부산대학교 도서관

This paper describes a novel complete system for the autonomous replacement of lithium-polymer batteries (LiPo battery) in small-scale unmanned aerial vehicles (UAVs). A core mechanic of the system relies on a horizontal rotating battery chamber that is capable of storing, managing, and distributing eight drone-compliant batteries. The station dubbed the "Battery Vending Machine", or BVM for short is accompanied by solar power panels for a rapid power supply, detachable modules for mobile transport, and interlocking components to safeguard the batteries when not in use. Companion modules work with the BVM to allow compatibility with drone docking and battery swapping. A ground control station (GCS) with intricately placed fiducial markers and fast wireless charging technology operates to dock the drone safely in preparation for a power supply hot-swap procedure. A robotic arm system works to transfer the batteries from one station to another. The three stations work in unison to provide a faster and more optimized method to exchange depleted batteries on a flight vehicle with fully charged power sources. Results of physical experiments of each module in the automatic replacement system provide insight into the implementation of high-endurance fully-autonomous flight missions using remote landing, replenishing, and takeoff sequences.