FIELD OF THE INVENTION

The invention generally relates to the equipping of an unmanned device. The invention especially relates a system and method for automatic loading of an unmanned transport device.

BACKGROUND

Several known devices exist which are designed to be autonomically moving or remotely moveable. Examples of such devices are among others unmanned air- ships, such as remote-controlled choppers. Said devices operate by utilizing electrical charge stored in their battery, so the operation of the devices in ques- tion is interrupted, if the charging level of the battery falls too low or if the battery charge is completely emptied.

Additionally, the above-mentioned unmanned aircrafts are equipped with differ- ent devices, such as a camera, and/or used to move goods and/or commodities from one place to another.

SUMMARY

An object of the present invention is to provide an improved system and method for loading an unmanned transport device. Another object is to provide a system and a method, with the aid of which the load of an unmanned device can be loaded and/or unloaded automatically.

The system and the method according to the invention are characterized by what is presented in the characterizing parts of the corresponding independent claims. Some embodiments of the invention are presented 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, which comprises at least a first part. The first part comprises first locking members for locking the device for the duration of the loading, and a support for supporting the load. The first part additionally comprises a first actuator member for moving the load from the support to a load rack of the device. The system can additionally comprise a second part, wherein the second part comprises second locking members.

The system can additionally in the second part comprise an actuator member for removing the load from the device.

The system can additionally comprise more than one support.

In the system, the load can be attached to the support in a moveable manner.

The system additionally comprises a battery swapping station, which comprises a first part of the battery swapping station and a second part of the battery swap- ping station, which first and second part of the battery swapping station are ar- ranged on opposite sides of a space, which is arranged for receiving said device in order to swap the battery housing. The first part of the battery swapping station comprises first locking members of the battery swapping station and the second part of the battery swapping station comprises second locking members of the battery swapping station, of which at least one set of locking members of the battery swapping station are moveable. At least the first part of the battery swap- ping station comprises a first actuator member for moving the battery housing, and a first replacement battery rack, in which replacement battery rack at least one first housing slot has been arranged for a battery housing. From the first housing slot the battery housing is moveable to the battery rack with the aid of the first actuator member.

Additionally, the system can comprise said battery housing, which comprises connecting means, which are arranged for transferring electrical charge be- tween the battery and the device. The system can also comprise said battery rack, which is arrangeable in said device and is arranged to receive the battery housing. The battery rack comprises opposite first and second ends, and open- ings in both ends for receiving said locking members for the duration of the swapping of the battery housing. The battery rack is arranged so that the battery housing is moveable from the battery swapping station to the battery rack and from the battery rack to the battery swapping station from the end of the battery rack with the aid of the actuator member.

The system can comprise at least one set of locking means of the battery swap- ping station, which are arranged to open in response to arranging at least one locking member of the battery swapping station into the opening of the battery rack and to close in response to arranging said locking member out of said open- ing of the battery rack, whereby the battery housing is locked into the battery rack.

The locking means can comprise latches or hooks arranged in the battery rack, and counterparts arranged in the battery housing for attaching to the latches or hooks.

The system can correspondingly be arranged to electronically disconnect the connecting means from the device or connect them to the device in response to arranging at least one locking member into the opening of the battery rack and to close in response to arranging said locking member out of said opening of the battery rack.

The battery rack can comprise rollers or wheels or gliding surfaces for guiding the moving of the battery housing.

The second part of the battery swapping station can comprise a second actuator device and a thereto functionally connected second actuator member for moving the battery housing, and where the second part can comprise a second replace- ment battery rack, in which at least one second housing slot has been arranged for a battery housing, from which second slot the battery housing is moveable to the battery rack with the aid of the second actuator member.

The system can comprise a base, on the surface of which the device is receiv- able, and which base comprises at least two inclined edge parts, which are ar- ranged to guide the device into the correct spot.

The unmanned transport device can be any battery-operated device, such as an unmanned aircraft or an electric car or a robot vacuum or a robot lawn mower or an electric boat or any kind of device, which electrically utilizes a battery.

According to a second aspect, the invention is a method for loading a device. In the method, said device is received in a space, which is arranged in connection with the loading station; the locking members of the first part of the loading sta- tion are arranged in openings arranged in the load rack arranged in the device; the load is moved with the aid of the actuator member from the first part of the loading station to the load rack of the device; and the locking means of the first part of the loading station are arranged out of the openings of the load rack arranged in the device.

The method can additionally comprise steps, where a load in the device is re- moved with the aid of the actuator member before the load is moved.

The method can further comprise steps for swapping a battery housing of the device. The battery housing is advantageously arranged for receiving a battery. Such a method comprises

- receiving said device in a position, which is arranged in a space between a battery swapping station’s first and second part for receiving said device in order to swap the battery housing,

- arranging locking members of the first and second part of the battery swapping station in openings arranged in the first and second end of the battery housing arranged in the device,

- moving the battery housing with the aid of an actuator member from a housing slot of the battery swapping station to a battery rack, and

- arranging the locking members of the first and second part of the battery swap- ping station out of the openings arranged in the first and second end of the bat- tery housing arranged in the device.

The solutions according to the aspects of the invention provide clear advantages in relation to the prior art, such as the fact that the load of the transport device can be automatically swapped and delivered to a desired target. Additionally, the battery of a device utilizing a battery can be swapped automatically, without actions from a user. This makes possible a quicker swapping of the battery than prior art charging of the battery takes, whereby the use of the device can be continued more quickly.

The other advantages of the invention become clear to someone skilled in the art based on certain embodiments of the invention presented hereafter.

The terms“first” and“second” do not mean order, number or importance, but the terms in question are used to separate one feature from another. Different embodiments of the invention, relating both to structures and opera- tional principles, and its additional objects and advantages can best be under- stood from the following description of certain embodiments, when it is read while simultaneously reviewing the enclosed drawings.

The embodiments presented in this document should not be construed to set limits to the applicability of the enclosed claims. The verb“comprise” has been used as an open limiter, which does not exclude also features not mentioned herein. Characteristics mentioned in the dependent claims can be freely com- bined, unless otherwise specifically mentioned.

BRIEF DESCRIPTION OF THE FIGURES

Certain embodiments of the invention have been illustrated in the enclosed drawings, which are described briefly in the following.

Figure 1 shows a system according to an embodiment.

Figure 2 shows the first part of the loading station according to an embodiment.

Figures 3A-3D show examples of a slide to be arranged in the load.

Figure 4 shows the first part of the loading station according to an embodiment seen from the front.

Figure 5 shows the first part of the loading station according to an embodiment seen from below.

Figure 6 shows the second part of the loading station according to an embodi- ment.

Figure 7 shows the loading station in a very simplified manner, seen from above.

Figure 8 shows the first part of the loading station according to another embod- iment.

Figures 9A-9D show schematically a battery swapping station according to an embodiment of the invention.

Figures 10A-10C show schematically a system according to an embodiment of the invention. Figures 1 1 A-1 1 C show schematically a battery housing according to an embod- iment of the invention.

Figures 12A and 12B show schematically a battery rack according to an embod- iment of the invention.

Figures 13A-13C show schematically 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 CERTAIN EMBODIMENTS

The present invention relates to a loading station, which is suitable for loading an unmanned aircraft (later referred to with the term“device”). The loading sta- tion can be arranged in the system 1000 presented in Figure 1 , such as for ex- ample a docking station for an aircraft. The purpose of the loading station 5 is to automatically load the device 10 and unload the load from the device 10. In ad- dition to the loading station 5, the system 1000 can comprise also other functions and means related to the maintenance of the device 10, such as for example a battery swapping station 100. The loading station 5 and battery swapping station 100 are described in more detail in the following paragraphs. Figures 2 - 8 and 15 relate especially to the loading station 5, and Figures 9 - 14 relate especially to the battery swapping station.

According to an embodiment of the invention, the loading station 5 comprises supports for one or more pieces to be loaded, and a load rack. The load rack can be arranged attached to the device 10 transporting the load. This can for example mean attaching the load rack to the device 10 using attaching means, such as screws or bolts. When loading a load, the load is moved from the loading station 5 to the device 10, especially to the load rack of the device 10, as carried by the support. A transport rack, a transport box, a tool, an aid, etc. can be men- tioned as examples of such a load.

The device is fitted to carry the load in the load rack during flight. The load rack can comprise a remote-controlled opening system, whereby when the device has arrived at its target, the load unloading can be implemented without the presence of a user (recipient). Such a remote-controlled opening system is es- pecially useful for example in goods/post deliveries, or in initial fire extinguishing tasks, where for example the water load can be unloaded from the device while the device is in the air.

Figure 2 shows an example according to an embodiment of the first part 50 of a loading station. In this example the loading station comprises one set of supports 55, which are fitted to support the load 51 . In another embodiment (as is pre- sented below), the first part 50 of the loading station can comprise more than one support. The load 51 is arranged on the support in a moveable manner, whereby the load can easily be moved from the first part 50 of the loading station to the device. The load 51 comprises a slide, such as a slide comprised in a T or U sectional profile, with the aid of which slide the load 51 attaches in a move- able manner to the support 55 corresponding to the sectional profile of the slide.

Figures 3A-D show examples of a load 51 , in which a slide 54 has been ar- ranged. As can be seen from Figures 3A-3C, the shape of the slide can vary between different embodiments. Additionally, as can be observed in Figure 3D, more than one slide 54 can be arranged in the load. The slide 54 can be ar- ranged in the load 51 over the entire length of the load, so that the attaching point between the load and the support substantially covers the entire upper surface of the load. According to another embodiment, the slide can be arranged over a shorter part than the entire length of the load, whereby the attaching point of the load and support is correspondingly shorter.

As can be observed in Figure 2, the load 51 moves in the support 55 in the direction of the arrow A, and the support 55 is arranged in the guide plate 58.

Figure 2 shows locking members 52 in the guide plate 58, which can be the loading station’s 5 own locking members, or shared with the other parts of the system, such as the battery swapping station, as is presented below. The pur- pose of the locking members is to lock the device into place for the duration of the loading. The locking members 52 can comprise latches or hooks arranged in the loading station 5, and counterparts arranged in the device for attaching to the latches or hooks.

In the embodiment of Figure 2, the load 51 can be pushed with the aid of an actuator member 53 into the device through an opening in the guide plate 58. The load 51 moves in the support 55 with the aid of a slide arranged in the load. The guide plate 58, and thus the therein arranged locking members 52, are ar- ranged to be moveable, so that the locking members 52 can be arranged close to the load rack of the device, substantially in contact with the load rack. Addi- tionally, the guide plate 58 can be attached to a frame rail 57 of the first part 51 , which makes possible the moving of the guide plate in the lateral direction.

The load rack in the device can to its structure and shape correspond to the support 53 of the first part. The load rack additionally comprises hasps or corre- sponding locking means, which prevent the load from sliding out of the load rack during flight. The hasps can function in response to the locking members 52, whereby the hasps open, when the locking members lock onto the device, and the hasps lock when the locking members detach from the device. Additionally, the load rack comprises openings, in which the locking members 52 can be placed.

Figure 4 shows the first part 50 of the loading station seen from direction B-B of Figure 2, which part comprises the load 51 to be loaded, which is arranged in the support 55. Figure 3 also shows the locking members 52.

Figure 5 shows the first part of the loading station seen from direction C-C of Figure 4, which part comprises the load 51 to be loaded, which is arranged in the support. The load 51 is arranged to move in the support with the aid of a slide 54 arranged in the load. Figure 5 also shows locking members 52, which can be the loading station’s own locking members, or shared with the other parts of the system. Figure 5 also shows an actuator member 53 according to an em bodiment, which is arranged to push the load 51 from the support in the loading station to the load rack in the device. According to an embodiment, the loading station additionally comprises a second part 60, as is shown in Figure 6. The second part 60 comprises locking members 62, which operate in a correspond- ing way to the locking members 52.

In some embodiments, the second part 60 of the loading station can function as a load receiver when unloading the load. Thus the second part comprises a sup- port (not shown in Figure 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 comprise one support, whereby a new load to be pushed from the first part with the aid of the actuator member pushes the load still in the device to the support of the second part, and the new load settles in the load rack of the device.

Alternatively, the load can be unloaded also in the first part of the loading station, whereby the second part 60 of the loading station does not contain a support for receiving a load, and the second part 60 can have a simpler structure. In such an embodiment, an actuator member 63 is arranged in the second part 60, the task of which actuator member is to push the load from the device into the sup- port of the first part.

According to an embodiment, the load is not unloaded in the system into either of the above-mentioned parts, but released into a space underneath the device. This space can comprise for example a cooler or the like, whereby for example medical/food goods which require cold storage, can quickly be put in required storage.

Figure 7 shows in a simplified manner an example of the system 1000 seen from above. A device 10 has been placed in the system 1000, which device can be an unmanned chopper, which comprises propellers or kickers 1 1 . The device 10 contains a load 51 a, which is arranged in the device 10 with the aid of a slide 54. The first part 50 of the loading system comprises supports 55a, 55b, 55c, in which supports 55b, 55c there is a load 51 b, 51 c, respectively. The support 55a is empty. In order to swap the load in the device 10, the actuator member 63 in the second part 60 of the loading system pushes (arrow 1 ) the load 51 a out of the device 10 to the empty support 55a of the first part 50. Thereafter the sup- ports 55a, 55b, 55c are moved with the aid of a rail 57 (arrow 2) programmati- cally so that the desired load 51 b or 51 c arrives at the actuator member 53. When the load is by the actuator member 53, the actuator member 53 pushes (arrow 3) the load to the load rack of the device 10.

As was mentioned above, the loading station 5 can in the system operate to- getherwith the battery swapping station. In such a case, the load 51 to be loaded can, according to an example, be situated underneath the battery 70, as is shown in Figure 8. Locking members were additionally described above, which can be shared with the battery swapping station, or specific for each loading station. Figure 8 shows an example, where both the battery swapping station and the loading station have their own locking members 52a, 52b. In such a system the locking members can function independently, whereby - depending on which locking member is used - the system knows if a battery swap or loading should be done to the device. The operation of the locking members 52a, 52b is described later in more detail in connection with the description of the battery swapping station with reference to Figures 12A - 12B.

The system according to Figure 8 comprises, in addition to the battery swapping station, also a battery housing and a battery rack. The battery swapping station can be situated above the loading station in relation to the loading station, whereby the battery swapping can be performed inside the device, while the loading can be performed underneath the device. It is however clear that this placement can also be realized in some other way. The battery housing is ad- vantageously arranged for receiving a battery. The battery can be placed inside the battery housing either manually or by utilizing automatic machines. The bat- tery can for example be a lithium battery, a lead battery, a nickel metal hybrid battery or any other electric battery suitable for using a device. The battery hous- ing can comprise electric connecting means, to which the electric poles of the battery can be connected. The connecting means can advantageously be ar- ranged so that electrical charge can through them or with the aid of them be transferred from the battery to the device and/or from the device to the battery. According to an embodiment of the invention the connecting means comprise a first part, to which the poles of the battery can be connected, and a second part, to which the electric poles of the device can be connected. The first and second part of the connecting means are advantageously electrically connected to- gether.

According to an embodiment of the invention the battery rack can advanta- geously be arranged to be attached to the device utilizing a battery. This can for example mean attaching the battery rack to the device using attaching means, such as screws or bolts. The battery rack can be arranged to receive a battery housing. According to an embodiment of the invention the battery rack is ar- ranged to receive the battery housing essentially inside it. The battery rack can comprise an opposite first end and second end, through which the battery hous- ing can be arranged in the battery rack, for example through an opening in the end or through openings in the ends, but the battery housing can be arranged in the battery rack also in some other way.

The battery swapping station can advantageously function automatically and thus makes possible the automatic swapping of the battery of a device utilizing a battery for example in a situation, where the battery charge level of the device is almost empty, whereby the battery in question can be replaced with a battery with a higher charge level. The battery swapping station can advantageously comprise necessary control electronics, adjustment system components, such as a calculation unit and necessary measuring sensors, and actuator devices for performing the battery replacement, and devices and control means for charging the battery.

According to an advantageous embodiment of the invention, the battery swap- ping station comprises a first part and a second part, which are arranged on opposite sides of a space, which is arranged to receive, or wherein one can place, a device utilizing a battery in order to swap the battery. Additionally, the first part can comprise first locking members and the second part second locking members. Advantageously at least one set of locking members, either those of the first part or of the second part, are moveable. Thus, at least one set of locking members can be moved toward the device, whereby these moveable locking members can be moved when necessary, for example by pushing, to the second locking members on the opposite side of the space. According to an embodi- ment, the locking members of both parts have been arranged to be moveable.

Additionally, the first part of the battery swapping station can comprise a first actuator member for moving the battery housing from the battery swapping sta- tion to the battery rack of the device or from the battery rack of the device to the battery swapping station. The first part can comprise also a first replacement battery rack, in which at least one housing slot has been arranged for a battery housing. From the housing slot the battery housing can advantageously be moved to the battery rack with the aid of the first actuator member.

Figures 9A-9D show schematically a system 1000 according to an embodiment of the invention, which system comprises a battery swapping station and a load- ing station (not shown in the figure for the sake of simplicity). The battery swap- ping station comprises a first part 1 10 and a second part 210 and a space 50 between them, which is arranged to receive, or in which one can place, a device in order to swap the battery housing of the device. A base 150 has been ar- ranged between the first 1 10 and second 210 part, on the surface of which base the device utilizing a battery can be received or placed. The first part 1 10 of the battery swapping station comprises locking members 120, which are pegs or similar protrusions. In the embodiment according to Figure 9A there are two pegs and they are arranged in the guide plate 160 of the first part 1 10. The locking members 120 can also function as locking members for the loading sta- tion, or alternatively the loading station and battery swapping station can have their own locking members. According to the latter example, there can then be four pegs.

In the embodiment shown in Figure 9A the first part 1 10 also comprises a re- placement battery rack 135, which comprises at least one housing slot 140, from where the battery housing (not shown in Figures 9A-9D) can be moved from the first part 1 10 to the device’s battery rack (not shown in Figures 9A-9D) or from the battery rack to the housing slot 140 with the aid of the actuator member 130, 230. The replacement battery rack 135 can advantageously comprise charging connecting means 137 in one end of the housing slot 140, whereby, if suitable connecting means have been arranged in the end of the battery housing, these can be connected together electrically, when the battery housing is arranged in the housing slot 140. This makes it possible to start charging the battery received or placed in the battery housing 400 arranged in the housing slot 140, when the battery housing 400 is arranged in the housing slot 140. According to several embodiments of the invention, the charging connecting means 137 are arranged electrically in the charging unit of the battery swapping station 100, which charg- ing unit comprises the necessary electronics and sensors for transferring elec- trical charge into the battery.

In the embodiment in question, the battery housing can be pushed with the aid of an actuator member 130 into the device through an opening in the guide plate 160. The guide plate 160, and thus the therein arranged locking members 120, are arranged to be moveable, so that the locking members 120 can be arranged close to the battery rack of the device, substantially in contact with the battery rack. The guide plate 160 can be attached to the frame 145 of the first part 1 10, which frame can be moveable for example on rails. The guide plate 160, the locking members 120, the housing slot 140 and the actuator member 130 can be moveable also in the longitudinal direction of the frame 145, i.e. perpendicular to the longitudinal direction of the battery swapping station.

The system 1000 comprising a loading station and a battery swapping station can comprise casing parts 310-330. In the embodiment shown in Figures 9A- 9D, the first casing part 310 is arranged to be moveable and substantially covers the first part 1 10 of the loading and battery swapping station in an enclosed space. The second casing part 320 is also arranged to be moveable and sub- stantially covers the second part 210 of the loading and battery swapping station 100 in an enclosed space. Additionally, the system 1000 can comprise a bottom part 330, which in the embodiment according to Figures 9A-9D is arranged to be immobile and can comprise e.g. adjustable legs, with which the system 1000 can be adjusted in a desired position.

Figure 9B shows the embodiment according to Figure 9A from a second per- spective. The battery swapping station comprises a second part 210, which comprises locking members 220. The second part 210 can additionally comprise a guide plate 260, where the locking members 220 can be arranged, a frame 245, which can be moveable, and an actuator member 230, which is arranged so that it can be used to push the battery housing from the battery rack of the device to the housing slot 140 of the first part 1 10. From Figure 8B it can be noted that the edge part 155 of the base 150 can be arranged to be inclined, so that its surface sinks toward the centre of the base 150, whereby for example when receiving an unmanned aircraft, such as a camera chopper, the device is guided by gliding toward the centre of the base 150, settling in the correct area for swapping the battery.

By arranging the actuator members 130, 230, such as the beams or shafts meant for pushing the battery housing, in both parts of the battery swapping station, as is shown for example in Figures 9A-9B, a solution is provided, where e.g. the battery housing can always be moved by pushing, whereby it is not necessary to arrange complicated gripping means, such as hooks ir the like, in the actuator members 130, 230.

Figure 9C shows the system 1000 according to the embodiment shown in Fig- ures 9A and 9B from the side.

Figure 9D shows the system 1000 according to the embodiment shown in Fig- ures 9A and 9B from above. From Figure 9D it can be noted that the replacement battery rack 135 in the first part 1 10 of the battery swapping station can have several housing slots 140, such as for example six of them.

According to several embodiments of the invention, the system 1000 can corn- prise a control unit (not shown in the figures). The control unit can be arranged in the battery swapping station, for example in the first 1 10 or second 210 part, or alternatively in both said parts 1 10, 210, or outside the battery swapping station. The control unit can comprise a calculation unit, such as a microproces- sor, and memory. Additionally, the control unit can advantageously be arranged to be in contact with several sensors, such as a distance sensor, which identifies if the device is arranged in the correct place, and/or sensors performing electri- cal measurements, such as voltage, current or electrical power measuring sen- sors. The control unit can advantageously be arranged to at least control the operation of the system for swapping a battery housing 400.

Figures 10A-10C show schematically a battery swapping system according to an embodiment of the invention. The battery swapping system particularly corn- prises a battery swapping station 100, a battery rack 500 which can be arranged in a device, and a battery housing 400, which is arranged to receive a battery. The battery rack 500 can be arranged attached to the device, for example by means of screws or bolts, or in some other corresponding manner. Figure 10A shows the system from a perspective, Figure 10B from above and Figure 10C from the side. All Figures 10A-10C show the same situation from different direc- tions. The reference numbers used in Figures 10A-10C correspond to the refer- ence numbers used in Figures 10A-10D, and additionally Figures 10A-10C show the battery housing 400.

According to certain embodiments of the invention the battery housing 400 is arranged to receive another type of electricity storage than an electric battery. The battery housing 400 can be arranged to receive a fuel cell, whereby the system can be arranged to swap a device’s fuel cell instead of an electric battery.

From Figures 10A-10C can be seen that the battery rack 500 can comprise a bottom, above which the battery housing 400 can be arranged. Additionally, the battery rack 500 can comprise longitudinal pipes or beams, to the ends of which end parts of the battery rack 500 have been attached, or they are manufactured as one piece. From Figures 10A and 10B can especially be observed that the end parts of the battery rack 500 have openings, through which the locking mem bers 120, 220 of the battery swapping station 100 are arranged to be set. Ac- cording to certain embodiments of the invention, the battery rack 500, and thus the device to which it is attached, can with the aid of the locking members 120, 220 be carried during the swapping of the battery housing 400. For someone skilled in the art it is obvious that in the case of heavy devices, such as an electric car, using locking members 120, 220 for carrying the device requires especially strong locking members and other thereto related structures. According to some embodiments of the invention, the locking members 120, 220 do not carry the battery rack 500 during the swapping of the battery housing 400.

According to several embodiments of the invention, the replacement battery rack 135 can be moved in a perpendicular direction to the longitudinal direction of the battery swapping station 100. Thus the actuator member 130, 230 can remain substantially in its place and the replacement battery rack 135 can be moved so that a desired battery housing 400 moves to the actuator member 130, 230 in order to arrange the battery housing 400 into the battery rack, or alternatively an empty housing slot 140 of the replacement battery rack 135 can be arranged to the actuator member, whereby a battery housing 400 can be moved from the battery rack to the empty housing slot 140 in question of the replacement battery rack 135. Figures 10A and 10B show charging connecting means 137 arranged in the rear end of the housing slots 140 of the replacement battery rack 135, which charging connecting means can typically be electrical couplings, which are fitted to receive a corresponding coupling means or coupling arranged in the battery housing 400.

From Figure 10B can be seen that the actuator member 130 of the first part 1 10 of the battery swapping station 100, i.e. the first actuator member 130, and the actuator member 230 of the second part 210, i.e. the second actuator member 230, are arranged in contact with the battery housing 400. With the aid of the actuator members 130, 230, the battery housing 400 can be moved from the replacement battery rack 135, more precisely from the housing slot 140, toward the opposite part of the battery swapping station. In this case the battery housing 400 can be moved from the first part 1 10 toward the second part 210, but also the other way. According to an embodiment of the invention, only one actuator member 130, 230 is used for moving the battery housing 400, so that the actu- ator member 130, 230, with the aid of which the battery housing 400 can be moved in the desired direction by pushing, is in use. In other words, the first actuator member 130 is used, when the battery housing 400 is pushed from the first part 1 10 toward the second part 210, and the second actuator member 230 when the battery housing 400 is pushed from the second part 210 toward the first part 1 10. It should be noted that the first actuator member 130 can be ar- ranged to push the battery housing 400 from a housing slot 140 in the first part 1 10 to the battery rack 500 of the device or from the battery rack 500 to a hous- ing slot 210 in the second part 210, if one is arranged in the battery swapping station 100. The second actuator member 230 can be arranged to push the battery housing 400 from a housing slot in the second part 210 to the battery rack 500 of the device or from the battery rack 500 to a housing slot 140 in the first part 1 10. According to several embodiments of the invention, the battery housing 400 can be arranged into the device’s battery rack or out of it through both ends of the battery rack. Said both ends are arranged on corresponding sides to the first 1 10 and second 210 part of the battery swapping station 100.

According to the embodiments of the invention shown in Figures 10A-10C, there are in the second end or end part of the battery rack 500, in addition to openings arranged for the locking members 120, 220, battery housing openings for mov- ing a battery housing 400 through the end parts. According to certain embodi- ments of the invention, there are battery housing openings in both ends of the battery rack 500. This is especially advantageous in embodiments, where the first 1 10 and second 210 part of the battery swapping station 100 comprise re- placement battery racks 135. Thus the battery housing 400 can be moved from either part 1 10, 210 to the battery rack 500 and correspondingly out of the bat- tery rack 500 to either part 1 10, 210.

Figures 1 1A-10C show schematically a battery housing 400 according to an em bodiment of the invention, seen from three different directions. The battery hous- ing 400 is arranged to receive a battery, the electric poles of which can be con- nected to the connecting means 410 of the battery housing 400 in order to trans- fer electrical charge from the battery to the device or alternatively from the bat- tery swapping station 100 to the battery, when the battery housing 400 is ar- ranged in a housing slot 140 of the replacement battery rack 135.

The battery housing 400 can comprise a frame 405, inside which the battery can be arranged. Additionally, the battery housing 400 can comprise guide means 430, such as rollers or wheels or a gliding surface, with the aid of which the battery housing 400 can be guided and moved to the battery rack 500 or the battery swapping station 100. According to an embodiment of the invention, con- necting means 410 of the battery housing have been arranged in one end of the battery housing 400. According to another embodiment of the invention, con- necting means 410 of the battery housing have been arranged in both ends of the battery housing 400, as is shown in Figures 1 1A-1 1 C. At least one or two connecting means 410 can have been connected to the electric poles of the battery. By arranging the connecting means 410 in both ends of the battery housing 400, what is achieved is that the battery housing 400 does not need to be turned, when it is moved between the battery swapping station 100 and the battery rack, or the device, because one set of connecting means 410 can be used for transferring electrical charge from the battery to the device and the second set of connecting means 410 for transferring electrical charge from the battery swapping station to the battery.

Additionally, especially in Figure 1 1 B can be seen a counterpart 435 of the lock- ing means 540 according to an embodiment of the invention, such as a peg or an opening arranged for a latch. The counterpart 435 can advantageously be arranged to receive a latch or hook of the locking means 540. In Figures 1 1 A- 3C it is arranged in the end of the axis of the guide means 430, but it can also be arranged in another part of the battery housing 400. The latch or hook can according to an embodiment of the invention be arranged, as is shown in Figures 12A and 12B, in the battery rack 500.

According to an embodiment of the invention, the battery housing 400 can corn- prise second connecting means in the first and/or second end for transferring electrical charge from the battery swapping station 100 to the battery.

Figures 12A and 12B show schematically a battery rack 500 according to an embodiment of the invention from two different perspectives. The battery rack 500 can be arranged attached to a device which utilizes a battery or operates with a battery. The battery rack 500 is also arranged to receive a battery housing 400 according to an embodiment of the invention.

From Figure 12A can be noted that the battery rack 500 can comprise a battery housing opening 525 in at least one end or end part 520 of the battery rack 500. The battery housing 400 according to an embodiment of the invention can be moved through the battery housing opening 525 in question into the battery rack 500 or out of the battery rack 500. Additionally, the battery rack 500 can corn- prise pipes 550 or beams 550, which are arranged in the longitudinal direction of the battery rack 500. The battery housing 400 according to an embodiment of the invention, which comprises guide means 430, is arranged to be moveable along the pipes 550 or beams 550. The pipes 550 or beams 550 can advanta- geously be connected to the end parts 520 for example with bolts, rivets or by welding.

In Figure 12B can be noted that locking means 540 can be arranged in the bat- tery rack 500. According to an embodiment of the invention, the locking means 540 are arranged to open in response to arranging at least one locking member 120, 220 into the opening 510 of the battery rack 500 and to close in response to arranging said locking member 120, 220 out of said opening 510 of the battery rack 500, whereby the battery housing 400 is locked into the battery rack 500. The locking means 540 shown in Figure 4B comprise a mechanism arranged in the vicinity of an opening 510, which mechanism is arranged to change the po- sition of the locking means 540, when the locking member 120, 220 of the bat- tery swapping station 100 is arranged through the opening 510.

In the embodiment shown in Figure 12B, the locking means 540 comprise a hook or a latch, and said mechanism arranged to change its position. Addition- ally, the system comprises a counterpart 435 for said hook or latch, arranged in the battery housing 400. This can mean that when the locking member is ar- ranged in the opening of the battery rack, the latch or hook of the locking means opens, i.e. detaches from the counterpart 435 arranged in the battery rack, and on the other hand connects to the counterpart 435, when the locking member is removed from the opening. For someone skilled in the art, it is clear that the locking means 540, which are arranged to operate in response to the operation of the locking member 120, 220, can be implemented in many different ways. The battery housing can thus be removed from the battery rack or moved into the battery rack, when the locking member is arranged in the opening of the battery rack. According to an embodiment of the invention, the locking means 540 are arranged in the battery housing 400 or in both the battery rack 500 or the battery housing 400.

According to an embodiment of the invention, the system can comprise locking means in the vicinity of more than one, for example two or four, openings 510. Thus, the battery housing 400 can be arranged to be locked in the battery rack 500, for example by all of its corners.

According to several embodiments of the invention, the connecting means 410 of the battery housing 400 connect to the connecting means 530 of the battery rack 500 at the same time as the battery housing 400 is arranged into the battery rack 500 with the aid of the actuator member 130. Correspondingly, the con- necting means 410 of the battery housing 400 connect to the charging connect- ing means 137 of the housing slot 140 in the replacement battery rack 135 at the same time as the battery housing 400 is arranged into the battery swapping station 100 with the aid of the second actuator member 230. According to an embodiment of the invention, there can be battery housing openings 525 in both ends of the battery rack 500. In this case, the electrical connecting means 410, 530 meant for transfer of electrical charge between the battery housing 400 and the battery rack 500 must be arranged in a way that differs from the way shown in Figures 1 1A-1 1 C and 12A-12B, for example in the side edge or upper edge of the housing 400 and rack 500, whereby for example the locking means 540 can be arranged so that an electric connection between the housing 400 and rack 500 is formed when the locking members 120, 220 are arranged out of the opening 510 or openings 510 of the battery rack 500.

According to an embodiment of the invention, the system is arranged to corre- spondingly disconnect the connecting means 410 of the battery housing 400 from the device 10 or connect to the device 10 in response to arranging at least one locking member 120, 220 into the opening 510 of the battery rack 500 and to close in response to arranging said locking member 120, 220 out of said open- ing 510 of the battery rack 500. Thus, the battery in the battery housing 400 is detached or electrically disconnected from the device 10, when the locking member 120, 220 is arranged in the opening 510 of the battery rack 500. This makes possible the moving of the battery housing 400 and on the other hand that when the battery housing 400 is in place and the locking member 120, 220 is removed from the opening 510 of the battery rack 500, the battery housing 400 can electrically connect to the device 10 in response to movement of the locking member 120, 220, whereby electrical charge can be transferred from the battery to the device 10 or vice versa.

According to an embodiment of the invention, the battery rack 500 can comprise guide means, such as rollers or wheels or gliding surfaces, for guiding the mov- ing of the battery housing 400. The guide means can be arranged between the housing slot 140 of the first part 1 10 of the battery swapping station 100 and the locking members 120, so that when the locking members 120 are arranged in the opening 510 of the battery rack 500, the battery housing 400 can be moved from the replacement battery rack 135 to the battery rack 500 of the device 10.

Figures 13A-13C show a system 1 according to an embodiment of the invention, which system comprises a loading station (not shown in the figure), a battery swapping station, a battery housing 400 and a battery rack arranged attached to a device 10, in this case a remote-controlled unmanned helicopter 10. Part of the features shown in Figures 13A-13C correspond to those in Figures 9A-9D and will not be described here again to avoid repetition.

In Figures 13A-13C the device 10 is a remote-controlled, unmanned helicopter, which has been 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 can comprise or can be provided with wheels or rollers, whereby with the aid of the base 150 according to an embodiment of the invention, which base can be arranged to have one or several, such as two, inclined edge parts 155, the device 10 can glide toward the centre or centre part of the base, settling in a suitable spot for swapping the battery housing 400.

According to an embodiment, the second part 210 of the battery swapping sta- tion can comprise a second actuator device and a thereto functionally connected second actuator member 230 for moving the battery housing 400. Additionally, the second part can comprise a replacement battery rack, in which at least one housing slot for a battery housing has been arranged. From said housing slot, the battery housing can be moved to the battery rack with the aid of the second actuator member 230, for example in a corresponding way as from the housing slot 140 of the first part 1 10 with the aid of the first actuator member 130.

According to an embodiment of the invention, a battery has been arranged in the battery housing 400, and the electric poles of the battery are electrically con- nected at least to the connecting means 410 of the battery housing 400.

According to an embodiment of the invention, the battery housing comprises at least one set of second connecting means for transferring electrical charge from the battery swapping station to the battery, arranged in at least one of the fol- lowing: the first end, the second end.

According to an embodiment of the invention, a battery has been arranged in the battery housing, and the electric poles of the battery are electrically con- nected at least to the connecting means of the battery housing, or to the con- necting means and second connecting means of the battery housing.

According to an embodiment of the invention, the device is any battery-operated device. The device can for example be an unmanned aircraft or an electric car or a robot vacuum or a robot lawn mower or an electric boat. According to certain embodiments of the invention, the device 10 is an autonomically moving or remote-controlled device 10 taking or receiving from a battery the electrical power needed for a device to move or be moved, such as a camera chopper, or a remote-controlled airplane or car or boat or helicopter, or a robot vacuum or lawn mower.

Figure 14 shows a flowchart of a method meant for swapping a battery housing 400 of a device 10 according to an embodiment of the invention, which battery housing is arranged for receiving a battery. The method comprises a starting phase 700, where among others the necessary devices and systems are ac- quired, which are configurated into operating condition, whereby the system is ready to receive a device 10 in the space 50 for swapping a battery housing 400.

The method comprises receiving 710 a device, especially a device utilizing a battery or a device operating with a battery, in the space 50, which is arranged substantially between the first 1 10 and second 210 part of the battery swapping station for receiving said device 10 in order to swap the battery housing 400. Additionally, the method comprises arranging 720 locking members 120, 220 of the first 1 10 and second 210 part of the battery swapping station in openings 510 arranged in the first and second end of the battery rack 500 arranged in the device 10. Additionally, the method includes moving 730 the battery housing 400 with the aid of an actuator member 130, 230 from the housing slot 140 of the battery swapping station to the battery rack 500. The method additionally corn- prises arranging 740 locking members 120, 220 of the first 1 10 and second 210 part of the battery swapping station out of the openings 510 arranged in the first and second end of the battery rack 500 arranged in the device 10.

The execution of the method can be stopped in point 799. According to several embodiments of the invention, the method can be executed once, repeatedly, as needed, such as when the device 10 is received in the space 50, or at certain intervals or continuously.

According to an embodiment of the invention, the method for swapping a battery housing 400 can comprise that the locking means 540 of the battery rack 500 are opened in response to arranging at least one locking member 120, 220 into the opening 510 of the battery rack 500 and that the locking means 540 of the battery rack 500 are closed in response to arranging said locking member 120, 220 out of said opening 510 of the battery rack 500, whereby the battery housing 400 is locked into the battery rack 500. According to an embodiment of the invention, the method for swapping a battery housing 400 can comprise that the connecting means 410 are electrically dis- connected from the device or connected to the device in response to arranging at least one locking member into the opening of the battery rack and that the connecting means are electrically connected to the device in response to ar- ranging said locking member out of said opening of the battery rack.

Figure 15 shows a flowchart of a method for loading the load of a device 10 according to an embodiment of the invention. The method comprises a starting phase 800, where among others the necessary devices and systems are ac- quired, which are configurated into operating condition, whereby the system is ready to receive a device 10 in the space 50 for loading.

The method comprises receiving 810 the device to be loaded in the space 50. Additionally, the method comprises arranging 820 the locking members of the loading station in openings of the load rack arranged in the device.

If the device comprises a load to be swapped, the load is moved with the aid of the actuator member of the second part from the device to the support of the first part of the loading station, whereafter the supports of the first part are moved so that the support comprising the load to be loaded lines up with the load rack of the device.

In the method the load is moved 830 with the aid of the actuator member from the load support of the loading station to the load rack of the device. The method additionally comprises arranging 840 the above-mentioned locking members out of the openings of the load rack arranged in the device.

The execution of the method can be stopped in point 899. According to several embodiments of the invention, the method can be executed once, repeatedly, as needed, such as when the device 10 is received in the space 50, or at certain intervals or continuously.

According to an embodiment of the invention, the method for swapping a load can comprise opening the locking means of the load rack in response to arrang- ing at least one locking member into the opening of the load rack and closing the locking means of the load rack in response to arranging said locking member out of said opening of the load rack, whereby the load is locked into the load rack. Figures 14 and 15 show a method for swapping a battery housing of a device and a method for loading a device. According to an embodiment, these methods take place simultaneously, so that the steps for receiving the device and for ar- ranging the locking members are shared for the methods, whereafter the steps 730, 740 and 830, 840 happen either simultaneously or at different times. Ac- cording to an embodiment, the methods take place at completely different times, whereby after he device is received, either the battery housing is swapped in the device (according to Figure 14) or the device is loaded (according to Figure 15).

The methods described above (Figures 14 and 15) mention locking members specific for a station (either the loading station or the battery swapping station). As is understood from previous examples, these locking members can also be arranged to be shared by the stations. Station-specific locking members have the advantage that they can operate at different times, whereby the system knows to select the swapping station, the locking members of which are in use. On the other hand, a shared locking member arrangement simplifies the struc- ture to an extent. According to several embodiments of the invention, at least the frame of the battery housing 400 and/or battery rack 500 can be manufac- tured from metal, such as aluminium or steel.

Some embodiments of the invention have been shown above. For someone skilled in the art it is however clear that the solution according to the invention can also be made in other ways than what has been presented above. Features can for example be replaced by equivalent features. The above-presented em bodiments should not be interpreted as restrictive to the claims.