can generate magnetic field correction information through <Mathematical Equation 3> and <Mathematical Equation 4> described below. In this case, since the processing unit (320) generates the magnetic field correction information using a simultaneous equation, the processing unit (320) can sense the magnetic field information of the object (OJ) multiple times by rotating the object (OJ) at various angles. For example, the processing unit (320) can rotate the mounting unit (120) three times by 120 degrees and acquire the magnetic field information of three objects (OJ). However, the embodiments of the present invention are not limited to the rotation angle and number of rotations described above.

[0175] The processing unit (320) can generate magnetic field correction information based on the state of the object (OJ) after it has been rotated for a predetermined period of time. In other words, the processing unit (320) can generate magnetic field correction information based on the magnetic field information of the object (OJ) measured within a predefined period of time after the object (OJ) has rotated inside the flight station (1). At this time, the processing unit (320) can generate magnetic field correction information based on the direction information generated by the direction information generating unit (310).

[0176] At this time, as illustrated in Fig. 12, the rotational movement of the object (OJ) can be performed by the transfer unit (110) and the mounting unit (120) included in the transfer module (100). For example, the transfer unit (110) can rotate the object (OJ) mounted on the mounting unit (120) by a yaw angle around the vertical axis, i.e., the Z-axis.

[0177] For example, the processing unit (320) can generate magnetic field correction information through a formula such as <Mathematical Formula 2> below.

[0178] <Mathematical Formula 2>

[0179]

[0180] In <Mathematical Formula 2> refers to the magnetic field information sensed by the sensor included in the object (OJ) after the object (OJ) has rotated. stands for Scale Factor, means misalignment, refers to the influence of ferromagnetic compounds, means actual magnetic field information, refers to the bias caused by the residual magnetism of magnetized iron, refers to the bias of the sensor (magnetometer sensor) of the object (OJ) itself.

[0181] This <Mathematical Formula 2> can be organized into <Mathematical Formula 3> below.

[0182] <Mathematical Formula 3>

[0183]

[0184] As mentioned above, in <Mathematical Formula 3> refers to the magnetic field information sensed by the sensor included in the object (OJ) after the object (OJ) has rotated. means actual magnetic field information. At this time, the magnetic field information sensed after the target (OJ) has rotated for a certain period of time ( ), actual magnetic field information ( ) and The values ​​can be a vector of the form 2x1, The values ​​can be a 2x2 matrix.

[0185] Accordingly, the processing unit (320) uses the magnetic field correction information in the above <Mathematical Formula 3> Value and, There is a need to obtain the value. At this time, Value and, To obtain the value, the magnetic field information sensed after the object (OJ) rotates is ) and actual magnetic field information ( ) must be collected in multiple sets to solve the simultaneous equations. At this time, the magnetic field information sensed after the object (OJ) rotates ( ) is a measurement value, the processing unit (320) additionally uses the following <Mathematical Formula 4> to obtain actual magnetic field information ( ) can be obtained.

[0186] <Mathematical Formula 4>

[0187]

[0188] In <Mathematical Formula 4> means actual magnetic field information, means a rotation matrix that transforms the coordinate system of the magnetic field model stored in the database of the object (OJ) or flight station (1) into the sensor coordinate system, which is known in advance; refers to the magnetic field information obtained from the corresponding magnetic field model. At this time, the rotation matrix ( ) can be calculated using direction information. That is, the rotation matrix ( ) can be calculated based on the combined result of the rotation angle of the mounting part (120) and the yaw angle of the flight station (1) measured through the antennas (311, 312). At this time, the magnetic field model may include the World Magnetic Model (WMM), the International Geomagnetic Reference Field (IGRF), the Enhanced Magnetic Model (EMM), etc., but the embodiments of the present invention are not limited thereto.

[0189] Through this process, the magnetic field information sensed after the rotation of multiple sets of objects (OJ) ) and actual magnetic field information ( ) is obtained, the processing unit (320) solves the simultaneous equations using the least squares method, etc., thereby obtaining the equation in the above <Mathematical Formula 3>. Value and, You can get the value.

[0190] Finally, the processing unit (320) obtains Value and, The value can be transmitted to the object (OJ) as magnetometer correction information. Afterwards, the object (OJ) can calculate the magnetic field information corresponding to the actual magnetic field information by inputting the magnetic field information measured from the magnetometer sensor of the object (OJ) into the equation as in <Mathematical Equation 3> above during flight. That is, the object (OJ) can calculate the magnetic field information corresponding to the actual magnetic field information. Value and, It can fly according to the magnetic field correction through the value.

[0191] Meanwhile, the processing unit (320) receives the magnetic field information of the object (OJ) ) can be controlled to drive the motor included in the object (OJ), and the magnetic field information sensed under the motor driving process ( ) to receive Value and, The value can be calculated. By this motor driving process, the magnetic field change that may occur due to the current flowing in the wire when the motor rotates can be reflected in advance in the magnetometer correction information, and accordingly, the accuracy of the magnetometer correction during the actual flight of the target object (OJ) can be improved.

[0192] The above description is merely an example of the technical idea of ​​the present embodiment, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of ​​the present embodiment, but rather to explain it, and the scope of the technical idea of ​​the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be interpreted by the claims below, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of rights of the present embodiment.

Claims

1. Main body; A transport module in which an object is placed and the object is transported inside or outside the main body; and A battery module that receives the object from the transport module and replaces the battery mounted on the object. Flight station.

2. In paragraph 1, The above transport module, A mounting portion on which the above object is mounted, A transport unit connected to the above-mentioned mounting portion and configured to move the above-mentioned mounting portion. Flight station.

3. In paragraph 2, The above-mentioned fixing part is, A body in contact with the above object, Includes a grip part that fixes the object in contact with the body. Flight station.

4. In paragraph 3, The grip portion includes a first grip that fixes the object based on pressure applied as the object moves downward. Flight station.

5. In paragraph 3, The grip portion includes a second grip that is controlled by at least one of a motor and an actuator to fix the object. Flight station.

6. In paragraph 1, The above battery module, A slot portion for accommodating the above battery, A locking part that locks or unlocks the battery accommodated in the above slot, and Including a driving unit that drives at least one of the slot unit and the lock unit. Flight station.

7. In paragraph 6, The above slot part, A plurality of slots into which the above batteries are inserted, A rotation unit including a rotation part that changes the positions of the plurality of slots through rotational movement. Flight station.

8. In paragraph 7, The above rotation part includes a turn table. Flight station.

9. In paragraph 6, The driving unit controls the locking unit to lock or unlock the battery accommodated in the slot unit by rotating the locking unit at a predefined angle. Flight station.

10. In paragraph 9, One side of the above locking portion includes a cut surface, The above driving part, When controlling one of the plurality of slots included in the above slot section as an unlock slot, the locking section is rotated so that the cutting surface moves to a position corresponding to the unlock slot. Flight station.

11. In paragraph 6, The battery module is A charging terminal for charging the above battery, Further comprising a discharge terminal for discharging the battery Flight station.

12. In paragraph 11, The above battery module, Includes a plurality of charging terminals including the above charging terminals, The above plurality of charging terminals are arranged at a predetermined angle apart from each other on the locking part. Flight station.

13. In paragraph 12, The above charging terminal is located on one side of the locking part. Flight station.

14. In paragraph 1, Further comprising a magnetometer correction module for performing magnetometer correction for the object mounted on the transport module; The above magnetic field correction module, A direction information generation unit that generates direction information for the above object, and A processing unit that receives magnetic field information from a sensor included in the object, generates magnetic field correction information based on the direction information and the magnetic field information, and performs the magnetic field correction. Flight station.

15. In paragraph 14, The above direction information generation unit includes a GNSS (Global Navigation Satellite System) antenna, The above GNSS antenna includes a first antenna and a second antenna. Flight station.

16. In paragraph 14, The above direction information generation unit measures the yaw angle of the flight station and generates the yaw angle of the flight station as the direction information, The above processing unit generates the difference between the yaw angle of the object obtained through the direction information and the magnetic field information as the magnetic field correction information. Flight station.

17. In paragraph 14, The above direction information generation unit measures the yaw angle of the flight station and generates the direction information based on the yaw angle of the flight station and the rotation angle of the transfer module. The above processing unit generates the magnetic field correction information based on the direction information and the magnetic field information. Flight station.

18. In paragraph 17, The above direction information generation unit, Generate the direction information by combining the yaw angle of the above flight station and the rotation angle of the above transfer module, The above processing unit, Based on the above direction information, a rotation matrix is ​​calculated that transforms the coordinate system of the pre-stored magnetic field model into the coordinate system of the sensor, Generating the magnetic field correction information based on the rotation matrix, the magnetic field information acquired through the sensor, and the magnetic field information acquired through the magnetic field model. Flight station.

19. In paragraph 18, The above direction information generation unit generates a plurality of direction information through different rotation angles, The above processing unit generates the magnetic field correction information based on the plurality of direction information and the plurality of magnetic field information acquired through the sensor at each of the different rotation angles. Flight station.

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