CN109080481A - A kind of robot energy Automatic Provisioning System and replenishing method - Google Patents
A kind of robot energy Automatic Provisioning System and replenishing method Download PDFInfo
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- CN109080481A CN109080481A CN201810879288.2A CN201810879288A CN109080481A CN 109080481 A CN109080481 A CN 109080481A CN 201810879288 A CN201810879288 A CN 201810879288A CN 109080481 A CN109080481 A CN 109080481A
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Abstract
The present invention relates to robot energy recharge technical field, in particular to a kind of robot energy Automatic Provisioning System and replenishing method, front end working robot and rear end maintaining robot turn on robot energy management system；Robot energy management system is used to obtain model, information about power and the specific location of each front end working robot and each rear end maintaining robot；Rear end maintaining robot is used to receive the instruction of robot energy management system；Rear end maintaining robot is used to replace battery for front end working robot；Rear end maintaining robot has the function of location navigation, path planning, automatic obstacle avoiding, docking charging or replacement battery；So that robot work is fed closed loop states in high efficiency of energy by this programme, avoid front end robot and leave post because of charging, saves time cost and human cost for user, reduce the labor intensity of staff.
Description
Technical field
The present invention relates to robot energy recharge technical field, in particular to a kind of robot energy Automatic Provisioning System and
Replenishing method.
Background technique
Robot development is swift and violent, it is anticipated that the foreseeable future, robot are seen everywhere, the public of especially some large sizes
Occasion, such as market, library.For mobile humanoid robot, according to different application scenarios, biggish shifting is generally required
Dynamic distance, such robot carries separate energy source mostly, and energy consumption is larger, and general cruising ability is not strong.Due to the fast charge of battery
Technology develops slowly, and time-consuming for charging process, causes to reduce robot effective storage life, therefore, energy problem of robot is
Restrict one of the main problem of mobile robot development；The supplement energy mode that overwhelming majority robot uses at present is robot
Ontology return automatically charging pile charging scheme, although the program can give robot supplement the energy, robot needs leave the post or
Action is limited.For now, the mode for replacing battery is most efficiently to supplement energy method, but battery altering needs to consume greatly
The manpower of amount, once and robot energy deficiency, the demand for supplementing the energy will be very eager, this need related personnel at any time to
Life.
Summary of the invention
It is in view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of robot energy is fed automatically
System and replenishing method.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of robot energy Automatic Provisioning System of the present invention, it include robot energy management system, several
Front end working robot and several rear end maintaining robots；The front end working robot and rear end maintaining robot are turned on
On robot energy management system；The robot energy management system is for obtaining each front end working robot and every
Model, information about power and the specific location of one rear end maintaining robot；The artificial separate energy source system of front end Work machine
Mobile robot；The front end working robot and rear end machine maintenance are built-in with power detection module per capita；
The rear end maintaining robot is used to receive the instruction of robot energy management system；The rear end maintaining robot is used for
Battery is replaced for front end working robot；The rear end maintaining robot has location navigation, path planning, automatic obstacle avoiding, right
It connects charging or replaces the function of battery.
Further, display is provided on the robot energy management system.
Further, the front end working robot and rear end machine maintenance pass through WLAN per capita and are connected to machine
On people's energy management system；Robot energy management system realizes long-range management and task deployment by connection Ethernet.
Further, the power detection module includes voltage acquisition module and Coulomb meter；The voltage acquisition module
For monitoring battery current voltage；The Coulomb meter is for monitoring battery charging and discharging stream and calculating battery current capacities.
Further, it is provided in the front end working robot and rear end maintaining robot for monitoring power source temperature
Temperature sensor.
A kind of automatic replenishing method of the robot energy: it includes the following steps:
(1) electricity of front end working robot inside real-time monitoring battery；After front end working robot's electricity is lower than setting value,
Battery altering request is sent to robot energy management system；
(2) after robot energy management system receiving front-end working robot request, locked service target, before then analyzing target
Hold the model and specific location of working robot；
(3) robot energy management system obtains the model and specific location of target front end working robot, and obtains each
The working condition of robot rear end maintaining robot and position are analyzed, and robot energy management system is searched optimal automatically
Task is sent to it after idle back-end services robot；
(4) after rear end robot obtains service order, the position of query service target front end working robot and model, from master ga(u)ge
Travel paths are drawn, and avoid the barrier in planning path automatically in moving process, carry target front end working robot institute
The battery needed is until reaching service goal position and docking with target front end working robot；
(5) rear end maintaining robot is docked with target front end working robot, then carries out electricity to target front end working robot
Pond replacement；
(6) battery removed from target front end working robot is placed on from power storage and is charged, rear end machine maintenance
People returns to designated place and robot energy management system is waited to issue instruction.
Compared with the prior art, the invention has the advantages that:
By robot energy management system, monitors the state of charge of front end working robot and utilize rear end maintaining robot pair
The front end working robot of low battery carries out battery altering, so that robot work is fed closed loop states in high efficiency of energy, avoids
Front end robot leaves post because of charging, saves time cost for user and human cost, the labour for reducing staff are strong
Degree.
Detailed description of the invention
Fig. 1 is the flow chart that rear end maintaining robot executes a subtask.
Specific embodiment
As shown in Figure 1, the present invention will be described in detail combined with specific embodiments below, following embodiments and explanation are only used
Explain the present invention, but not as a limitation of the invention.
Specific embodiment is as follows:
A kind of robot energy Automatic Provisioning System of the present invention, it include robot energy management system, several
Front end working robot and several rear end maintaining robots；The front end working robot and rear end maintaining robot pass through nothing
Line LAN connection is on robot energy management system；The inside of front end working robot and rear end maintaining robot passes through electricity
Acquisition module real-time monitoring is pressed to monitor battery current voltage；Coulomb meter currently holds for monitoring battery charging and discharging stream and calculating battery
Amount, and certain sample frequency (such as every 10 seconds 1 time) constantly acquisition front end working robot and rear end maintaining robot
Battery information state, voltage acquisition module and Coulomb meter are and the prior art is without essential distinction；Energy management system system of robot
System is by constantly sending status query instruction with certain frequency (1 second 1 time such as every) to front end working robot and rear end maintenance machine
Device people, front end working robot and rear end maintaining robot receive the status query instruction of robot energy management system sending
Afterwards, front end working robot and the model ID of rear end maintaining robot, battery information, position are fed back to robot energy management system
The data such as confidence breath；The mobile robot of the artificial separate energy source system of front end Work machine；Front end working robot powers on
Pond is fixed by snap on the working robot of front end, and the two poles of the earth of front end working robot and rear end maintaining robot pass through gold
Belong to elastic slice to be pressed on the two poles of the earth of battery；The rear end maintaining robot is used to replace battery for front end working robot；It is described
Rear end maintaining robot has the function of location navigation, path planning, automatic obstacle avoiding, docking charging or replacement battery；After described
Maintaining robot is held to be used to replace battery for front end working robot；It is provided with display on robot energy management system,
The state status real-time display of all front end working robots and rear end maintaining robot is to user in system.
A kind of automatic replenishing method of the robot energy: it includes the following steps:
(1) when rear end maintaining robot voltage acquisition module real-time monitoring monitors battery current voltage；Coulomb meter is for monitoring electricity
Pond charging or discharging current simultaneously calculates battery current capacities；And rear end maintenance is constantly obtained with certain sample frequency (1 second 1 time such as every)
The battery information state of robot；After the electricity of rear end maintaining robot is lower than setting value, successively location navigation, path are advised
It draws, automatic obstacle avoiding, then automatic replacement battery；After front end working robot's electricity is lower than setting value, front end working robot
It is connected by WLAN to robot energy management system and sends battery altering request.
(2) after robot energy management system receiving front-end working robot's charge request, then locked service target is divided
Analyse the model and specific location of target front end working robot；
(3) robot energy management system obtains the model and specific location of target front end working robot, and obtains each
The working condition of robot rear end maintaining robot and position are analyzed, and robot energy management system is searched optimal automatically
Task is sent to it after idle back-end services robot；
(4) after rear end robot obtains service order, the position of query service target front end working robot and model, from master ga(u)ge
Travel paths are drawn, and avoid the barrier in planning path automatically in moving process, carry target front end working robot institute
The battery needed is until reaching service goal position and docking with target front end working robot；
(5) rear end maintaining robot is docked with target front end working robot, then carries out electricity to target front end working robot
Pond replacement；
(6) battery removed from target front end working robot is placed on from power storage and is charged, rear end machine maintenance
People returns to designated place and robot energy management system is waited to issue instruction.
Compared with the prior art, the invention has the advantages that:
By robot energy management system, monitors the state of charge of front end working robot and utilize rear end maintaining robot pair
The front end working robot of low battery carries out battery altering, so that robot work is fed closed loop states in high efficiency of energy, avoids
Front end robot leaves post because of charging, saves time cost for user and human cost, the labour for reducing staff are strong
Degree.
The above description is only a preferred embodiment of the present invention, thus it is all according to the configuration described in the scope of the patent application of the present invention,
The equivalent change or modification that feature and principle are done, is included in the scope of the patent application of the present invention.
Claims (6)
1. a kind of robot energy Automatic Provisioning System, it is characterised in that: it include robot energy management system, several
Front end working robot and several rear end maintaining robots；The front end working robot and rear end maintaining robot are turned on
On robot energy management system；The robot energy management system is for obtaining each front end working robot and every
Model, information about power and the specific location of one rear end maintaining robot；The artificial separate energy source system of front end Work machine
Mobile robot；The front end working robot and rear end machine maintenance are built-in with power detection module per capita.
The rear end maintaining robot is used to receive the instruction of robot energy management system；The rear end maintaining robot is used for
Battery is replaced for front end working robot；The rear end maintaining robot has location navigation, path planning, automatic obstacle avoiding, right
It connects charging or replaces the function of battery.
2. a kind of robot energy Automatic Provisioning System according to claim 1, it is characterised in that: the robot energy
Display is provided in management system.
3. a kind of robot energy Automatic Provisioning System according to claim 1, it is characterised in that: the front end working machine
Device people and rear end machine maintenance pass through WLAN per capita and are connected on robot energy management system；Robot energy management
System realizes long-range management and task deployment by connection Ethernet.
4. a kind of robot energy Automatic Provisioning System according to claim 1, it is characterised in that: the power detecting mould
Block includes voltage acquisition module and Coulomb meter；The voltage acquisition module is for monitoring battery current voltage；The Coulomb meter
For monitoring battery charging and discharging stream and calculating battery current capacities.
5. a kind of robot energy Automatic Provisioning System according to claim 1, it is characterised in that: the front end working machine
The temperature sensor for monitoring power source temperature is provided in device people and rear end maintaining robot.
6. a kind of automatic replenishing method of the robot energy according to claim 1, it is characterised in that: it includes following step
It is rapid:
(1) electricity of front end working robot inside real-time monitoring battery；After front end working robot's electricity is lower than setting value,
Battery altering request is sent to robot energy management system；
(2) after robot energy management system receiving front-end working robot request, locked service target, before then analyzing target
Hold the model and specific location of working robot；
(3) robot energy management system obtains the model and specific location of target front end working robot, and obtains each
The working condition of robot rear end maintaining robot and position are analyzed, and robot energy management system is searched optimal automatically
Task is sent to it after idle back-end services robot；
(4) after rear end robot obtains service order, the position of query service target front end working robot and model, from master ga(u)ge
Travel paths are drawn, and avoid the barrier in planning path automatically in moving process, carry target front end working robot institute
The battery needed is until reaching service goal position and docking with target front end working robot；
(5) rear end maintaining robot is docked with target front end working robot, then carries out electricity to target front end working robot
Pond replacement；
(6) battery removed from target front end working robot is placed on from power storage and is charged, rear end machine maintenance
People returns to designated place and robot energy management system is waited to issue instruction.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733048A (en) * | 2019-11-05 | 2020-01-31 | 广东博智林机器人有限公司 | alignment replenishment robots and alignment method thereof |
| CN111325358A (en) * | 2020-02-14 | 2020-06-23 | 广东博智林机器人有限公司 | Robot battery management and control method and device |
| CN112617695A (en) * | 2020-12-21 | 2021-04-09 | 正从科技(上海)有限公司 | Maintenance method and system suitable for artificial intelligent cleaning robot |
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| CN112617695A (en) * | 2020-12-21 | 2021-04-09 | 正从科技(上海)有限公司 | Maintenance method and system suitable for artificial intelligent cleaning robot |
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Application publication date: 20181225 |