KR20170100996A - Method of charging multirotor based on probe connection and apparatus for the same - Google Patents

Abstract

Disclosed are a method and an apparatus for charging a multicopter based on probe connection. The method for charging a multicopter based on probe connection according to an embodiment of the present invention comprises the steps of: identifying a basket marker corresponding to a basket included in a power supply by using a camera provided in a probe of a multicopter; adjusting a position of the probe based on a position of the identified basket marker, and connecting the probe to the basket; and charging the multicopter by receiving power from the power supply through the probe.

Description

[0001] METHOD OF CHARGING MULTIROTOR BASED ON PROBE CONNECTION AND APPARATUS FOR THE SAME [0002]

Embodiments of the present invention relate to a probe connection-based multi-copter charging method and apparatus therefor, and more particularly, to a probe connection-based multi-copter charging method and apparatus for charging the same without charging the power supply device .

Since the multi-copter has multiple rotors, it is more stable and easier to maintain than a single rotor helicopter. Therefore, it is applied to various fields such as aerial photography and personal hobby activities.

Most of the existing electric multi-copter is used by replacing the charged battery by landing the multi-copter on the ground. The time required for moving the gas (landing at the charging position) and the battery replacement time are required.

Korean Patent Publication No. 10-2011-0022211

Embodiments of the present invention provide a probe connection-based multi-copter charging method for charging a battery by connecting a probe provided in the multi-copter to a power supply device even when the multi-copter does not land on the power supply device. Device.

Embodiments of the present invention also provide a probe connection-based multi-copter charging method and apparatus for connecting a probe to another multi-copter so that the multi-copter can charge the battery without a separate power supply.

Further, embodiments of the present invention provide a probe connection-based multi-copter charging method capable of simultaneously charging a plurality of multi-copters through a single power supply device by connecting a plurality of multi-copters to a power supply device in series, and an apparatus therefor do.

An embodiment of the present invention provides a method of controlling a power supply apparatus, comprising: identifying a bar code marker corresponding to a bar provided in a power supply apparatus using a camera provided in a probe of a multi-copter; Adjusting the position of the probe based on the position of the identified basket marker and connecting the probe to the basket; And charging the multi-copter by receiving power from the power supply through the probe.

The step of identifying the basket marker may identify a basket marker corresponding to a basket included in another multicoperator different from the multicoperator.

The step of charging the multi-copter may charge the multi-copter by receiving the power from at least one of the other multi-copter and the power source.

The step of charging the multi-copter may include receiving the power from the power supply when the other multi-copter is connected to the basket provided in the power supply, If not connected to the multi-copter, the multi-copter can be charged with the power from the other multi-copter.

A basket marker corresponding to the basket included in the power supply unit and a basket marker corresponding to the basket included in the other multi-copter may be different from each other.

Wherein the step of connecting to the basket comprises: adjusting the position of the probe such that the basket marker is within a predetermined area within the image obtained from the camera; And reducing the distance between the probe and the basket to allow the probe to slide along the guide of the basket to the bottom of the basket when the probe is over the basket. .

The coupling to the basket may connect the probe to the basket using an electromagnet provided on at least one of the bottom surface of the probe and the bottom surface of the basket.

The multi-copter charging method may further include, when the charging of the multi-copter is completed, disconnecting the probe from the basket by releasing the operation of the electromagnet.

The method may further include adjusting a position of at least one of the multi-copter and the probe so that the tension of the probe connecting the multi-copter and the probe does not exceed a preset tension value. have.

The multi-copter charging method may further include receiving position change information of the power supply device, and changing a position of the multi-copter based on the position change information.

In another embodiment of the present invention, there is provided a barcode marker identification unit for identifying a barcode marker corresponding to a barcode included in a power supply using a camera provided in a probe of a multi-copter. A basket connection portion for adjusting a position of the probe based on the position of the identified basket marker and connecting the probe to the basket; And a multi-copter charging unit that receives power from the power supply unit through the probe and charges the multi-copter.

Yet another embodiment of the present invention provides a multi-copter system comprising at least one multi-copter with a multi-copter charging device; And a power supply unit for supplying power to the multi-copter, wherein the multi-copter charging unit is connected to the multi-copter by using a camera provided on a probe of the multi-copter, A controller for identifying the marker, adjusting the position of the probe based on the position of the identified basket marker, connecting the probe to the basket, receiving power from the power supply via the probe, A probe connection based multi-copter charging system is disclosed.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the probe connection-based multi-copter charging method and apparatus therefor according to the embodiments of the present invention, even when the multi-copter does not land on the power supply device, the probes provided in the multi-copter are connected to the power supply device, It can be charged.

In addition, according to the probe connection-based multi-copter charging method and the apparatus therefor according to the embodiments of the present invention, the battery can be charged without connecting a separate power supply by connecting the probe to another multi-copter.

In addition, according to the probe connection-based multi-copter charging method and the apparatus therefor according to the embodiments of the present invention, a plurality of multi-copters are connected in series to a power supply device so that a plurality of multi- It can be charged at the same time.

1 is a block diagram of a probe-based multi-copter charging system according to an embodiment of the present invention.
FIG. 2 is a view showing an example of a lower surface of the probe shown in FIG. 1. FIG.
3 is a view showing an example of the upper surface of the basket shown in Fig.
4 is a diagram showing an example of the internal configuration of the power supply apparatus shown in FIG.
5 is a view showing an example of the internal configuration of the multi-copter shown in FIG.
FIG. 6 is a flowchart illustrating a probe connection-based multi-copter charging method according to an embodiment of the present invention.
7 is an example of a basket connection method according to an embodiment of the present invention.
8 is an example of a method for simultaneously charging a plurality of multi-copters according to an embodiment of the present invention.
9 is an example of a method of charging a multi-copter using a moving power supply apparatus according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

In the following embodiments, the terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

The terms used in the following examples are used only to illustrate specific embodiments and are not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the following description, the terms "comprises" or "having ", and the like, specify that the presence of stated features, integers, steps, operations, elements, But do not preclude the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Embodiments of the present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in a wide variety of hardware and / or software configurations that perform particular functions. For example, embodiments of the invention may be embodied directly in hardware, such as memory, processing, logic, look-up tables, etc., that can perform various functions by control of one or more microprocessors or by other control devices Circuit configurations can be employed. Similar to the components of an embodiment of the present invention may be implemented with software programming or software components, embodiments of the present invention include various algorithms implemented with a combination of data structures, processes, routines, or other programming constructs , C, C ++, Java, assembler, and the like. Functional aspects may be implemented with algorithms running on one or more processors. Embodiments of the present invention may also employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as mechanisms, elements, means, and configurations are widely used and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

In the present specification and drawings, the same reference numerals are used for constituent elements having substantially the same configuration, and redundant description is omitted.

1 is a block diagram of a probe-based multi-copter charging system according to an embodiment of the present invention.

Referring to FIG. 1, a probe connection-based multi-copter charging system according to an embodiment of the present invention includes a multi-copter 100 and a power supply 200.

The multi-copter 100 may be a vehicle having two or more roters.

For example, the multi-copter 100 may be a tri-copter with three rotors, a quad copter with four rotors, an X-copter or a Y4 copter, a six-rotor hexacopter or a Y6 copter, But is not limited thereto.

The multi-copter 100 may include a probe 110 for receiving power from the power supply 200.

The multi-copter 100 may include a probe reel 115 for adjusting the length of the probe line 116.

The power supply 200 may be a device for supplying power to the multi-copter 100 in a wired manner.

The power supply 200 may be provided with a basket 220 for facilitating a wired connection with the multi-copter 100.

In an alternative embodiment, the multi-copter 100 may be wired to another multi-copter and may supply power to another multi-copter.

In this case, the multi-copter 100 may be provided with a basket 120 for facilitating a wired connection with another multi-copter.

FIG. 2 is a view showing an example of a lower surface of the probe 110 shown in FIG.

2, the probe 310 includes a camera 310, a first power terminal 320, a second power terminal 322, a magnet portion 330, and a communication terminal 340, And the like.

The camera 310 can acquire an image using an image sensor.

The camera 310 can deliver the acquired image to the controller of the multicoperator (see 100 in FIG. 1).

The first power supply terminal 320 and the second power supply terminal 322 may be terminals for receiving power from a power supply (see 200 in FIG. 1).

For example, when the multi-copter (see 100 in FIG. 1) is supplied with DC power from a power supply (see 200 in FIG. 1), either the first power terminal 320 or the second power terminal 322 +) Pole, and the other one may be a (-) pole terminal.

The magnet portion 330 may be a member for preventing the probe 110 from being separated from the basket (see 220 in FIG. 1).

An electromagnet may be used as the magnet portion 330.

For example, when the multi-copter (see 100 in FIG. 1) is charged, the magnet unit 330 operates as a magnet by receiving a current, and when the charging of the multi-copter As shown in FIG.

The communication terminal 340 may be a terminal for communicating with a power supply (see 200 in FIG. 1) when a multi-copter (see 100 in FIG. 1) is connected to a power supply (see 200 in FIG. 1).

The multi-copter (see 100 in FIG. 1) can recognize whether or not the power supply (see 200 in FIG. 1) is connected through the communication terminal 340.

1) receives information regarding the repositioning of the power supply (see 200 in FIG. 1) via the communication terminal 340, and the power supply (200 in FIG. 1) (See reference numeral 100 in Fig. 1) and the position change of the multi-copter (see 100 in Fig. 1) can be synchronized.

For example, when the platform to which the power supply (see 200 in FIG. 1) is attached accelerates in a particular direction, the power supply (see 200 in FIG. 1) 100), and the multi-copter (see 100 in FIG. 1) can accelerate in that direction using the position change information to prevent unexpected separation with the power supply (see 200 in FIG. 1) .

3 is a view showing an example of the upper surface of the basket 220 shown in FIG.

Referring to FIG. 3, a basket marker 410, a power supply surface 420, and the like may be provided on the upper surface of the basket 220 shown in FIG.

1) is attached to a barcode marker 410 of the multi-copter (see reference numeral 100 in FIG. 1), the camera (see 310 in FIG. 2) And the like.

For example, the basket marker 410 is configured in the form of a cross, and the camera (see 310 in FIG. 2) provided in the probe (see 110 in FIG. 1) May be identified as having a power supply (see 200 in Figure 1).

It may be a visual form recognizable through the camera of the barquette marker 410, and is not limited to the above-mentioned cross shape.

In addition, the bar code marker 410 may be configured differently for each of the power supplies (see 200 in FIG. 1).

Alternatively, the basket marker 410 may be configured to have a different shape in the form of a power supply (see 200 in FIG. 1) and a multicoperator (see 100 in FIG. 1).

That is, the multi-copter (see 100 in FIG. 1) can distinguish the power supply (see 200 in FIG. 1) or the multi-copter (see 100 in FIG. 1) by using the basket marker 410.

The power supply surface 420 may have a configuration corresponding to the lower surface of the probe (see 110 in FIG. 1) so as to be connected to the lower surface of the probe (see 110 in FIG. 1) to supply power.

For example, when the camera, the first power source terminal, the second power source terminal, the magnet portion, and the communication terminal are provided on the lower surface of the probe (see 110 in FIG. 1), the power source supplying surface 420 is connected to the first power source terminal A second power supply terminal, a magnet, and a communication terminal.

FIG. 4 is a diagram showing an example of the internal configuration of the power supply apparatus 200 shown in FIG.

Referring to FIG. 4, the power supply 200 shown in FIG. 1 includes a controller 510, an AC-DC converter 520, a GPS unit 530, and the like.

When the multi-copter (see 100 in FIG. 1) is being charged, the controller 510 supplies current to the electromagnet of the basket 220 to maintain the connection with the multi-copter (see 100 in FIG. 1) 1), the supply of electric current to the electromagnet of the basket 220 is released and the connection to the multi-copter (see 100 in FIG. 1) can be released.

The controller 510 receives position information from the GPS unit 530 and can transmit it to the multicoperator (see 100 in FIG. 1).

Also, the controller 510 may acquire the position change information of the platform on which the power supply 200 is mounted, and may transmit the position change information to the multi-copter (see 100 in FIG. 1).

The AC-DC converter 520 converts AC power to DC power and supplies DC power to a multicoperator (see 100 in FIG. 1) connected to the basket 220.

5 is a view showing an example of the internal configuration of the multicoperator 100 shown in FIG.

Referring to FIG. 5, the multicoperator 100 shown in FIG. 1 includes a controller 610, a battery unit 620, and the like.

The controller 610 may include a bar code marker identification 611 identifying the bar code marker, a bar code link 612 for connecting the probe to the bar code, and a multi-copter charging unit 613 for charging the multi copter. have.

The basket marker identifying unit 611 can identify a basket marker corresponding to a basket included in the power supply using a camera provided in the probe of the multi-copter.

The basket marker identifying unit 611 may identify a basket marker corresponding to a basket included in another multi-copter using a camera provided in the probe of the multi-copter.

In this case, the basket marker corresponding to the basket included in the power supply unit and the basket marker corresponding to the basket included in the other multi-copter may have different shapes.

Accordingly, the basket marker identifying unit 611 can determine whether the object having the basket is a power supply device or another multicoperator through the basket marker.

In addition, each power supply and each multi-copter may have its own basket marker.

Accordingly, the basket marker identifying unit 611 can identify, through the basket marker, the object having the basket mark as a specific power supply device or a specific multicoperator.

The basket connection 612 can adjust the position of the probe based on the position of the identified basket marker and connect the probe to the basket.

The basket connection portion 612 can adjust the position of the probe so that the basket marker is within the predetermined area within the image obtained from the camera.

The basket connection 612 may reduce the distance between the probe and the basket to allow the probe to slide along the guide of the basket to the bottom of the basket when the probe is over the basket.

The basket connection portion 612 may connect the probe to the basket using an electromagnet provided on at least one of the bottom surface of the probe and the bottom surface of the basket.

In this case, when the charging of the multi-copter is completed, the basket connection portion 612 can release the operation of the electromagnet to separate the probe from the basket.

The basket connection portion 612 can adjust the position of at least one of the multi-copter and the probe so that the tension of the probe wire connecting the multi-copter and the probe does not exceed a preset tension value.

The multi-copter charging unit 613 can receive power from the power supply through the probe and charge the multi-copter.

The multi-copter charging unit 613 receives the DC power from the power supply through the probe, and can charge the battery 620 using the DC power.

When the probe is connected to a basket provided in another multi-copter, the multi-copter charging unit 613 can receive power from at least one of the other multi-copter and the power source to charge the multi-copter.

When the multi-copter charging unit 613 receives power from the power supply when another multi-copter is connected to the basket provided in the power supply, and the other multi-copter is not connected to the basket provided in the power supply, The power can be supplied from another multi-copter to charge the multi-copter.

In an alternative embodiment, the multi-copter charging unit 613 may receive power from another multi-copter or supply power to another multi-copter when another multi-copter is connected to the basket 120 of the multi-copter.

Although not shown in FIG. 5, the controller 100 of the multi-copter shown in FIG. 1 receives the position change information of the power supply device, and performs a multi-copter position synchronization And the like.

FIG. 6 is a flowchart illustrating a probe connection-based multi-copter charging method according to an embodiment of the present invention.

Referring to FIG. 6, in a probe connection-based multi-copter charging method according to an embodiment of the present invention, a bus-marker identifying unit (see 611 in FIG. 5) And identifies a basket marker corresponding to the basket included in the basket marker (S710).

In step S710, the basket marker identifying unit (see 611 in FIG. 5) can identify a basket marker corresponding to a basket included in another multicoperator that is different from the multicoperator.

Here, the basket marker corresponding to the basket included in the power supply unit and the basket marker corresponding to the basket included in the other multi-copter may be of different forms.

Further, in the probe connection-based multi-copter charging method according to the embodiment of the present invention, the basket connecting portion (see 612 in FIG. 5) adjusts the position of the probe based on the position of the identified basket marker, (S720).

In step S720, the basket connection (see 612 in FIG. 5) may adjust the position of the probe so that the bar-squared marker is within the predetermined area within the image obtained from the camera.

In step S720, the basket connection (see 612 in FIG. 5) reduces the distance between the probe and the basket, so that when the probe is over the basket, As shown in FIG.

In step S720, the basket connection (see 612 in FIG. 5) may connect the probe to the basket using an electromagnet provided on at least one of the bottom surface of the probe and the bottom surface of the basket.

In this case, although not shown in FIG. 6, in the probe connection-based multi-copter charging method according to the embodiment of the present invention, when the charging of the multi-copter is completed, the basket connection portion (see 612 in FIG. 5) And disconnecting the probe from the basket by releasing the operation.

Although not shown in FIG. 6, in the probe connection-based multi-copter charging method according to an embodiment of the present invention, the basket connecting portion (see 612 in FIG. 5) may be configured such that the tension of the probe wire connecting the multi- And adjusting the position of at least one of the multi-copter and the probe so that the tension value is not exceeded.

Also, in the probe connection-based multi-copter charging method according to an embodiment of the present invention, the multi-copter charging unit (see 613 in FIG. 5) receives power from the power supply unit through the probe to charge the multi-copter (S730).

In step S730, the multi-copter charging unit (see 613 in FIG. 5) can receive power from at least one of the other multi-copter and the power supply unit to charge the multi-copter.

In step S730, the multi-copter charging unit (see 613 in FIG. 5) receives power from the power supply when another multi-copter is connected to the basket provided in the power supply, It is possible to charge the multi-copter by receiving power from another multi-copter.

Although not shown in FIG. 6, in the probe connection-based multi-copter charging method according to an embodiment of the present invention, the multi-copter position synchronization unit receives location change information of the power supply device, And a step of changing the position of the second switch.

7 is an example of a basket connection method according to an embodiment of the present invention.

5) identifies a basket marker formed on the top surface of the basket 220, and the basket connection (see 612 in FIG. 5) identifies the basket markers of the identified basket markers And adjusts the position of the probe 110 based on the position.

7 (a)). By adjusting the position of the probe 110 so that the basket marker is present within the predetermined area in the image obtained from the camera, the connection of the basket (see 612 in Fig. 5) May be positioned over the basket 220. [0043]

5 (b)) reduces the distance between the probe 110 and the basket 220 so as to reduce the distance between the probes 110 and the basket 220, , The probe 110 can be brought into contact with the guide of the basket 220.

In this state, the basket connecting portion (see 612 in FIG. 5) further reduces the distance between the probe 110 and the basket 220 so that the probe 110 is moved to the basket 220 as shown in FIG. 7 (c) So that it can slide to the bottom surface of the basket 220.

When the probe 110 slides to the bottom surface of the basket 220, the electromagnet provided on the bottom surface of the probe 110 or the electromagnet provided on the bottom surface of the basket 220, The skirt 220 can be connected.

8 is an example of a method for simultaneously charging a plurality of multi-copters according to an embodiment of the present invention.

Referring to FIG. 8, the multi-copter 100a may be connected to the power supply 200 to receive power. Also, the multi-copter 100b may be connected to another multi-copter 100a to receive power from the power supply 200 or other multi-copter 100a.

In an alternative embodiment, in the absence of the power supply 200, the multi-copter 100b may be connected to another multi-copter 100a to receive power from another multi-copter 100a.

In an alternative embodiment, when the probe of the multicoperator 100b is connected to the basket of another multicoperator 100a, the multicoperator 100b may be powered from another multicoperator 100a, 100a may be supplied with power from the multicoperator 100b.

9 is an example of a method of charging the multi-copter using the moving power supply 200 according to the embodiment of the present invention.

Referring to FIG. 9, the power supply 200 may be mounted on a moving platform 700.

In this case, the power supply apparatus 200 acquires the acceleration steering information of the platform 700, generates position change information based on the information, and transmits the generated position change information to the multicoperator 100.

The multi-copter 100 can prepare for sudden position changes of the power supply 200 by receiving the position change information from the power supply 200. [

For example, when the platform 700 is accelerating forward, the power supply 200 may obtain such acceleration information of the platform 700 to generate the position change information and deliver it to the multicoperator 100, The multi-copter 100 can use the position change information to accelerate in the same direction as the acceleration direction of the platform 700, thereby preventing unexpected separation from the power supply device 200. [

The embodiments of the present invention described above can be embodied in the form of a computer program that can be executed on various components on a computer, and the computer program can be recorded on a computer-readable medium. At this time, the medium may be a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, , A RAM, a flash memory, and the like, which are specifically configured to store and execute program instructions. Further, the medium may include an intangible medium that is implemented in a form that can be transmitted over a network, and may be, for example, a medium in the form of software or an application, which can be transmitted and distributed through a network.

Meanwhile, the computer program may be specifically designed and configured for the present invention or may be known and used by those skilled in the computer software field. Examples of computer programs may include machine language code such as those produced by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as " essential ", " importantly ", etc., it may not be a necessary component for application of the present invention.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

100: Multi-copter 110: Probe
115: Probe reel 116: Probe line
120: Multicopter basket 200: Power supply
220: Power supply basket

Claims (20)

Identifying a basket marker corresponding to a basket included in the power supply using a camera provided in a probe of the multi-copter;
Adjusting the position of the probe based on the position of the identified basket marker and connecting the probe to the basket; And
And charging the multi-copter by receiving power from the power supply through the probe. The method according to claim 1,
The step of identifying the basket marker
Further comprising identifying a basket marker corresponding to a basket included in another multi-copter different from the multi-copter. 3. The method of claim 2,
The step of charging the multi-copter
And the multi-copter is charged with the power from at least one of the other multi-copter and the power source. The method of claim 3,
The step of charging the multi-copter
When the other multi-copter is connected to the basket provided in the power supply, the power is supplied from the power supply, and when the other multi-copter is not connected to the basket provided in the power supply, And charging the multi-copter by receiving the power from another multi-copter. 3. The method of claim 2,
Wherein the basket marker corresponding to the basket included in the power supply unit is different from the basket marker corresponding to the basket included in the other multi-copter. 3. The method of claim 2,
The step of connecting to the basket
Adjusting a position of the probe such that the bar skitter marker is within a predetermined area in an image obtained from the camera; And
And reducing the distance between the probe and the basket to allow the probe to slide along the guide of the basket to the bottom of the basket when the probe is over the basket Wherein the probe connection-based multi-copter charging method comprises: The method according to claim 6,
The step of connecting to the basket
Wherein the probes are connected to the basket using an electromagnet provided on at least one of a bottom surface of the probe and a bottom surface of the basket. 8. The method of claim 7,
The multi-copter charging method
And disconnecting the probe from the basket by releasing the operation of the electromagnet when the charging of the multi-copter is completed. 3. The method of claim 2,
The multi-copter charging method
Further comprising adjusting the position of at least one of the multi-copter and the probe so that the tension of the probe connecting the multi-copter and the probe does not exceed a predetermined tension value. Based multi - copter charging method. The method according to claim 1,
The multi-copter charging method
Further comprising: receiving location change information of the power supply device and changing a location of the multi-copter based on the location change information. A basket marker identifying unit for identifying a basket marker corresponding to a basket included in the power supply using a camera provided in a probe of the multi-copter;
A basket connection portion for adjusting a position of the probe based on the position of the identified basket marker and connecting the probe to the basket; And
And a multi-copter charging unit that receives power from the power supply unit through the probe and charges the multi-copter. 12. The method of claim 11,
The bar code marker identifying unit
Further comprising identifying a basket marker corresponding to a basket included in another multi-copter different from the multi-copter. 13. The method of claim 12,
The multi-
Wherein the multi-copter is charged with the power from at least one of the other multi-copter and the power source, and charges the multi-copter. 14. The method of claim 13,
The multi-
When the other multi-copter is connected to the basket provided in the power supply, the power is supplied from the power supply, and when the other multi-copter is not connected to the basket provided in the power supply, And the multi-copter is charged with the power from another multi-copter. 13. The method of claim 12,
Wherein the basket marker corresponding to the basket provided on the power supply unit is different from the basket marker corresponding to the basket provided on the other multi-copter. 13. The method of claim 12,
The basket connection
Adjusting the position of the probe so that the basket marker is within a predetermined area in an image obtained from the camera, and when the probe is located over the basket, a distance between the probe and the basket So that the probe slides along the guide of the basket to the bottom surface of the basket. 17. The method of claim 16,
The basket connection
Wherein the probes are connected to the basket using an electromagnet provided on at least one of a bottom surface of the probe and a bottom surface of the basket. 18. The method of claim 17,
The basket connection
Wherein when the charging of the multi-copter is completed, the operation of the electromagnet is released to separate the probe from the basket. 13. The method of claim 12,
The basket connection
Wherein the position of at least one of the multi-copter and the probe is adjusted so that the tension of the probe connecting the multi-copter and the probe does not exceed a preset tension value. At least one multi-copter with a multi-copter charging device; And
And a power supply for supplying power to the multi-copter,
The multi-copter charging device
The method comprising: identifying a basket marker corresponding to a basket included in the power supply using a camera provided in the probe of the multi-copter; adjusting a position of the probe based on the position of the identified basket marker; Wherein the probe is connected to the basket and the multi-copter is charged by receiving power from the power supply through the probe.

Images