• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a system and a method for loading an unmanned transport device (10), which system comprises a loading station (5) comprising at least one first part (50), said first part (50) comprising first locking means (52) for locking the device during loading, and a holder (55) for supporting the device (51), the first part (50) further comprising a first driver (53) for transferring the load (51) from the holder (55) to the device rack.
    公开号:FI20185628A1
    申请号:FI20185628
    申请日:2018-07-06
    公开日:2019-10-04
    发明作者:Arto Koivuharju
    申请人:Rumbletools Oy；
    IPC主号:
    专利说明:

    SYSTEM AND METHOD OF LOADING AN UNMANUFUL TRANSPORT DEVICE
    ENGINEERING
    The invention relates generally to the provision of an unmanned device. In particular, the invention relates to a system and method for automatically loading an unmanned transport device.
    BACKGROUND
    There are several known devices designed to be autonomously movable or remotely controlled. Examples of such devices include unmanned aircraft, such as remotely piloted helicopters.
    Said devices operate by utilizing the electric charge stored in their battery, so the operation of these devices is interrupted if the battery charge level becomes too low or the battery charge is completely discharged.
    In addition, the above-mentioned unmanned aircraft are equipped with various devices, such as 15 cameras, and / or are used to move goods and / or commodities from one place to another.
    SUMMARY
    It is an object of the present invention to provide an improved system and method for loading an unmanned transport device.
    Another object is to provide a system and method by which the load of an unmanned device can be loaded and / or unloaded automatically.
    The system and method according to the invention are characterized by what is set forth in the characterizing parts of the respective independent claims. Some examples of the aspect of the Kek25 invention are set out in the dependent claims.
    According to a first aspect, the invention is a system for loading an unmanned transport device. The system comprises a loading station comprising at least a first part. The first part comprises first locking means for locking the device during loading, and a bracket
    20185628 prh 06 -07- 2018 to support the load. The first part further comprises a first actuator for transferring the load from the support to the load carrier of the device.
    The system may further comprise a second part, wherein the second part comprises second locking members.
    The system may further comprise, in a second part, an actuator for removing the load from the device.
    The system may further comprise more than one bracket.
    In the system, the load may be movably attached to a support.
    The system may further comprise a battery exchange station comprising a first part of the battery exchange station and a second part of the battery exchange station, the first and second parts of the battery exchange station being arranged on opposite sides of the space provided for receiving said device for changing the battery case. The first part of the battery exchange station comprises the first locking members of the battery exchange station and the second part of the battery exchange station comprises second locking means of the battery exchange station 15, at least one of the locking members of the battery exchange station being movable. At least the first part of the battery replacement station comprises a first actuator for moving the battery case and a first replacement battery holder, in which the replacement battery holder is provided with at least one first housing slot for the battery case. From the first housing location, the battery housing 20 is movable to the battery holder by means of the first actuator.
    In addition, the system may comprise said battery housing comprising connection means arranged for transferring an electric charge between the battery and the device. The system may also comprise said battery holder, which can be arranged in said device and is arranged to receive a battery case. The Ak25 spawning holder comprises opposite first and second ends, and openings at both ends for receiving said locking means for replacing the battery housing. The battery holder is arranged so that the battery case can be moved from the battery exchange station to the battery holder and from the battery holder to the battery exchange station at the end of the battery holder by means of an actuator.
    The system may comprise at least one battery exchange station locking means arranged to open in response to the at least one battery exchange station locking member being provided in the opening of the battery holder and to close in response to
    20185628 prh 06 -07- 2018 for arranging said locking member away from said opening in the battery holder, whereby the battery case is locked in the battery holder.
    The locking means may comprise latches or hooks arranged in the battery holder, and mating pieces arranged in the battery housing for attachment to the latches or hooks.
    Accordingly, the system may be arranged to electrically disconnect the connection means from or to the device in response to providing at least one locking member in the opening of the battery holder and to close out said opening of the battery holder in response to providing said locking member.
    The battery holder may comprise rollers or rings or sliding surfaces for controlling the movement of the battery case.
    The second part of the battery charging station may comprise a second actuator and a second actuator operatively connected thereto for moving the battery case, and wherein the second part may comprise a second replacement battery holder having at least one second housing slot for the battery case, from which the housing 15 can be moved to the battery holder by the second actuator.
    The system may comprise a base on the surface of which the device is receivable, and which base comprises at least two inclined edge portions arranged to guide the device to the correct position.
    The unmanned transport device can be any battery-powered device, such as an unmanned aircraft or electric car or a robotic vacuum cleaner or robotic lawnmower or electric boat, or any device that electrically utilizes the battery.
    In another aspect, the invention is a method of loading a device. In the method, said device is received in a space arranged in connection with a loading station; arranging the locking means 25 of the first part of the loading station in the openings of the load carrier arranged in the device; transferring the load by means of an actuator from the first part of the loading station to the load carrier of the device; and arranging the locking means of the first part of the loading station away from the openings of the load carrier arranged in the device.
    The method may further comprise the steps of removing the load in the device by means of an actuator before moving the load.
    20185628 prh 06 -07- 2018
    The method may further comprise the steps of replacing the battery housing of the device. The battery case is preferably arranged to receive the battery. In such a method
    - receiving said device in a space arranged in the space between the first and second parts of the battery exchange station for receiving said device for changing the battery case,
    - arranging the locking means of the first and second parts of the battery exchange station in the openings provided at the first and second ends of the battery holder arranged in the device,
    the battery housing is moved by means of an actuator from the housing of the battery charging station to the battery holder, and
    -arranging the locking members of the first and second parts of the battery exchange station away from the openings arranged at the first and second ends of the battery holder arranged in the device.
    The solutions according to aspects of the invention provide clear advantages over the prior art, such as the fact that the load of the transport device can be automatically changed and delivered to the desired destination. In addition, the battery of a battery-powered device can be replaced automatically without user intervention. This allows the battery to be replaced faster than it takes to charge the battery according to the prior art, so that the device can be used faster.
    Other advantages of the invention will become apparent to those skilled in the art from some of the embodiments of the invention set forth hereinbelow.
    The terms “first” and “second” do not imply order, quantity, or importance, 25 but those terms have been used to distinguish one feature from another.
    Various embodiments of the invention, in terms of both structures and principles of operation, as well as additional objects and advantages thereof, will be best understood from the following description of certain embodiments when read in conjunction with the accompanying drawings.
    The embodiments set forth herein are not to be construed as limiting the applicability of the appended claims. The verb comprises is
    20185628 prh 06 -07- 2018 used as an open restriction, which does not exclude features not mentioned here as well. The features mentioned in the dependent claims can be freely combined, unless explicitly stated otherwise.
    BRIEF DESCRIPTION OF THE FIGURES
    Some embodiments of the invention are illustrated in the accompanying drawings, which are briefly described below.
    Figure 1 shows a system according to an embodiment.
    Figure 2 shows a first part of a loading station according to an embodiment.
    Figures 3A-3D show examples of a solution to be arranged in a load.
    Figure 4 is a front view of a first part of a loading station according to an embodiment.
    Figure 5 is a bottom view of a first part of a loading station according to an embodiment.
    Figure 6 shows another part of the loading station according to an embodiment.
    Figure 7 shows a very simplified top view of the loading station.
    Figure 8 shows a first part of a loading station according to a second embodiment.
    Figures 9A-9D schematically show a battery replacement station according to an embodiment of the invention.
    Figures 10A-10C schematically show a system according to an embodiment of the invention.
    Figures 11A-11C schematically show a battery case according to an embodiment of the invention.
    Figures 12A and 12B schematically show a battery holder according to an embodiment of the invention.
    20185628 prh 06 -07- 2018
    Figures 13A-13C schematically show a system according to an embodiment of the invention.
    Figure 14 shows a flow chart of a method according to an embodiment of the invention.
    Figure 15 shows a flow chart of a method according to another embodiment of the invention.
    DESCRIPTION OF SOME EXAMPLES
    The present invention relates to a loading station suitable for loading an unmanned aircraft (hereinafter referred to as a "device"). The laser station 10 may be provided in the system 1000 shown in Figure 1, such as an aircraft docking station. The purpose of the loading station 5 is to automatically load the device 10 and to unload the load from the device 10. In addition to the loading station 5, the system 1000 may also include other functions and means related to the maintenance of the device 10, such as battery exchange station 100. Loading station 15 and battery exchange station 100 will be described in more detail. Figures 2 to 8 and 15 relate in particular to the charging station 5, and Figures 9 to 14 relate in particular to the battery exchange station.
    According to an embodiment of the invention, the loading station 5 comprises supports for one or more objects to be loaded, as well as a load carrier. 20 The load carrier can be arranged attached to the load-carrying device 10.
    This may mean, for example, securing the load carrier to the device 10 using securing means such as screws or bolts. When loading a load, the load is moved on a support from the loading station 5 to the device 10, in particular to the load carrier of the device 10. Examples of such a load include a size 25 transport rack, transport box, tool, aid, etc.
    The device is adapted to carry a load in a load carrier during a flight. The load carrier may comprise a remotely controlled opening system, so that when the device reaches the destination, the unloading can be carried out without the presence of the user (recipient). Such a remotely controlled opening system is particularly useful, e.g., in freight / mail deliveries, or in initial extinguishing tasks where e.g.
    the water load can be discharged from the appliance while the appliance is in the air.
    20185628 prh 06 -07- 2018
    Figure 2 shows an example of a first part 50 of a loading station according to an embodiment. In this example, the loading station comprises one supports 55 adapted to support the load 51. In another embodiment (as will be shown later), the first part 50 of the loading station may comprise more than one support. The load 51 is movably arranged on a support, so that the load can be easily transferred from the first part 50 of the loading station to the device. The load 51 comprises a slide, such as a slide for a T or II cutting profile, by means of which the load 51 movably engages a support 55 corresponding to the cutting profile of the slide.
    Figures 3A-D show examples of a load 51 provided with a slide 54. As can be seen from Figures 3A-3C, the shape of the slide may vary between different embodiments. In addition, as can be seen in Figure 3D, more than one slide 54 may be provided in the load. Slide 54 may be provided in the load 51 over the entire length of the load so that the point of attachment between the load and the support covers substantially the entire top surface of the load. According to another embodiment, the slide can be arranged on a part shorter than the total length of the load, whereby the point of attachment of the load and the support is correspondingly shorter.
    As can be seen from Figure 2, the load 51 moves the bracket 55 in the direction of arrow A, and the bracket 55 is provided with a control panel 58.
    Figure 2 shows the locking members 52 on the guide plate 58, which may be their own locking members of the loading station 5, or common with other parts of the system, such as the battery replacement station, as will be shown later. The purpose of the locking means is to lock the device in place during loading. The locking means 52 may comprise latches or hooks arranged in the loading station 5, and counter-pieces arranged in the device for attachment to the latches or hooks.
    In the proportional example of Figure 2, the load 51 can be pushed into the device by means of an actuator 53 through an opening in the guide plate 58. The load 51 travels in the support 55 by means of a slide arranged in the load. The guide plate 58, and thus the locking members 52 provided therein, are arranged to be movable so that the locking members 52 can be arranged close to the load carrier of the device, substantially in contact with the load carrier. In addition, the guide plate 58 may be attached to the body rail 57 of the first part 51, which allows the guide plate to be moved laterally.
    20185628 prh 06 -07- 2018
    The structure and shape of the load carrier in the device may correspond to the support 53 of the first part. The load carrier further comprises latches or similar locking means which prevent the load from sliding out of the load carrier during flight. The latches may act in response to the locking members 52, whereby the latches open 5 when the locking members lock into the device, and the latches lock as the locking members release from the device. In addition, the load carrier comprises openings in which the locking members 52 can be located.
    Fig. 4 shows a view from the direction B-B of Fig. 2 of a first part 50 of a loading station comprising a load 51 to be loaded, which is arranged on a carrier 55. Fig. 3 also shows locking elements 52.
    Fig. 5 is a view from the direction C-C of Fig. 4 of a first part of a loading station comprising a load 51 to be loaded, which is arranged on a support. The load 51 is arranged to move in the support by means of a slide 54 arranged in the load. Figure 5 also shows the locking members 52, which may be the loading station's own locking members, or common to other parts of the system. Figure 5 also shows an actuator 53 according to an embodiment, which is arranged to push the load 51 from the support of the loading station to the load carrier in the device. According to one embodiment, the loading station further comprises a second portion 60, as shown in Figure 6. The second part 20 60 comprises locking members 62 which function in the same way as locking members 52.
    In some embodiments, the second portion 60 of the loading station may act as a load receiver when the load is unloaded. In this case, the second part comprises a support (not shown in Fig. 6), as in the first part, for receiving the load. In such a solution, it is sufficient that both the first part and the second part 25 comprise one support, whereby a new load pushed by the actuator from the first part further pushes the load in the device into the support of the second part and the new load rests on the device's load carrier.
    Alternatively, the load can also be unloaded into the first part of the loading station, whereby the second part 60 of the loading station does not include a support for receiving the load, and the second part 60 can be considered to be simpler in construction. In such an embodiment, an actuator 63 is provided in the second part 60, the function of which is to push the load from the device into the support of the first part.
    According to one example, the load is not unloaded in the system from either of the above-mentioned parts, but is released into the space below the device.
    20185628 prh 06 -07- 2018
    This space may comprise, for example, a cold store or the like, in which case, for example, the pharmaceutical / food items requiring cold storage can be quickly brought into the storage required for them.
    Figure 7 shows a simplified example of the system 1000 seen from above 5. The system 1000 houses a device 10, which may be an unmanned helicopter comprising rattles or propellers 11. The device 10 has a load 51a which is arranged in the device 10 by means of a slide 54. The first part 50 of the loading system comprises supports 55a, 55b, 55c, of which the supports 55b, 55c have a load 51b, 51c, respectively. The bracket 55a is empty. To change the load 10 in the device 10, the actuator 63 in the second part 60 of the loading system pushes (arrow 1) the load 51a out of the device 10 into the empty support 55a of the first part 50. Thereafter, the supports 55a, 55b, 55c are programmed by means of the rail 57 (arrow 2) so that the desired load 51b or 51c comes to the position of the actuator 53. With the load at the actuator 53, the actuator 53 pushes the load 15 (arrow 3) into the load carrier of the device 10.
    As mentioned above, the charging station 5 can operate in the system together with the battery exchange station. In such a situation, the load 51 to be loaded may, according to one example, be located below the battery 70, as shown in Figure 8. In addition, locking members as described above, which may be common to the battery exchange station 20, or to the charging station-specific, were described above. Figure 8 shows an example in which both the battery exchange station and the charging station have their own locking members 52a, 52b. In such an arrangement, the locking means can operate independently, in which case - depending on the locking means used - the system knows whether the device should be replaced by a battery or a load. The operation of the locking members 52a, 52b will be described in more detail in connection with the description of the battery exchange station with reference to Figs. 12A to 12B.
    The arrangement according to Figure 8 comprises, in addition to the battery exchange station, also a battery housing and a battery holder. The battery exchange station may be located above the charging station relative to the loading station, whereby the battery replacement can be performed inside the device, while the charging can be performed below the device. However, it is clear that this placement can be implemented in another way. The battery case is preferably arranged to receive the battery. The battery can be inserted inside the battery compartment manually or using automatic machines. The battery may be, for example, a lithium ion battery, a lead acid battery, a nickel metal hybrid battery, or any other electric battery suitable for use with the device 35. The battery case may comprise electrical
    20185628 prh 06 -07- 2018 connection means to which the electrical terminals of the battery can be connected. The connection means are preferably arranged in such a way that the electrical charge can be transferred from the battery to the device and / or from the device to the battery via or by means of them. According to an embodiment of the invention, the connection means comprise a first part to which the terminals of the battery can be connected and a second part to which the electrical terminals of the device can be connected.
    The first and second parts of the connection means are preferably electrically connected to each other.
    According to an embodiment of the invention, the battery holder can advantageously be arranged attached to a device utilizing the battery. This may mean, for example, attaching the ak10 bracket to the device using fastening means such as screws or bolts. The battery holder may be arranged to receive a battery case. According to an embodiment of the invention, the battery holder is arranged to receive the battery case substantially inside. The battery holder may comprise opposite first end and a second end through which the battery case can be arranged in the battery holder 15, for example through openings at the end or ends, but the battery case can also be arranged in the battery holder via another means.
    The battery replacement station can advantageously operate automatically and thus enable the battery of the device utilizing the battery to be replaced automatically, for example in a situation where the battery charge level of the device is almost empty, whereby a battery with a higher charge level can be replaced. The battery exchange station may advantageously comprise the necessary control electronics, components of control systems, such as a calculation unit and the necessary measuring sensors, and actuators for performing the battery replacement, as well as devices and control means for charging the battery.
    According to a preferred embodiment of the invention, the battery exchange station comprises a first part and a second part arranged on opposite sides of the space arranged to receive, or can be placed in, a battery-utilizing device for changing the battery. In addition, the first part may comprise the first locking members and the second part the second locking members. Preferably, the at least one locking means, either the first part or the second part, are movable. In this case, at least one locking member can be moved towards the device, whereby these movable locking members can be moved, if necessary, for example by pushing, to other locking members on the opposite side of the device. According to one embodiment, the locking members of both parts are arranged to be movable.
    20185628 prh 06 -07- 2018
    In addition, the first part of the battery exchange station may comprise a first actuator for moving the battery case from the battery charging station to the battery holder of the device or from the battery holder of the device to the battery charging station. The first part may also comprise a first replacement battery holder in which at least one housing slot 5 for the battery housing is arranged. From the housing position, the battery housing can advantageously be moved to the battery holder by means of the first actuator.
    Figures 9A-9D schematically show a system 1000 according to an embodiment of the invention, comprising a battery exchange station and a charging station (not shown in the figure for simplicity). The battery exchange station comprises a first part 110 and a second part 210, and a space 50 therebetween, which is arranged to receive or in which a device for changing the battery case of the device can be placed. Between the first part 110 and the second part 210, a base 150 is arranged, on the surface of which the device utilizing the battery can be received or placed. The first part 110 of the battery exchange station comprises locking members 120 which are pins or similar projections. In the embodiment of Fig. 9A, there are two pins and are arranged on the guide plate 160 of the first part 110. The locking members 120 may also act as locking members of the charging station, or alternatively the loading station and the battery exchange station may have their own locking members. According to the latter example, there could thus be four kappa pins.
    In the embodiment shown in Figure 9A, the first portion 110 also comprises a replacement battery holder 135 comprising at least one housing 140 from which the battery case (not shown in Figures 9A-9D) can be moved from the first part 110 to the device battery holder (not shown in Figures 9A-9D) or battery holder housing 140 130, 230. The replacement battery holder 135 may advantageously comprise charging connection means 137 at one end of the housing 140, whereby, if suitable connection means are provided at the end of the battery housing, these can be electrically connected when the battery housing is provided in the housing 140. This allows the battery housing 30 400 to be inserted into the enclosure. when the battery case 400 is arranged in the case 140. According to several embodiments of the invention, the charging connection means 137 are electrically arranged in the charging unit of the battery exchange station 100, which comprises the necessary electronics and sensors for transferring the electric charge to the battery.
    20185628 prh 06 -07- 2018
    In this embodiment, the battery case can be inserted into the device by means of an actuator 130 through an opening in the guide plate 160. The guide plate 160, and thus the locking members 120 provided therein, are arranged to be movable so that the locking members 120 can be arranged close to the battery holder of the device, substantially in contact with the battery holder. The guide plate 160 may be attached to the body 145 of the first part 110, which may be movable, for example by rails. The guide plate 160, the locking members 120, the housing 140 and the actuator 130 can also be movable in the longitudinal direction of the body 145, i.e. perpendicular to the longitudinal direction of the battery exchange station.
    The system 1000 comprising a charging station and a battery exchange station may comprise shell parts 310-330. In the embodiment shown in Figures 9A-9D, the first shell portion 310 is arranged to be movable and substantially encloses the first portion 110 of the charging and battery exchange station in the closed state. comprises a base portion 330, which in the embodiment of Figures 9A-9D is arranged to be stationary and may comprise, inter alia, adjustable legs with which the system 1000 can be adjusted to a desired position.
    Fig. 9B shows an embodiment of Fig. 9A from another perspective. The battery charging station comprises a second part 210 comprising locking members 220. The second part 210 may further comprise a guide plate 260 in which the locking members 220 can be arranged, a body 245 which can be movable, and an actuator 230 arranged to push the battery housing from the battery holder to the housing 140 of the first part 110. It can be seen from Fig. 8B that the edge portion 155 of the vessel 125 can be inclined so that its surface descends toward the center of the base 150, for example when receiving an unmanned aircraft such as a imaging craft. in the right area to replace the battery.
    By arranging the actuators 130, 230, such as the beams or arms 30 for pushing the battery case, on both parts of the battery charging station, as shown, inter alia, in Figures 9A-9B, a solution can be provided in which the battery case can be moved by pushing, without the need for complicated gripping means, hooks or the like, for institutions 130, 230.
    20185628 prh 06 -07- 2018
    Fig. 9C is a side view of the system 1000 according to the embodiment shown in Figs. 9A and 9B.
    Fig. 9D is a top view of the system 1000 according to the embodiment shown in Figs. 9A and 9B. It can be seen from Fig. 9D that the replacement battery holder 135 of the first portion 110 of the battery exchange station 5 may have a plurality of housing slots 140, such as six pieces.
    According to several embodiments of the invention, the system 1000 may comprise a control unit (not shown). The control unit may be arranged in a battery charging station, for example in a first 110 or a second part 210, or alternatively in both of said parts 110, 210, or outside the battery charging station. The control unit may comprise a computing unit, such as a microprocessor, and memory. In addition, the control unit may advantageously be arranged to communicate with a plurality of sensors, such as a distance sensor which detects whether the device is arranged in the correct position, and / or sensors performing electrical measurements, such as voltage, current or electrical power sensors. The control unit may preferably be at least arranged to control the operation of the system for replacing the battery housing 400.
    Figures 10A-10C schematically show a battery replacement system according to an embodiment of the invention. In particular, the battery exchange system comprises a battery exchange station 100, a battery holder 500 which can be arranged in the device, and a battery housing 400 arranged to receive the battery. The battery holder 500 can be arranged in the device, for example by means of screws or bolts or in another similar manner. Figure 10A is a perspective view of the system, Figure 10B is a top view, and Figure 10C is a side view. All Figures 10A-10C show the same situation from a different direction. The reference numerals used in Figs. 10A to 10C correspond to those used in Fig. 10A25 10D, and further, Figs. 10A to 10C show the battery case 400.
    According to some embodiments of the invention, the battery case 400 is arranged to receive an electrical storage other than an electric battery. The battery case 400 may be arranged to receive a fuel cell, in which case the system may be arranged to replace the fuel cell of the device instead of the electric battery.
    It can be seen from Figures 10A-10C that the battery holder 500 may comprise a base above which the battery case 400 can be arranged. In addition, the battery holder 500 may comprise longitudinal tubes or beams to which the ends of the battery holder 500 are attached, or are made in one piece. In particular from Figure 10A and
    20185628 prh 06 -07- 2018
    10B, it can be seen that the end portions of the battery holder 500 have openings through which the locking members 120, 220 of the battery exchange station 100 are arranged to be inserted. According to some exemplary aspects of the invention, by means of the locking members 120, 220, the battery holder 500, and thus the device to which it is attached, can be supported while the battery housing 400 is being replaced. It will be apparent to those skilled in the art that in the case of heavy equipment, such as an electric car, the use of locking members 120, 220 to support the device requires particularly strong locking members and other associated structures. According to some exemplary aspects of the invention, the locking members 120, 220 do not support the battery holder 500 during replacement of the battery case 400.
    According to several exemplary aspects of the invention, the replacement battery holder 135 can be moved in a direction perpendicular to the longitudinal direction of the battery charging station 100. In this case, the actuator 130, 230 may remain substantially stationary and the replacement battery holder 135 may be moved so that the desired battery case 400 moves to the actuator 130, 230 to accommodate the battery case 400 in the battery holder, or alternatively the empty case 140 of the replacement battery holder 135 may be provided to the actuator. Figures 10A and 10B show charging connection means 137 arranged at the rear end of the housing cases 140 of the replacement battery holder 135, which may be typical electrical connectors adapted to receive a corresponding connection means or connector provided in the battery case 400.
    It can be seen from Figure 10B that the actuator 130, i.e. the first actuator 130, of the first part 110 of the battery exchange station 100, and the actuator 25 230, i.e. the second actuator 230, of the second part 210 are arranged in contact with the battery housing 400.
    By means of the actuators 130, 230, the battery housing 400 can be moved from the replacement battery holder 135, in particular from the housing position 140, towards the opposite part of the battery replacement station. In this case, the battery case 400 can be moved from the first part 110 toward the second part 210, but also vice versa. According to a preferred example of the invention, only one actuator 130, 230 is used to move the battery case 400, so that the actuator 130, 230 by means of which the battery case 400 can be moved by pushing in the desired direction is in use. That is, the first actuator 130 is used when pushing the battery case 400 from the first portion 110 toward the second portion 210, and the second actuator 230 when pushing the battery case 400 from the second portion 210 toward the first portion 110. It should be noted that the first actuator 130 may be arranged to push
    20185628 prh 06 -07- 2018 battery case 400 from the first part 110 housing 140 to the device battery holder 500 or from the battery holder 500 to the second part 210 housing, if arranged in the battery exchange station 100. The second actuator 230 may be arranged to push the battery case 400 from the second part 210 housing to the device battery holder 500 or 500 to the housing 140 of the first portion 110. According to several embodiments of the invention, the battery housing 400 may be provided in or out of the battery holder of the device at both ends of the battery holder. Said two ends are arranged on the same sides as the first 110 and second 120 parts of the battery exchange station 100.
    According to exemplary embodiments of the invention shown in Figures 10A-10C, the second end or end portion of the battery holder 500 has, in addition to the openings provided for the locking members 120, 220, battery case openings for passing through the end portions of the battery case 400. According to some examples of the invention, the battery holder 500 has battery housing openings at both ends. This is particularly advantageous in those aspect ratio examples in which the first 110 and second 210 portions of the battery exchange station 100 comprise replacement battery holders 135. In this case, the battery case 400 can be moved from either part 110, 210 to the battery holder 500 and out of the battery holder 500 to either part 110, 210, respectively.
    Figures 11A-10C schematically show a battery case 400 according to an embodiment of the invention viewed from three different directions. The battery case 400 is arranged to receive a battery whose electrical terminals can be connected to the connection means 410 of the battery case 400 for transferring electrical charge from the battery to the device or alternatively from the battery charging station 100 to the battery when the battery case 400 is arranged in the housing 140 of the replacement battery holder 135.
    The battery case 400 may comprise a body 405 within which the battery can be arranged. In addition, the battery case 400 may comprise control means 430, such as rollers or rings or a sliding surface, by means of which the battery case 400 can be guided and moved to the battery holder 500 or the battery exchange station 100. According to one embodiment of At both ends 400, battery housing connection means 410 are provided, as shown in Figs. 11A to 11C. At least one or two connection means 410 may be connected to the electrical terminals of the battery. By arranging the connecting means 410 at both ends of the battery case 400, it is achieved that the battery case 400 does not need to be turned when it is moved between the battery charging station 100 and the battery holder, or device, because
    20185628 prh 06 -07- 2018 one connection means 410 can be used to transfer the electric charge from the battery to the device and the other connection means 410 can be used to transfer the electric charge from the battery charging station to the battery.
    In addition, in particular, Fig. 11B shows a mating piece 435 of locking means 540 according to an embodiment of the invention, such as a pin or an opening provided for a latch. The mating piece 435 may preferably be arranged to receive a latch or hook of the locking means 540. In Figures 11A-3C, it is arranged at the shaft end of the control means 430, but it may also be arranged elsewhere in the battery housing 400. A latch or hook may be provided in accordance with an embodiment of the invention, as shown in Figures 12A and 12B, in the battery holder 500.
    According to an embodiment of the invention, the battery housing 400 may comprise second connection means at the first and / or second end for transferring the electric charge from the battery charging station 100 to the battery.
    Figures 12A and 12B schematically show a battery holder 500 according to an embodiment of the invention from two different perspectives. The battery holder 500 can be attached to a battery-powered or battery-operated device. The battery holder 500 is also arranged to receive a battery case 400 according to an embodiment of the invention.
    It can be seen from Figure 12A that the battery holder 500 may comprise a battery case 525 at at least one end or end portion 520 of the battery case 500. The battery case 400 according to an embodiment of the invention is movable through the battery case 525 into or out of the battery holder 500. The battery holder 500 may further include tubes 550 or beams 550 arranged in the longitudinal direction of the battery holder 500. The battery housing 400 according to an embodiment of the invention, comprising control means 430, is arranged to be moved along pipes 550 or beams 550. The tubes 550 or beams 550 may preferably be connected to the end portions 520, for example by bolts, rivets or welding.
    In Figure 12B, it may be seen that locking means 540 may be provided in the battery holder 500. According to an embodiment of the invention, the locking means 540 is arranged to open in response to providing at least one locking member 120, 220 in the opening 510 of the battery holder 500 and close in response to providing said locking member 120, 220 , wherein the battery case 400 locks into the battery holder 500. In Fig. 4B
    The locking means 540 shown in the vicinity of the opening 510 comprise a mechanism arranged to change the position of the locking means 540 when the locking member 120, 220 of the battery exchange station 100 is arranged through the opening 510.
    In the embodiment shown in Fig. 12B, the locking means 540 comprise a hook 5 or a latch, and said mechanism for changing its position. The system further comprises a mating piece 435 arranged on the battery housing 400 for said hook or pawl. This may mean that when the locking member is provided in the opening of the battery holder, the latch or hook of the locking means opens, i.e. disengages from the mating piece 435 arranged in the battery holder, and engages the mating member 10 435 when the locking member leaves the opening. It will be apparent to those skilled in the art that the locking means 540 arranged to operate in response to the operation of the locking member 120, 220 may be implemented in a number of different ways. Thus, the battery case can be removed from the battery holder or moved to the battery holder when the locking member is arranged in the opening of the battery holder. According to an embodiment of the invention, the locking means 15 540 are arranged in the battery case 400, or in both the battery holder 500 or the battery case 400.
    According to an embodiment of the invention, the system may comprise locking means in the vicinity of more than one, such as two or four, openings 510. In this case, the battery housing 400 can be arranged to be locked to the battery holder 500, for example from all angles.
    According to several embodiments of the invention, the connecting means 410 of the battery case 400 are connected to the connecting means 530 of the battery holder 500 while the battery case 400 is provided by the actuator 130 to the battery holder 500. .
    According to an embodiment of the invention, both ends of the battery holder 500 may have battery housing openings 525. In this case, the electrical connection means 410, 3030 for transferring electric charge between the battery case 400 and the battery holder 500 should be arranged differently from the case 500 and shown in Figures 11A-11C and 12A-12B. to the side or top edge, whereby, for example, the locking means 540 can be arranged so that an electrical connection between the housing 400 and the stand 500 is formed when the locking means 120, 220 are arranged away from the opening 510 or openings 510 of the battery holder 500.
    20185628 prh 06 -07- 2018
    According to an embodiment of the invention, the system is arranged to electrically disconnect the connection means 410 of the battery case 400 from the device 10 or the device 10 in response to providing at least one locking member 120, 220 in the battery holder opening 510 and closing in response to providing said locking member 120, 220 out of the battery holder 500.
    In this case, the battery in the battery case 400 is detached or electrically disconnected from the device 10 when the locking member 120, 220 is provided in the opening 510 of the battery holder 500. This allows the battery case 400 to be moved and the locking member 120, 220 removed from the battery holder 500 , the battery housing 400 may be electrically coupled to the movement 10 of the locking member 120, 220, whereby the electric charge may be transferred from the battery to the device 10 or vice versa.
    According to an embodiment of the invention, the battery holder 500 may comprise control means, such as rollers or rings or sliding surfaces, for controlling the movement of the battery housing 400. The control means may be arranged between the housing 140 of the first part 110 of the battery exchange station 100 and the locking members 120 so that when the locking members 120 are arranged in the opening 510 of the battery holder 500, the battery case 400 can be moved from the replacement battery holder 135 to the battery holder 500.
    Figures 13A-13C show a system 1 according to an embodiment of the invention, comprising a loading station (not shown), a battery exchange station, a battery housing 400 and a battery rack attached to a device 10, in this case a remotely manned helicopter 10. Some of the features shown in Figs. 13A-13C are similar to Figs. 9A-9D and will not be explained here again to avoid repetition.
    In Figures 13A-13C, the device 10 is a remotely operated, unmanned helicopter received or arranged in the space 50. The legs of the device 10 are arranged against the base 150. The legs of the device 10 may comprise or may be provided with rings or rollers, wherein a base 150 according to an embodiment of the invention, provided with one or more, such as two, inclined edge portions 155, slides 30 towards the center or center of the base. 400 for replacement.
    According to one embodiment, the second portion 210 of the battery exchange station may comprise a second actuator and a second actuator 230 operatively connected thereto for moving the battery housing 400. In addition, the second part may comprise
    20185628 prh 06 -07- 2018 a replacement battery holder with at least one housing slot for the battery housing. From said housing position, the battery housing can be moved into the battery holder by means of the second actuator 230, for example in a manner similar to the housing part 140 of the first part 110 by means of the first actuator 130.
    According to an embodiment of the invention, a battery is provided in the battery case 400, and the electrical terminals of the battery are electrically connected to at least the connection means 410 of the battery case 400.
    According to an embodiment of the invention, the battery housing comprises at least one second connection means for transferring the electric charge from the battery charging station to the battery 10 arranged in at least one of the following: a first end, a second end.
    According to an embodiment of the invention, a battery is arranged in the battery case, and the electrical terminals of the battery are electrically connected at least to the connection means of the battery case, or to the connection means of the battery case and other connection means.
    According to an embodiment of the invention, the device is any battery-operated device. The device can be, for example, an unmanned aircraft or an electric car or a robotic vacuum cleaner or a robotic lawnmower or an electric boat. According to some embodiments of the invention, the device 10 is an autonomously moving or remotely controlled device 10 for receiving or receiving electrical power from a battery to move or move the device, such as an imaging helicopter, or a remotely controlled airplane or car or boat or helicopter, or robotic vacuum cleaner or lawnmower.
    Fig. 14 is a flowchart of a method for replacing the battery case 400 of a device 10 according to an embodiment of the invention arranged to receive a battery. The method comprises an initial step 700 in which, inter alia, the necessary equipment and systems are obtained, which are configured to be operational, whereby the system is ready to receive the device 10 in the space 50 for replacing the battery housing 400.
    The method comprises receiving a device 710, in particular a battery-utilizing device or a battery-powered device, in a space 50 arranged substantially between the first 110 and second 210 parts of the battery exchange station for receiving said device 10 30 for replacing the battery housing 400. The method further comprises arranging the locking members 120, 220 of the first 110 and second 210 portions of the battery exchange station 720 in the openings 510 provided at the first and second ends of the battery holder 500 arranged in the device 10.
    20185628 prh 06 -07- 2018, the battery case 400 is moved by means of the actuator 130, 230 from the battery compartment housing 140 to the battery holder 500. The method further comprises arranging the locking members 120, 220 of the first 110 and second 210 portions of the battery exchange station 740 and the first and second from the openings at one end 510.
    Execution of the method may be terminated at step 799. According to several examples of the invention, the method may be performed once, repeatedly, as needed, such as when device 10 is received in state 50, or at certain intervals or continuously.
    According to an embodiment of the invention, the method of replacing the battery case 400 may comprise opening the locking means 540 of the battery holder 500 in response to arranging at least one locking member 120, 220 in the opening 510 of the battery holder 500 and closing the locking means 540 of the battery holder 500 in response to providing said locking member 120, 220 , wherein the battery case 400 is locked in the battery holder 500.
    According to an embodiment of the invention, the method of replacing the battery housing 400 may comprise electrically disconnecting the connection means 410 from or to the device in response to providing at least one locking means in the battery holder opening, and electrically disconnecting the connection means from the device 20 in response to said opening.
    Figure 15 shows a flow chart of a method for loading a load of a device 10 according to an embodiment of the invention. The method comprises an initial step 800 in which, inter alia, the necessary equipment and systems are obtained, which are configured for operation, whereby the system is ready to receive the device 10 in the space 50 for loading.
    The method comprises receiving the device to be loaded 810 in the space 50. In addition, the method comprises arranging the locking members of the loading station 820 in the openings of the load carrier arranged in the device.
    If the device comprises a replaceable load, the load is transferred from the device to the support of the first part of the loading station by means of the actuator of the second part, after which the supports of the first part are moved so that the support comprising the load to be loaded is aligned with the load carrier.
    20185628 prh 06 -07- 2018
    In the method, the 830 load is transferred by an actuator from the load carrier of the loading station to the load carrier of the device. The method further comprises arranging 840 the above-mentioned locking members away from the openings of the load carrier arranged in the device.
    Execution of the method may be terminated at 899. According to several aspect examples of the invention, the method may be performed once, repeatedly, as needed, such as when device 10 is received in state 50, or at certain intervals or continuously.
    According to an embodiment of the invention, the method for changing the load 10 may comprise opening the load carrier locking means in response to providing at least one locking member in the load carrier opening and closing the load carrier locking means in response to providing said locking member away from said load carrier opening.
    Figures 14 and 15 show a method for replacing the battery housing of the device and 15 methods for loading the device. According to one embodiment, these methods take place simultaneously, so that the steps for receiving the device and arranging the locking means are common to the methods, after which steps 730, 740 and 830, 840 take place either simultaneously or at different times. According to one embodiment, the methods take place at completely different times, i.e., after receiving the device, the device is either replaced with a battery case (according to Figure 14) or the device is loaded (according to Figure 15).
    In the methods described above (Figures 14 and 15), station-specific locking means (either a charging station or a battery exchange station) are mentioned. As will be understood from the previous examples, these locking members can also be arranged together at the stations. Station-specific locking members have the advantage that they can operate at different times, allowing the system to select the switching station whose locking members are in use. Instead, the common locking member arrangement simplifies the structure somewhat. According to several embodiments of the invention, at least the body of the battery case 400 and / or the battery holder 500 may be made of metal, such as aluminum or steel.
    Some examples of the invention have been presented above. However, it will be clear to a person skilled in the art that the solution according to the invention can be made in other ways than those described above. Among other things, the features can be replaced with equivalent features. The above embodiments are not to be construed as limiting the claims.
    权利要求:
    Claims (12)
    [1]
    A system for loading an unmanned transport device (10), the system comprising a loading station (5) comprising at least a first part (50), the first part (50) comprising first locking means (52) for loading the device
    5 for locking during loading, and a support (55) for supporting a load (51), wherein the first portion (50) further comprises a first actuator (53) for transferring the load (51) from the support (55) to the load carrier of the device.
    [2]
    The system of claim 1, further comprising a second portion
    10 (60), wherein the second portion comprises second locking members (62).
    [3]
    The system of claim 2, wherein the second portion (60) comprises an actuator (63) for removing the load (51) from the device (10).
    [4]
    A system according to any one of claims 1 to 3, comprising more than one support (55a, 55b, 55c).
    A system according to any one of claims 1 to 4, wherein the load (51) is movably attached to the support (55).
    The system of any one of claims 1 to 5, further comprising
    - a battery exchange station (100) comprising a first part (110) of the battery exchange station (100) and a second part (210) of the battery exchange station (100), the first (110) and second (210) parts of the battery exchange station (100) being arranged on opposite sides of the space ( 50) arranged to receive said device (10) for changing the battery case (400), the first part (110) of the battery exchange station (100) comprising first locking members (120) of the battery exchange station (100) and a second part (210) of the battery exchange station (100) comprising second locking means (220) of the battery exchange station 25 (100), at least one of the locking members (120, 220) being movable, and wherein at least a first portion (110) of the battery exchange station (100) comprises a battery case (400) of the first actuator (130) of the battery exchange station (100) and a first replacement battery holder (135), the replacement battery holder (135) having at least one first housing slot 30 (140) for the battery housing (400), the first housing slot (140) the battery housing (400) is movable to the battery holder (500) by a first actuator (130),
    20185628 prh 06 -07- 2018
    - said battery housing (400) comprising connection means (410) arranged for transferring electric charge between the battery and the device (10), and
    - said battery holder (500), which can be arranged in said device (10) and is arranged to receive a battery case (400), and wherein the battery holder
    [5]
    5 (500) comprises opposite first and second ends, and openings (510) at each end for receiving said locking members (120, 220) for replacing the battery case (400), and the battery holder (500) is arranged so that the battery case (400) is movable from the battery exchange station (100) to the battery holder (500) and from the battery holder (500) to the battery exchange station (100) at the end of the battery holder (500) 10 by means of an actuator (130, 230).
    [6]
    The system of claim 6, comprising at least one locking means (540) arranged to open in response to at least one locking member (120, 220) of the battery exchange station (100) in the opening (510) of the battery holder (500) and close in response to said battery exchange station
    15 (100) for arranging a locking member (120, 220) away from said opening (510) in the battery holder (500), whereby the battery case (400) is locked in the battery holder (500).
    [7]
    A system according to any one of the preceding claims 1 to 7, comprising a base (150) on the surface of which the device (10) is receivable for loading a load, and which base (150) comprises at least two inclined edge portions
    20 (155) arranged to guide the device (10) to the correct position for loading the load.
    [8]
    A system according to any one of claims 1 to 8, wherein the unmanned transport device (10) is a battery-powered device, such as an unmanned aircraft or electric car or a robotic vacuum cleaner or robotic lawnmower or electric
    25 boat or any battery-powered transport device.
    [9]
    10. A method of loading a device, the method comprising
    - receiving (810) said device (10) in a space arranged in connection with the loading station (5);
    - arranging (820) the locking means (52) of the first part (50) of the loading station (5) in the openings of the load carrier arranged in the device (10);
    - transferring (830) the load (51) by means of the actuator (53) from the first part (50) of the loading station to the load carrier of the device (10);
    -arrange (840) the locking members (52) of the first part (50) of the loading station (5) away from the openings of the load carrier arranged in the device (10).
    [10]
    The method of claim 10, wherein before moving (830) the load (51), the load (51a) in the device is removed by the actuator (63).
    5 using.
    [11]
    The method of claim 10, further comprising replacing the battery housing (400) of the device (10), wherein
    - providing (720) locking means (120, 220) for the first (110) and second (210) parts of the battery exchange station (100) before the battery holder (500) arranged in the device (10)
    10 openings at the first and second ends (510),
    - moving (730) the battery housing (400) by means of the actuator (130) from the housing position (140) of the battery charging station (100) to the battery holder (500),
    - arranging (740) the locking means (120, 220) of the first (110) and second (210) parts of the battery exchange station (100) away from the battery holder (500) arranged in the device (10)
    [12]
    15 of the openings (510) arranged at the first and second ends.
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    同族专利:
    公开号 | 公开日
    FI20185306A1|2019-10-04|
    FI128572B|2020-08-14|
    WO2019193254A1|2019-10-10|
    FI128426B|2020-05-15|
    EP3774439A1|2021-02-17|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5927938A|1994-01-06|1999-07-27|Unlimited Range Electric Car Systems Company|Battery charging and transfer system for electrically powered vehicles|
    法律状态:
    2020-08-14| FG| Patent granted|Ref document number: 128572 Country of ref document: FI Kind code of ref document: B |
    优先权:
    申请号 | 申请日 | 专利标题
    FI20185306A|FI128426B|2018-04-03|2018-04-03|System and method for changing the battery case of a device|EP19726726.3A| EP3774439A1|2018-04-03|2019-04-01|System and method for loading an unmanned transport device|
    PCT/FI2019/050261| WO2019193250A1|2018-04-03|2019-04-01|System and method for loading an unmanned transport device|
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