CN106379289A - Automatic battery replacement robot, automatic battery replacement system and system control method - Google Patents
Automatic battery replacement robot, automatic battery replacement system and system control method Download PDFInfo
- Publication number
- CN106379289A CN106379289A CN201610540375.6A CN201610540375A CN106379289A CN 106379289 A CN106379289 A CN 106379289A CN 201610540375 A CN201610540375 A CN 201610540375A CN 106379289 A CN106379289 A CN 106379289A
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- battery
- robot
- charging rack
- automatically
- electricity
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims description 109
- 230000005611 electricity Effects 0.000 claims description 70
- 230000007246 mechanism Effects 0.000 claims description 40
- 238000012544 monitoring process Methods 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004044 response Effects 0.000 description 9
- 238000007726 management method Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 235000004443 Ricinus communis Nutrition 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 240000000528 Ricinus communis Species 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H02J7/0021—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic battery replacement robot, an automatic battery replacement system and a system control method. The automatic battery replacement robot comprises a movable chassis and a mechanical arm used for grasping batteries. A two-dimensional code reader is arranged at the bottom of the movable chassis. The movable chassis is provided with a lifter used for driving the mechanical arm to move in the vertical direction and a battery groove for containing the batteries, and the batteries are arranged in the battery groove. The movable chassis is further provided with a controller and a first wireless communication module. The controller is electrically connected with the movable chassis, the mechanical arm, the two-dimensional code reader, the lifter, the first wireless communication module and the batteries inside the battery groove. According to the automatic battery replacement robot, the automatic battery replacement system and the system control method, the batteries of the movable robot can be automatically replaced, the movable robot does not need to be charged for a long time, and the use rate of the movable robot is improved.
Description
Technical field
The present invention relates to battery altering technical field, more particularly, to a kind of robot with battery of replacing automatically, system and system
Control method.
Background technology
Mobile robot, be one collect environment sensing, dynamic decision and planning, Behavior- Based control and execution etc. multi-functional in one
The integrated system of body, can execute Given task with automatically walk, for fields such as intelligent storage, cleaning, monitoring.Existing movement
Robot, when battery electric quantity is not enough, can be automatically moved to charging station and be charged, but mobile machine in charging process
People can not work, and reduces mobile robot utilization rate.
Content of the invention
The purpose of the present invention is will to move to charging station when overcoming existing mobile robot not enough power supply to charge, during charging
The interior technical problem that can not work, reduce mobile robot utilization rate, there is provided one kind is automatically changed robot with battery, is
System and system control method, it can change battery to mobile robot automatically, and mobile robot need not be charged for a long time,
Improve and reduce mobile robot utilization rate.
In order to solve the above problems, the present invention employs the following technical solutions and is achieved：
The a kind of of the present invention changes robot with battery automatically, the mechanical arm including mobile chassis with for capturing battery, described shifting
Dynamic tray bottom is provided with two-dimensional code reader, and described mobile chassis are provided with the vertically moving lifter of driving mechanical arm
With the battery case for placing battery, in described battery case, it is provided with battery, described mobile chassis are additionally provided with controller and first
Wireless communication module, described controller respectively with mobile chassis, mechanical arm, two-dimensional code reader, lifter, the first radio communication
Battery electrical connection in module and battery case.
In the technical program, mobile chassis include chassis, several castors being arranged on tray bottom and drive foot
The drive module of wheel motion, drive module is electrically connected with the controller, and controller drives castor motion by drive module, thus controlling
Mobile chassis processed move freely on the ground.
Two-dimensional code reader is photographic head, for reading the two-dimension code label being used for positioning on ground, in each Quick Response Code
All it is built-in with unique No. ID or coordinate figure.Be disposed with ground a number of two-dimension code label realize to mobile robot and
Automatically change the guiding function of robot with battery.Quick Response Code adopts rectangular, three angles has three seek as figure, using CCD
Recognizing apparatus are detecting the position of Quick Response Code, size, angle of inclination and to be decoded.Automatically change robot with battery to pass through to know
Other Quick Response Code carries out self poisoning, moves to specified location.
Automatically change robot with battery and radio communication is carried out with administrative center by the first wireless communication module.When there being movement
When robot needs to change battery, administrative center sends instructions to automatically change robot with battery, controls and automatically changes battery machine
Device people changes battery to mobile robot.Automatically change robot with battery to move at mobile robot, driven by lifter
Manipulator motion, to proper height, is taken out the battery of mobile robot by mechanical arm action；Then automatically change battery machine
Device people moves to specified location before charging rack, moves to proper height by lifter driving mechanical arm, by mechanical arm action
Battery is put into idle cradle on charging rack charge；Then automatically change robot with battery and move to what administrative center specified
On charging rack, the position of the battery for changing, moves to proper height by lifter driving mechanical arm, is moved by mechanical arm
Specified battery is made to take out；Finally, move at mobile robot, suitable height is moved to by lifter driving mechanical arm
Degree, is put into battery in mobile robot by mechanical arm action, completes battery altering.
Preferably, the translation mechanism driving lifter to move horizontally, described translation machine are additionally provided with described mobile chassis
Structure is electrically connected with the controller.Translation mechanism is realized driving mechanical arm and is moved horizontally.
Preferably, being additionally provided with reserve battery on described mobile chassis, described reserve battery is electrically connected with the controller.Automatically
When changing robot with battery to oneself replacing battery, enable reserve battery and power.
Preferably, described mechanical arm include with the gripper of battery cooperation, drive the telescoping mechanism that moves horizontally of gripper with
And driving the flexible drive mechanism of telescoping mechanism, described drive mechanism is electrically connected with the controller.During power taking pond, lifter band motivation
Tool arm moves to proper height, and drive mechanism drives telescoping mechanism to stretch out makes gripper catch battery, lifter driving mechanical arm to
Upper motion, battery is lifted；During electric discharge pond, battery is placed into after specified location, drive mechanism drives telescoping mechanism to retract and makes
Gripper is retracted.
Preferably, the first electric power detection module of battery electric quantity in detection battery case is additionally provided with described mobile chassis,
Described first electric power detection module is electrically connected with the controller.
The a kind of of the present invention changes battery system automatically, automatically changes robot with battery including above-mentioned one kind, also includes
Administrative center, charging rack and be arranged on ground several be used for positioning two-dimension code label, if described charging rack is provided with
Dry, for the cradle charging the battery, described charging rack is additionally provided with monitoring cell electricity quantity device, and monitoring cell electricity quantity fills
Put for monitoring on each cradle the electricity of battery and sending it to administrative center, administrative center passes through wireless network and the
One wireless communication module wirelessly connects.
In the technical program, monitoring cell electricity quantity device with administrative center's wired connection or is wirelessly connected.Administrative center
Including battery centralized management module, mobile robot monitoring cell electricity quantity module, automatically change robot with battery battery electric quantity prison
Survey module, battery centralized management module, mobile robot monitoring cell electricity quantity module, automatically replacing robot with battery battery electric quantity
Wire communication or radio communication can be carried out between monitoring modular.
Mobile robot monitoring cell electricity quantity module, for monitoring the battery electric quantity state of all mobile robots；Automatically
Change robot with battery monitoring cell electricity quantity module, for monitoring the automatic battery electric quantity state changing robot with battery；Battery
Centralized management module, for the battery electric quantity managing mobile robot concentratedly, the battery electric quantity automatically changing robot with battery and
The electricity of battery on charging rack, changes robot with battery and mobile robot transmission control instruction to automatic, can control automatically
Change robot with battery and to mobile robot or itself change battery.
Several being arranged on ground are used for the two-dimension code label of positioning, and multiple two-dimension code labels are disposed adjacent structure successively
Become two-dimension code navigation band, for providing positioning to mobile robot and automatic robot with battery of changing.Charging rack connects provides electricity
The external charging station of energy, the cradle of charging rack charges to the battery being placed on it.
The control method of a kind of automatic replacing battery system of the present invention, using above-mentioned automatic replacing battery system, uses
In to have wireless communication function mobile robot change battery, including：Mobile robot is by the battery level information of itself
It is sent to administrative center, when there being battery fully charged on charging rack, administrative center finds out battery electric quantity in all mobile robots
Minimum mobile robot, judges whether the battery electric quantity of this mobile robot is less than setting value K1, if less than setting value K1,
Then send move to this mobile robot, order it to move to specified location, send and change Battery Directive to automatic replacing electricity
Pond robot, automatic replacing robot with battery receives after changing Battery Directive and takes out battery in the battery holder of this mobile robot
It is put into and charges on charging rack, take out in the battery holder that fully charged battery is put into this mobile robot from charging rack.
In the technical program, change Battery Directive and include battery altering instruction, the fully charged positional information of battery and need
The to be moved to positional information changing battery to mobile robot.The method advantage is all batteries in rational management system,
The utilization charging rack of maximal efficiency.
The control method of a kind of automatic replacing battery system of the present invention, using above-mentioned automatic replacing battery system, uses
In to have wireless communication function mobile robot change battery, including：Mobile robot is by the battery level information of itself
It is sent to administrative center, when the battery electric quantity of certain mobile robot is less than setting value K2, administrative center finds out on charging rack
The maximum battery of electricity, sends move to this mobile robot, orders it to move to specified location, sends and change Battery Directive
Change robot with battery to automatic, automatically change robot with battery and receive and change the battery from this mobile robot after Battery Directive
Take out battery in seat and be put into and charge on charging rack, the electricity that the maximum battery of electricity is put into this mobile robot is taken out from charging rack
In stall.
The control method of a kind of automatic replacing battery system of the present invention, using above-mentioned automatic replacing battery system, wraps
Include：Automatically change robot with battery and the battery level information of itself is sent to administrative center, be full of when battery is had on charging rack
When electric, administrative center finds out the minimum automatic replacing robot with battery of battery electric quantity in all automatic replacing robot with batteries, sentences
Whether the battery electric quantity of this automatic replacing robot with battery disconnected is less than setting value K3, if less than setting value K3, then sends and changes electricity
Pond instructs to this automatic replacing robot with battery, and replacing robot with battery starts reserve battery after receiving and changing Battery Directive automatically
Power supply, then takes out battery in its cells groove and is put into and charge charging rack, take out fully charged battery and put from charging rack
To in its cells groove, start battery in battery case and power, reserve battery is stopped power supply.
The control method of a kind of automatic replacing battery system of the present invention, using above-mentioned automatic replacing battery system, wraps
Include：Automatically change robot with battery and the battery level information of itself is sent to administrative center, when certain changes battery machine automatically
When the battery electric quantity of device people is less than setting value K4, administrative center finds out the maximum battery of electricity on charging rack, and transmission is changed battery and referred to
Make and change robot with battery to automatic, replacing robot with battery starts reserve battery after receiving and changing Battery Directive and powers automatically,
Then take out battery in its cells groove and be put into and charge charging rack, the maximum battery of electricity is taken out from charging rack and is put into certainly
In body battery case, start battery in battery case and power, reserve battery is stopped power supply.
The invention has the beneficial effects as follows：（1）Automatically battery can be changed to mobile robot, mobile robot need not be carried out
Long-time charging, improves and reduces mobile robot utilization rate.（2）Automatically change robot with battery to change to mobile robot
Battery, completely left out manpower.（3）Make rational planning for the replacing of battery, maximum number is ensured with the charging rack of minimum number and battery
The work free of discontinuities of amount robot, has greatly heightened the efficiency of charging rack and the efficiency of mobile robot.
Brief description
Fig. 1 is a kind of structural representation automatically changing robot with battery；
Fig. 2 is that a kind of circuit theory automatically changing robot with battery connects block diagram；
Fig. 3 is the structural representation of mobile robot；
Fig. 4 is the structural representation of battery case；
Fig. 5 is the structural representation during telescoping mechanism retraction of mechanical arm；
Fig. 6 is the structural representation when telescoping mechanism of mechanical arm stretches out；
Fig. 7 is that the circuit theory automatically changing battery system connects block diagram；
Fig. 8 is the structural representation of charging rack；
Fig. 9 is that the circuit theory of monitoring cell electricity quantity device connects block diagram；
Figure 10 is automatically to change the schematic diagram that robot with battery takes out battery from charging rack；
Figure 11 is automatically to change battery machine battery is put into the schematic diagram in the battery holder of mobile robot.
In figure：1st, mobile chassis, 2, mechanical arm, 3, two-dimensional code reader, 4, lifter, 5, battery case, 6, battery, 7, control
Device processed, the 8, first wireless communication module, 9, translation mechanism, 10, reserve battery, 11, telescoping mechanism, 12, drive mechanism, 13,
One electric power detection module, 14, administrative center, 15, charging rack, 16, cradle, 17, monitoring cell electricity quantity device, 18, moving machine
Device people, 19, battery holder, 20, battery core, 21, battery case, 22, flange, 23, union joint, 24, gripper, 25, automatically change battery machine
Device people, 26, microprocessor, the 27, second wireless communication module, the 28, second electric power detection module.
Specific embodiment
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment 1：The a kind of of the present embodiment changes robot with battery, automatically as shown in Figure 1 and Figure 2, including mobile chassis 1
With the mechanical arm 2 for capturing battery 6, mobile chassis 1 bottom is provided with two-dimensional code reader 3, and mobile chassis 1 are provided with band motivation
The vertically moving lifter of tool arm 24 and the battery case 5 for placing battery 6, are provided with battery 6 in battery case 5, mobile
Controller 7, the first wireless communication module 8, reserve battery 10 are additionally provided with chassis 1, drive the translation machine that moves horizontally of lifter
Structure 9 and detection battery case in battery electric quantity the first electric power detection module 13, controller 7 respectively with mobile chassis 1, mechanical arm
2nd, two-dimensional code reader 3, lifter 4, the first wireless communication module 8, reserve battery 10, translation mechanism 9, the first electric power detection mould
Battery 6 in block 13 and battery case 5 electrically connects.
Mobile chassis include chassis, several castors being arranged on tray bottom and the driving mould driving castor motion
Block, drive module is electrically connected with the controller, and controller drives castor motion by drive module, thus controlling mobile chassis on ground
Move freely on face.Translation mechanism driving mechanical arm horizontal movement, lifter driving mechanical arm is vertically movable, and both coordinate realization
Driving mechanical arm, three-D moves.
Two-dimensional code reader is photographic head, for reading the two-dimension code label being used for positioning on ground, in each Quick Response Code
All it is built-in with unique No. ID or coordinate figure.Be disposed with ground a number of two-dimension code label realize to mobile robot and
Automatically change the guiding function of robot with battery.Quick Response Code adopts rectangular, three angles has three seek as figure, using CCD
Recognizing apparatus are detecting the position of Quick Response Code, size, angle of inclination and to be decoded.Automatically change robot with battery to pass through to know
Other Quick Response Code carries out self poisoning, moves to specified location.
Automatically change robot with battery to be used for changing battery to mobile robot, mobile robot is as shown in figure 3, moving machine
Device people side is provided with groove, is provided with battery holder 19 in groove, and battery 6 is placed in battery holder and powers to mobile robot.
Automatically change robot with battery and radio communication is carried out with administrative center by the first wireless communication module.When there being movement
When robot needs to change battery, administrative center sends instructions to automatically change robot with battery, controls and automatically changes battery machine
Device people changes battery to mobile robot.Automatically change robot with battery to move at mobile robot, by translation mechanism and
Lifter driving mechanical arm moves to correct position, by mechanical arm action, the battery of mobile robot is taken out；Then automatic
Change robot with battery and move to specified location before charging rack, moved to properly by translation mechanism and lifter driving mechanical arm
Position, is put into idle cradle on charging rack by mechanical arm action battery and charges；Then automatically change robot with battery
Move to the position of the battery for changing on the charging rack that administrative center specifies, by translation mechanism and lifter driving mechanical
Arm moves to correct position, by mechanical arm action, specified battery is taken out；Finally, automatically change robot with battery to move to
At mobile robot, correct position is moved to by translation mechanism and lifter driving mechanical arm, by mechanical arm action electricity
Pond is put in mobile robot, completes battery altering.
Automatically change robot with battery and can also change battery to oneself, when changing battery to oneself, enable reserve battery and supply
Electricity, after replacing battery finishes, is powered by the battery in battery case, reserve battery is stopped power supply, the battery in battery case can also be given
Reserve battery charges.
As shown in figure 4, being provided with the union joint 23 for electrically connecting with battery in battery case, battery 6 includes battery core 20 and uses
In the battery case 21 placing battery core 20, battery case 21 open top, outward opening turnover forms flange 22.
As shown in figure 5, mechanical arm 2 includes transporting with the gripper 24 of flange 22 cooperation of battery case 21, drive gripper 24 level
Dynamic telescoping mechanism 11 and the drive mechanism 12 driving telescoping mechanism 11 motion, drive mechanism 12 is electrically connected with controller 7.Take
During battery, lifter driving mechanical arm moves to proper height, as shown in fig. 6, drive mechanism drives telescoping mechanism to stretch out, makes to grab
Pawl bottom moves to below the flange of battery case, and lifter driving mechanical arm moves upwards, and battery is lifted, as shown in figure 5, driving
Motivation structure drives telescoping mechanism to retract, and battery is taken out；During electric discharge pond, drive mechanism drives telescoping mechanism to stretch out and places battery
To after specified location, lifter driving mechanical arm move downward a bit of, drive mechanism drive telescoping mechanism retract, make gripper from
Retract below the flange of battery case.
Telescoping mechanism can drive gripper to stretch toward both sides, and battery case is located at gripper side, and telescoping mechanism can drive gripper to move
Move above battery case.Battery in battery case can be taken out or put into battery in battery case by mechanical arm, so that automatically
Change robot with battery and can change battery to oneself.Photographic head is additionally provided with mechanical arm, photographic head is electrically connected with the controller, from
Dynamic robot with battery of changing identifies locating batteries so that picking and placeing of battery is more accurate by photographic head.
The a kind of of the present embodiment changes battery system automatically, automatically changes robot with battery 25 including above-mentioned one kind, such as
Shown in Fig. 7, Fig. 8, also include administrative center 14, charging rack 15 and be arranged on ground several be used for positioning Quick Response Code mark
Sign, charging rack 15 is provided with several for the cradle 16 charging to battery 6, and charging rack 15 is additionally provided with monitoring cell electricity quantity
Device 17, monitoring cell electricity quantity device 17 is used for monitoring on each cradle 16 electricity of battery and sending it to administrative center
14, administrative center 14 is wirelessly connected with the first wireless communication module 8 by wireless network.
Monitoring cell electricity quantity device with administrative center's wired connection or is wirelessly connected.Administrative center includes battery centralized management
Module, mobile robot monitoring cell electricity quantity module, automatically replacing robot with battery monitoring cell electricity quantity module, battery concentrate tube
Permissible between reason module, mobile robot monitoring cell electricity quantity module, automatic replacing robot with battery monitoring cell electricity quantity module
Carry out wire communication or radio communication.Mobile robot monitoring cell electricity quantity module, for monitoring the electricity of all mobile robots
Pond state of charge；Automatically change robot with battery monitoring cell electricity quantity module, for monitoring the automatic electricity changing robot with battery
Pond state of charge；Monitoring cell electricity quantity device, mobile robot monitoring cell electricity quantity module, automatically replacing robot with battery battery
Electric quantity monitoring module manages, to battery, the battery electric quantity data is activation monitored concentratedly module, manages module unification concentratedly by battery
Management.
Module managed concentratedly by battery, for managing the battery electric quantity of mobile robot concentratedly, automatically changing robot with battery
Battery electric quantity and charging rack on battery electricity, change robot with battery 25 and mobile robot 18 sends control and refers to automatic
Order, can control automatic robot with battery of changing to mobile robot or itself to change battery.
Several being arranged on ground are used for the two-dimension code label of positioning, and multiple two-dimension code labels are disposed adjacent structure successively
Become two-dimension code navigation band, for providing positioning to mobile robot and automatic robot with battery of changing.Charging rack connects provides electricity
The external charging station of energy, the cradle of charging rack charges to the battery being placed on it.
As shown in figure 9, monitoring cell electricity quantity device 17 includes microprocessor 26, the second wireless communication module 27 and some
Individual second electric power detection module 28, the second electric power detection module 28 and cradle 19 correspond, the second electric power detection module 28
For detecting the electricity of battery 6 on corresponding cradle 19, and send it to microprocessor 26, administrative center 14 passes through wireless network
Network the second wireless communication module 27 wirelessly connects, and battery level information is sent out by microprocessor 26 by the second wireless communication module 27
Deliver to administrative center 14.
A kind of control method of the automatic replacing battery system of the present embodiment, using above-mentioned automatic replacing battery system,
For changing battery to the mobile robot with wireless communication function, including：The battery electric quantity of itself is believed by mobile robot
Breath is sent to administrative center, and when there being battery fully charged on charging rack, administrative center finds out battery electricity in all mobile robots
Measure minimum mobile robot, judge whether the battery electric quantity of this mobile robot is less than setting value K1, if less than setting value
K1, then send move to this mobile robot, order it to move to the specified location near charging rack, and send and change battery
Instruct and change robot with battery to automatic, after replacing robot with battery receives and changes Battery Directive automatically, move to and this movement
Robot needs the corresponding position of the specified location that moves to, takes out battery, then in the battery holder of this mobile robot
Automatically change robot with battery and move to specified location before charging rack, battery is put on idle cradle on charging rack and fills
Electricity, then automatically change robot with battery move to administrative center distribution for the fully charged battery position changed,
As shown in Figure 10, this battery is taken out from charging rack, finally automatically change robot with battery move to relative with mobile robot
The position answered, as shown in figure 11, by charging rack take out battery be put into this mobile robot battery holder in, complete battery
Change.
Change Battery Directive and include battery altering instruction, idle cradle position on charging rack, fully charged for change
The positional information changing battery to mobile robot that the positional information of battery moves to needs.The method advantage is rational management
All batteries in system, the utilization charging rack of maximal efficiency.
Embodiment 2：A kind of control method of the automatic replacing battery system of the present embodiment, using embodiment 1 automatically more
Change battery system, for changing battery to the mobile robot with wireless communication function, including：Mobile robot by itself
Battery level information is sent to administrative center, when the battery electric quantity of certain mobile robot is less than setting value K2, administrative center
Find out the maximum battery of electricity on charging rack, send move to this mobile robot, order it to move near charging rack
Specified location, and send and change Battery Directive and change robot with battery to automatic, automatically change robot with battery and receive and change electricity
After the instruction of pond, move to the position corresponding with the specified location that this mobile robot needs move to, from this mobile robot
Battery holder in take out battery, then automatically change robot with battery move to specified location before charging rack, battery is put into and fills
Charge on idle cradle on electric frame, then automatically change robot with battery move to administrative center's distribution for changing
The maximum battery position of electricity, takes out this battery from charging rack, finally automatically changes robot with battery and moves to and move
The corresponding position of mobile robot, in the battery holder that the battery taking out is put into this mobile robot, completes electricity on charging rack
Pond is changed.
Change Battery Directive and include battery altering instruction, idle cradle position on charging rack, for the electricity changed
The positional information changing battery to mobile robot that the positional information of big battery moves to needs.
Embodiment 3：The control method of a kind of automatic replacing battery system of the present invention, using the automatic replacing of embodiment 1
Battery system, including：Automatically change robot with battery and the battery level information of itself is sent to administrative center, when on charging rack
When having battery fully charged, administrative center finds out the minimum automatic replacing battery of battery electric quantity in all automatic replacing robot with batteries
Robot, judges that whether the battery electric quantity of this automatic replacing robot with battery is less than setting value K3, if less than setting value K3, then
Transmission changes Battery Directive to this automatic replacing robot with battery, after replacing robot with battery receives and changes Battery Directive automatically, moves
Move specified location before charging rack, then start reserve battery and power, take out battery in its cells groove and be put into charging rack
Charge on idle cradle, then automatically change robot with battery and move to the fully charged for change of administrative center's distribution
Battery position, this battery is taken out from charging rack and is put in its cells groove, start battery case in battery power, standby
Battery is stopped power supply, and completes battery altering, and in battery case, battery is returned reserve battery and charged.
Change Battery Directive and include battery altering instruction, idle cradle position on charging rack, fully charged for change
The positional information of battery.The method advantage is all batteries in rational management system, the utilization charging rack of maximal efficiency.
Embodiment 4：A kind of control method of the automatic replacing battery system of the present embodiment, using embodiment 1 automatically more
Change battery system, including：Automatically change robot with battery and the battery level information of itself be sent to administrative center, when certain from
When the dynamic battery electric quantity changing robot with battery is less than setting value K4, administrative center finds out the maximum battery of electricity on charging rack,
Transmission is changed Battery Directive and is changed robot with battery to automatic, after replacing robot with battery receives and changes Battery Directive automatically, mobile
The specified location to before charging rack, then starts reserve battery and powers, take out battery and be put into charging rack overhead in its cells groove
Charge on not busy cradle, then automatically change robot with battery and move to the maximum for the electricity changed of administrative center's distribution
Battery position, this battery is taken out from charging rack and is put in its cells groove, start battery case in battery power, standby
Battery is stopped power supply, and completes battery altering, and in battery case, battery is returned reserve battery and charged.
Change Battery Directive and include battery altering instruction, idle cradle position on charging rack, for the electricity changed
The positional information of big battery.
Embodiment 5：A kind of control method of the automatic replacing battery system of the present embodiment, using embodiment 1 automatically more
Change battery system, for changing battery to the mobile robot with wireless communication function, including：Mobile robot by itself
Battery level information is sent to administrative center, and when there being battery fully charged on charging rack, administrative center finds out all mobile machines
The minimum mobile robot of battery electric quantity in people, judges whether the battery electric quantity of this mobile robot is less than setting value K1, if
Less than setting value K1, then send move to this mobile robot, order it to move to the specified location near charging rack, and
Send first and change Battery Directive to automatic replacing robot with battery（First changes Battery Directive includes battery altering instruction, charging rack
What upper idle cradle position, the positional information of fully charged battery for replacing and needs moved to changes to mobile robot
The positional information of battery）, automatically change robot with battery receive first change Battery Directive after, move to and this mobile robot
Need the corresponding position of the specified location that moves to, take out battery in the battery holder of this mobile robot, then automatically more
Change robot with battery and move to specified location before charging rack, battery is put on idle cradle on charging rack and charges, then
Automatically change robot with battery move to administrative center's distribution for the fully charged battery position changed, as Figure 10 institute
Show, this battery taken out from charging rack, finally automatically change robot with battery and move to the position corresponding with mobile robot,
As shown in figure 11, in the battery holder battery taking out on charging rack being put into this mobile robot, complete battery altering.
When the battery electric quantity of certain mobile robot is less than setting value K2, it is maximum that administrative center finds out electricity on charging rack
Battery, send move to this mobile robot, order it to move to the specified location near charging rack, and send second
Change Battery Directive and change robot with battery to automatic（Second changes Battery Directive includes battery altering instruction, idle on charging rack
The maximum positional information of battery of cradle position, the electricity for changing and need move to change battery to mobile robot
Positional information）, automatically change robot with battery receive second change Battery Directive after, move to and this mobile robot needs
The corresponding position of the specified location that moves to, takes out battery in the battery holder of this mobile robot, then automatically changes electricity
Pond robot moves to specified location before charging rack, battery is put on idle cradle on charging rack and charges, then automatically
Change the battery position maximum for the electricity changed that robot with battery moves to administrative center's distribution, from charging rack
Take out this battery, finally automatically change robot with battery and move to the position corresponding with mobile robot, will be from charging rack
The battery taking out is put in the battery holder of this mobile robot, completes battery altering.
Automatically change robot with battery and the battery level information of itself is sent to administrative center, when battery is had on charging rack
When fully charged, administrative center finds out the minimum automatic replacing battery machine of battery electric quantity in all automatic replacing robot with batteries
People, judges whether the battery electric quantity of this automatic replacing robot with battery is less than setting value K3, if less than setting value K3, then sends
3rd changes Battery Directive to this automatic replacing robot with battery（3rd changes Battery Directive includes battery altering instruction, on charging rack
Idle cradle position, the positional information of the fully charged battery for changing）, automatically change robot with battery and receive the 3rd
After changing Battery Directive, move to specified location before charging rack, then start reserve battery and power, take out electricity in its cells groove
Pond is put into charges on idle cradle on charging rack, then automatically changes the use that robot with battery moves to administrative center's distribution
Come the fully charged battery position to change, this battery is taken out from charging rack and is put in its cells groove, start battery case
Interior battery is powered, and reserve battery is stopped power supply, and completes battery altering, and in battery case, battery is returned reserve battery and charged.
When the battery electric quantity that certain changes robot with battery automatically is less than setting value K4, administrative center finds out on charging rack
The maximum battery of electricity, sends the 4th and changes Battery Directive to automatic replacing robot with battery（4th changes Battery Directive includes battery
Change the positional information of the maximum battery of instruction, idle cradle position on charging rack, the electricity for changing）, automatically more
Change robot with battery receive the 4th change Battery Directive after, move to specified location before charging rack, then start reserve battery supply
Electricity, takes out battery in its cells groove and is put into and charge on idle cradle charging rack, then automatically changes battery machine
People moves to the battery position maximum for the electricity changed of administrative center's distribution, takes out this battery and put from charging rack
To in its cells groove, start battery in battery case and power, reserve battery is stopped power supply, and completes battery altering, electricity in battery case
Pond is returned reserve battery and is charged.
Claims (10)
1. a kind of automatically change robot with battery it is characterised in that：Including mobile chassis（1）With for capturing battery（6）Machine
Tool arm（2）, described mobile chassis（1）Bottom is provided with two-dimensional code reader, described mobile chassis（1）It is provided with driving mechanical arm
（2）Vertically moving lifter（4）With for placing battery（6）Battery case（5）, described battery case（5）Inside it is provided with
Battery（6）, described mobile chassis（1）On be additionally provided with controller（7）With the first wireless communication module（8）, described controller（7）Point
Not and mobile chassis（1）, mechanical arm（2）, two-dimensional code reader（3）, lifter（4）, the first wireless communication module（8）And battery
Groove（5）Interior battery（6）Electrical connection.
2. according to claim 1 a kind of automatically change robot with battery it is characterised in that：Described mobile chassis（1）On
It is additionally provided with drive lifter（4）The translation mechanism moving horizontally（9）, described translation mechanism（9）With controller（7）Electrical connection.
3. according to claim 1 a kind of automatically change robot with battery it is characterised in that：Described mobile chassis（1）On
It is additionally provided with reserve battery（10）, described reserve battery（10）With controller（7）Electrical connection.
4. a kind of according to claim 1 or 2 or 3 automatically change robot with battery it is characterised in that：Described mechanical arm
（2）Including with battery（6）The gripper of cooperation（24）, drive gripper（24）The telescoping mechanism moving horizontally（11）And drive flexible
Mechanism（11）Flexible drive mechanism（12）, described drive mechanism（12）With controller（7）Electrical connection.
5. a kind of according to claim 1 or 2 or 3 automatically change robot with battery it is characterised in that：Described mobile chassis
（1）On be additionally provided with detection battery case（5）Interior battery（6）First electric power detection module of electricity（13）, described first electric power detection
Module（13）With controller（7）Electrical connection.
6. a kind of automatically change battery system it is characterised in that：Including the one kind described in any claim in claim 1-5
Automatically change robot with battery, also include administrative center（14）, charging rack（15）Be arranged on ground several be used for fixed
The two-dimension code label of position, described charging rack（15）It is provided with several for battery（6）The cradle charging（16）, described fill
Electric frame（15）On be additionally provided with monitoring cell electricity quantity device（17）, monitoring cell electricity quantity device（17）For monitoring each cradle
（16）The electricity of upper battery simultaneously sends it to administrative center（14）, administrative center（14）By wireless network and the first channel radio
Letter module（8）Wireless connection.
7. a kind of control method of automatic replacing battery system, using a kind of replacing battery system automatically described in claim 6,
For changing battery to the mobile robot with wireless communication function it is characterised in that including：Mobile robot by itself
Battery level information is sent to administrative center, and when there being battery fully charged on charging rack, administrative center finds out all mobile machines
The minimum mobile robot of battery electric quantity in people, judges whether the battery electric quantity of this mobile robot is less than setting value K1, if
Less than setting value K1, then send move to this mobile robot, order it to move to specified location, send and change Battery Directive
Change robot with battery to automatic, automatically change robot with battery and receive and change the battery from this mobile robot after Battery Directive
Take out battery in seat and be put into and charge on charging rack, the battery that fully charged battery is put into this mobile robot is taken out from charging rack
In seat.
8. a kind of control method of automatic replacing battery system, using a kind of replacing battery system automatically described in claim 6,
For changing battery to the mobile robot with wireless communication function it is characterised in that including：Mobile robot by itself
Battery level information is sent to administrative center, when the battery electric quantity of certain mobile robot is less than setting value K2, administrative center
Find out the maximum battery of electricity on charging rack, send move to this mobile robot, order it to move to specified location, send out
Send and change Battery Directive and change robot with battery to automatic, automatically change robot with battery and receive and change after Battery Directive from this movement
Take out battery in the battery holder of robot and be put into and charge on charging rack, the maximum battery of electricity is taken out from charging rack and is put into this shifting
In the battery holder of mobile robot.
9. a kind of control method of automatic replacing battery system, using a kind of replacing battery system automatically described in claim 6,
It is characterized in that, including：Automatically change robot with battery and the battery level information of itself is sent to administrative center, work as charging rack
On when having battery fully charged, administrative center finds out the minimum automatic replacing electricity of battery electric quantity in all automatic replacing robot with batteries
Pond robot, judges whether the battery electric quantity of this automatic replacing robot with battery is less than setting value K3, if less than setting value K3,
Then send and change Battery Directive to this automatic replacing robot with battery, replacing robot with battery opens after receiving and changing Battery Directive automatically
Dynamic reserve battery is powered, and then takes out battery in its cells groove and is put into and charge charging rack, takes out and be full of from charging rack
The battery of electricity is put in its cells groove, starts battery in battery case and powers, reserve battery is stopped power supply.
10. a kind of control method of automatic replacing battery system, using a kind of replacing battery system automatically described in claim 6
System is it is characterised in that include：Automatically change robot with battery and the battery level information of itself is sent to administrative center, when certain
When the battery electric quantity of individual automatic replacing robot with battery is less than setting value K4, administrative center finds out the maximum electricity of electricity on charging rack
Pond, sends and changes Battery Directive to automatic replacing robot with battery, automatic replacing robot with battery receives after changing Battery Directive and opens
Dynamic reserve battery is powered, and then takes out battery in its cells groove and is put into and charge charging rack, takes out electricity from charging rack
Maximum battery is put in its cells groove, starts battery in battery case and powers, reserve battery is stopped power supply.
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| CN106379289B CN106379289B (en) | 2018-09-14 |
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| CN110797943B (en) * | 2019-11-06 | 2022-05-06 | 北京旷视机器人技术有限公司 | Charging method, charging device, server and charging system |
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| CN112091553A (en) * | 2020-08-06 | 2020-12-18 | 浙江浙能天然气运行有限公司 | Unmanned aerial vehicle battery replacing device and using method thereof |
| CN111923010A (en) * | 2020-09-14 | 2020-11-13 | 天津科能智象光电科技有限公司 | Vehicle set with battery capable of being automatically replaced |
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| CN113783244A (en) * | 2021-08-02 | 2021-12-10 | 深兰科技（上海）有限公司 | Control method for automatically replacing battery and related device |
| CN113665678A (en) * | 2021-08-02 | 2021-11-19 | 深兰科技（上海）有限公司 | Robot chassis and heap robot |
| CN114069788A (en) * | 2021-11-19 | 2022-02-18 | 中滦科技股份有限公司 | Battery replacing device and method for inspection robot |
| CN114194145A (en) * | 2021-11-29 | 2022-03-18 | 浙江仟易集新能源有限公司 | Truck battery replacing equipment |
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