Abstract
This paper presents a hardware platform of an autonomous battery exchanging system for industrial UAVs (Unmanned Air Vehicle). It is designed for outdoor surveillance and UAV-UGV (Unmanned Ground Vehicle) cooperation missions. The system is composed of a UAV and a battery exchanging ground station. The battery exchanging station has an exchanging hand-arm, a battery magazine, an heliport, and the UAV has a battery receiver. The hand-arm enables rapid mechanical locking of the battery in the receiver by grasping and unlocking the battery simultaneously. The battery is stored in a special case that has clips to lock in the receiver, and the magazine can store and recharge it up to 8 batteries. The heloport is designed to handel orientation and positioning landing errors of the UAV of more than 20o and/or 20 cm. This would be useful as outdoor autonomous precise landings are difficult to achieve compared to indoor autonomous landings such as a previous research [1] which has utilized motion capturing system. The proposed system can alos help overcome the crucial limitation of flight time of industrial electric-powered UAV.
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