CN106379289B - It is a kind of to replace robot with battery, system and system control method automatically - Google Patents
It is a kind of to replace robot with battery, system and system control method automatically Download PDFInfo
- Publication number
- CN106379289B CN106379289B CN201610540375.6A CN201610540375A CN106379289B CN 106379289 B CN106379289 B CN 106379289B CN 201610540375 A CN201610540375 A CN 201610540375A CN 106379289 B CN106379289 B CN 106379289B
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- battery
- robot
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- charging rack
- mobile
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 39
- 230000005611 electricity Effects 0.000 claims description 80
- 238000012544 monitoring process Methods 0.000 claims description 43
- 230000007246 mechanism Effects 0.000 claims description 39
- 230000008859 change Effects 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 238000007726 management method Methods 0.000 description 6
- 235000004443 Ricinus communis Nutrition 0.000 description 5
- 230000009471 action 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007812 deficiency Effects 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
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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of automatic replacement robot with battery, system and system control methods.The automatic replacement robot with battery includes mobile chassis and the mechanical arm for capturing battery, the mobile chassis bottom is equipped with two-dimensional code reader, the mobile chassis is equipped with the lifter for driving mechanical arm vertically moving and the battery case for placing battery, battery is equipped in the battery case, controller and the first wireless communication module are additionally provided on the mobile chassis, the controller is electrically connected with the battery in mobile chassis, mechanical arm, two-dimensional code reader, lifter, the first wireless communication module and battery case respectively.The present invention can replace battery to mobile robot automatically, and for mobile robot without carrying out long-time charging, improving reduces mobile robot utilization rate.
Description
Technical field
The present invention relates to battery altering technical fields, more particularly to a kind of automatic replacement robot with battery, system and system
Control method.
Background technology
Mobile robot, being one, to collect environment sensing, dynamic decision and planning, behaviour control and execution etc. multi-functional in one
The integrated system of body can execute Given task, for fields such as intelligent storage, cleaning, monitoring with automatically walk.Existing movement
Robot can be automatically moved to charging station and charge in battery capacity deficiency, but the mobile machine in charging process
People cannot work, and reduce mobile robot utilization rate.
Invention content
The purpose of the present invention is to move to charging station charging when overcoming existing mobile robot not enough power supply, when charging
Interior the technical issues of cannot working, reducing mobile robot utilization rate, provides the automatic replacement robot with battery of one kind, is
System and system control method can replace battery to mobile robot automatically, and mobile robot is not necessarily to carry out long-time charging,
Improving reduces mobile robot utilization rate.
To solve the above-mentioned problems, the present invention is achieved by the following scheme：
One kind of the present invention is automatic to replace robot with battery, including mobile chassis and the mechanical arm for capturing battery, institute
It states mobile chassis bottom and is equipped with two-dimensional code reader, the mobile chassis is equipped with the liter for driving mechanical arm vertically moving
Drop device and the battery case for placing battery, battery be equipped in the battery case, be additionally provided on the mobile chassis controller and
First wireless communication module, the controller respectively with mobile chassis, mechanical arm, two-dimensional code reader, lifter, first wireless
Battery electrical connection in communication module and battery case.
In the technical scheme, mobile chassis includes chassis, several castors and driving foot in tray bottom is arranged
The drive module of movement is taken turns, drive module is electrically connected with the controller, and controller drives castor to move by drive module, to control
Mobile chassis processed moves freely on the ground.
Two-dimensional code reader is camera, for reading two-dimension code label used for positioning on ground, in each Quick Response Code
It is built-in with unique ID number or coordinate value.Be disposed on ground a certain number of two-dimension code labels realize to mobile robot and
The automatic guiding function for replacing robot with battery.Quick Response Code uses rectangular, there are three seeking as figure on three angles, uses CCD
Recognizing apparatus detects the position of Quick Response Code, size, angle of inclination and is decoded.Automatic robot with battery of replacing passes through knowledge
Other Quick Response Code carries out self poisoning, moves to designated position.
Automatic robot with battery of replacing is carried out wireless communication by the first wireless communication module with administrative center.When there is movement
When robot needs replacing battery, administrative center sends instructions to automatic replacement robot with battery, controls automatic replacement battery machine
Device people replaces battery to mobile robot.Automatic robot with battery of replacing is moved at mobile robot, is driven by lifter
Manipulator motion takes out the battery of mobile robot to proper height, by mechanical arm action；Then battery machine is replaced automatically
Device people is moved to the preceding designated position of charging rack, drives manipulator motion to proper height by lifter, is acted by mechanical arm
Battery is put into cradle charging idle on charging rack；Then robot with battery is replaced automatically is moved to what administrative center specified
The position for the battery for being used for replacing on charging rack drives manipulator motion to proper height by lifter, dynamic by mechanical arm
Specified battery is made to take out；Finally, it is moved at mobile robot, drives manipulator motion to suitable height by lifter
Degree is acted by mechanical arm and battery is put into mobile robot, and battery altering is completed.
Preferably, being additionally provided with the translation mechanism for driving lifter to move horizontally, the translation machine on the mobile chassis
Structure is electrically connected with the controller.Translation mechanism, which is realized, drives mechanical arm to move horizontally.
Preferably, being additionally provided with reserve battery on the mobile chassis, the reserve battery is electrically connected with the controller.Automatically
When replacing robot with battery to oneself replacement battery, reserve battery power supply is enabled.
Preferably, the mechanical arm include the gripper coordinated with battery, drive the telescoping mechanism that moves horizontally of gripper with
And the driving mechanism that driving telescoping mechanism is flexible, the driving mechanism are electrically connected with the controller.When taking battery, lifter band motivation
Tool arm moves to proper height, and driving mechanism driving telescoping mechanism stretching makes gripper catch battery, lifter drive mechanical arm to
Upper movement, battery is lifted；When electric discharge pond, after battery is placed into designated position, driving mechanism driving telescoping mechanism retraction makes
Gripper is retracted.
Preferably, the first electric power detection module of battery capacity in detection battery case is additionally provided on the mobile chassis,
First electric power detection module is electrically connected with the controller.
A kind of automatic replacement battery system of the present invention, including the automatic replacement robot with battery of above-mentioned one kind further include
Administrative center, charging rack and several two-dimension code labels used for positioning being set on ground, if the charging rack is equipped with
The cradle for being used to charge the battery is done, monitoring cell electricity quantity device, monitoring cell electricity quantity dress are additionally provided on the charging rack
It sets for monitoring the electricity of battery on each cradle and sending it to administrative center, administrative center passes through wireless network and
One wireless communication module is wirelessly connected.
In the technical scheme, monitoring cell electricity quantity device and administrative center's wired connection or wireless connection.Administrative center
It is supervised including battery centralized management module, mobile robot monitoring cell electricity quantity module, automatic robot with battery battery capacity of replacing
Module is surveyed, battery manages module, mobile robot monitoring cell electricity quantity module, automatic replacement robot with battery battery capacity concentratedly
Wire communication or wireless communication can be carried out between monitoring modular.
Mobile robot monitoring cell electricity quantity module, the battery electric quantity state for monitoring all mobile robots；Automatically
Robot with battery monitoring cell electricity quantity module is replaced, for monitoring the automatic battery electric quantity state for replacing robot with battery；Battery
Manage module concentratedly, for manage concentratedly the battery capacity of mobile robot, the automatic battery capacity for replacing robot with battery and
The electricity of battery on charging rack is replaced robot with battery and mobile robot transmission control instruction to automatic, can be controlled automatic
Robot with battery is replaced to mobile robot or itself replaces battery.
Several two-dimension code labels used for positioning being set on ground, multiple two-dimension code labels are disposed adjacent structure successively
At two-dimension code navigation band, for providing positioning to mobile robot and automatic robot with battery of replacing.Charging rack connection provides electricity
The external charging station of energy, the cradle of charging rack give the battery charging being placed on it.
A kind of control method of automatic replacement battery system of the present invention is used using above-mentioned automatic replacement battery system
In to wireless communication function mobile robot replace battery, including：Mobile robot is by the battery level information of itself
It is sent to administrative center, when there is battery fully charged on charging rack, administrative center finds out battery capacity in all mobile robots
Minimum mobile robot, judges whether the battery capacity of the mobile robot is less than setting value K1, if it is less than setting value K1,
It then sends move and gives the mobile robot, it is ordered to be moved to designated position, transmission changes Battery Directive and replaces electricity to automatic
Pond robot, it is automatic replace robot with battery receive change Battery Directive after take out battery out of the mobile robot battery tray
It is put on charging rack and charges, fully charged battery is taken out from charging rack and is put into the battery tray of the mobile robot.
In the technical scheme, change Battery Directive include battery altering instruction, fully charged battery location information and need
What is be moved to changes the location information of battery to mobile robot.The method advantage is all batteries in rational management system,
Maximal efficiency utilizes charging rack.
A kind of control method of automatic replacement battery system of the present invention is used using above-mentioned automatic replacement battery system
In to wireless communication function mobile robot replace battery, including：Mobile robot is by the battery level information of itself
It is sent to administrative center, when the battery capacity of some mobile robot is less than setting value K2, administrative center finds out on charging rack
The maximum battery of electricity sends move and gives the mobile robot, it is ordered to be moved to designated position, and Battery Directive is changed in transmission
Replace robot with battery to automatic, it is automatic replace robot with battery receive change Battery Directive after from the battery of the mobile robot
Taking-up battery, which is put on charging rack, in seat charges, and the electricity that the maximum battery of electricity is put into the mobile robot is taken out from charging rack
In stall.
The control method of a kind of automatic replacement battery system of the present invention, using above-mentioned automatic replacement battery system, packet
It includes：The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, when having battery to be full of on charging rack
When electric, administrative center finds out the automatic replacement robot with battery that battery capacity is minimum in all automatic replacement robot with batteries, sentences
Whether the battery capacity of the disconnected automatic replacement robot with battery is less than setting value K3, if it is less than setting value K3, then sends and changes electricity
Pond, which instructs, gives the automatic replacement robot with battery, it is automatic replace robot with battery receive change Battery Directive after start reserve battery
Power supply then takes out battery out of cells slot and is put on charging rack and charges, fully charged battery is taken out from charging rack and is put
Into cells slot, start battery powered in battery case, reserve battery stops power supply.
The control method of a kind of automatic replacement battery system of the present invention, using above-mentioned automatic replacement battery system, packet
It includes：The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, and battery machine is replaced when some is automatic
When the battery capacity 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
Enable and replace robot with battery to automatic, it is automatic replace robot with battery receive change Battery Directive after start reserve battery power supply,
Then battery is taken out out of cells slot to be put on charging rack and charge, taken out from charging rack the maximum battery of electricity be put into from
In body battery case, start battery powered in battery case, reserve battery stops power supply.
The beneficial effects of the invention are as follows：（1）Can battery be replaced to mobile robot automatically, mobile robot is without carrying out
It charges for a long time, improving reduces mobile robot utilization rate.（2）Automatic robot with battery of replacing is replaced to mobile robot
Battery, completely left out manpower.（3）It makes rational planning for the replacement of battery, maximum number is ensured with the charging rack of minimum number and battery
The work free of discontinuities for measuring robot, has greatly been turned up the efficiency of charging rack and the efficiency of mobile robot.
Description of the drawings
Fig. 1 is a kind of automatic structural schematic diagram for replacing robot with battery；
Fig. 2 is a kind of automatic circuit theory connection block diagram for replacing robot with battery；
Fig. 3 is the structural schematic diagram of mobile robot；
Fig. 4 is the structural schematic diagram of battery case；
Fig. 5 is the structural schematic diagram when telescoping mechanism of mechanical arm is retracted；
Fig. 6 is the structural schematic diagram when telescoping mechanism of mechanical arm stretches out；
Fig. 7 is the automatic circuit theory connection block diagram for replacing battery system；
Fig. 8 is the structural schematic diagram of charging rack；
Fig. 9 is the circuit theory connection block diagram of monitoring cell electricity quantity device；
Figure 10 is the automatic schematic diagram replaced robot with battery and take out battery from charging rack；
Figure 11 is the automatic schematic diagram replaced battery machine and be put into battery in the battery tray of mobile robot.
In figure：1, 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, driving 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 tray, 20, battery core, 21, battery case, 22, flange, 23, connector, 24, gripper, 25, replace battery machine automatically
Device people, 26, microprocessor, the 27, second wireless communication module, the 28, second electric power detection module.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment 1：One kind of the present embodiment is automatic to replace robot with battery, as shown in Figure 1 and Figure 2, including mobile chassis 1
With the mechanical arm 2 for capturing battery 6,1 bottom of mobile chassis is equipped with two-dimensional code reader 3, and mobile chassis 1 is equipped with band motivation
The vertically moving lifter 4 of tool arm 2 and the battery case 5 for placing battery 6, battery case 5 is interior to be equipped with battery 6, movement
Controller 7, the first wireless communication module 8, reserve battery 10, the translation machine for driving lifter to move horizontally are additionally provided on chassis 1
Structure 9 and detection battery case in battery capacity the first electric power detection module 13, controller 7 respectively with mobile chassis 1, mechanical arm
2, 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 is electrically connected.
Mobile chassis includes chassis, several castors in tray bottom is arranged and the driving mould of driving castor movement
Block, drive module are electrically connected with the controller, and controller drives castor to move by drive module, to control mobile chassis on ground
It is moved freely on face.Translation mechanism drives mechanical arm horizontal movement, lifter that mechanical arm vertical and straight movement, the two cooperation is driven to realize
Drive mechanical arm three-dimensional motion.
Two-dimensional code reader is camera, for reading two-dimension code label used for positioning on ground, in each Quick Response Code
It is built-in with unique ID number or coordinate value.Be disposed on ground a certain number of two-dimension code labels realize to mobile robot and
The automatic guiding function for replacing robot with battery.Quick Response Code uses rectangular, there are three seeking as figure on three angles, uses CCD
Recognizing apparatus detects the position of Quick Response Code, size, angle of inclination and is decoded.Automatic robot with battery of replacing passes through knowledge
Other Quick Response Code carries out self poisoning, moves to designated position.
Automatic robot with battery of replacing is used to replace battery to mobile robot, and mobile robot is as shown in figure 3, moving machine
Device people side is equipped with groove, and battery tray 19 is equipped in groove, and battery 6 is placed in battery tray and powers to mobile robot.
Automatic robot with battery of replacing is carried out wireless communication by the first wireless communication module with administrative center.When there is movement
When robot needs replacing battery, administrative center sends instructions to automatic replacement robot with battery, controls automatic replacement battery machine
Device people replaces battery to mobile robot.Automatic robot with battery of replacing is moved at mobile robot, by translation mechanism and
Lifter drives manipulator motion to suitable position, and the battery of mobile robot is taken out by mechanical arm action；Then automatic
It replaces robot with battery and is moved to the preceding designated position of charging rack, drive manipulator motion to properly by translation mechanism and lifter
Battery is put into cradle idle on charging rack by mechanical arm action and charged by position；Then robot with battery is replaced automatically
It is moved to the position for the battery on the specified charging rack of administrative center being used for replacing, machinery is driven by translation mechanism and lifter
Arm moves to suitable position, and specified battery is taken out by mechanical arm action；Finally, robot with battery is replaced automatically to be moved to
At mobile robot, drives manipulator motion to suitable position by translation mechanism and lifter, acted electricity by mechanical arm
Pond is put into mobile robot, completes battery altering.
Automatic robot with battery of replacing can also replace battery to oneself, when replacing battery to oneself, enable reserve battery and supply
Electricity, after replacing battery, by the battery powered in battery case, reserve battery stops power supply, and the battery in battery case can also be given
Reserve battery charges.
As shown in figure 4, being equipped with the connector 23 for being electrically connected with battery in battery case, battery 6 includes battery core 20 and uses
In the battery case 21 for placing battery core 20,21 open top of battery case, outward opening turns down to form flange 22.
As shown in figure 5, mechanical arm 2 includes the gripper 24 coordinated with the flange of battery case 21 22, drives the horizontal fortune of gripper 24
The driving mechanism 12 that dynamic telescoping mechanism 11 and driving telescoping mechanism 11 moves, driving mechanism 12 are electrically connected with controller 7.It takes
When battery, lifter drives manipulator motion to make to grab as shown in fig. 6, driving mechanism driving telescoping mechanism stretches out to proper height
Pawl bottom moves to below the flange of battery case, and lifter drives mechanical arm to move upwards, and battery is lifted, as shown in figure 5, driving
Motivation structure drives telescoping mechanism to retract, and battery is taken out；When electric discharge pond, battery is placed in driving mechanism driving telescoping mechanism stretching
To after designated position, lifter drive mechanical arm move downward it is a bit of, driving mechanism drive telescoping mechanism retract, make gripper from
It retracts below the flange of battery case.
Telescoping mechanism can drive gripper flexible toward both sides, and battery case is located at gripper side, and telescoping mechanism can drive gripper to move
It moves above battery case.Battery in battery case can be taken out or battery is put into battery case by mechanical arm, so that automatically
Battery can be replaced to oneself by replacing robot with battery.Camera is additionally provided on mechanical arm, camera is electrically connected with the controller, from
Dynamic robot with battery of replacing identifies positioning battery by camera so that picking and placeing for battery is more accurate.
One kind of the present embodiment is automatic to replace battery system, including above-mentioned one kind replacing robot with battery 25 automatically, such as
Further include administrative center 14, charging rack 15 and several Quick Response Code marks used for positioning being set on ground shown in Fig. 7, Fig. 8
Label, charging rack 15 are equipped with several cradles 16 for being used to charge to battery 6, monitoring cell electricity quantity are additionally provided on charging rack 15
Device 17, monitoring cell electricity quantity device 17 is for monitoring the electricity of battery on each cradle 16 and sending it to administrative center
14, administrative center 14 is wirelessly connected by wireless network and the first wireless communication module 8.
Monitoring cell electricity quantity device and administrative center's wired connection or wireless connection.Administrative center includes battery centralized management
Module, mobile robot monitoring cell electricity quantity module, automatic replacement robot with battery monitoring cell electricity quantity module, battery concentrate tube
Manage module, mobile robot monitoring cell electricity quantity module, automatic replace between robot with battery monitoring cell electricity quantity module can be with
Carry out wire communication or wireless communication.Mobile robot monitoring cell electricity quantity module, the electricity for monitoring all mobile robots
Pond state of charge；It is automatic to replace robot with battery monitoring cell electricity quantity module, for monitoring the automatic electricity for replacing robot with battery
Pond state of charge；Monitoring cell electricity quantity device, mobile robot monitoring cell electricity quantity module, automatic replacement robot with battery battery
The battery capacity data of monitoring are sent to battery and manage module concentratedly by electric quantity monitoring module, and it is unified to manage module concentratedly by battery
Management.
Battery manages module concentratedly, for managing the battery capacity of mobile robot concentratedly, replacing robot with battery automatically
Battery capacity and charging rack on battery electricity, replace robot with battery 25 and mobile robot 18 sends control and refers to automatic
It enables, automatic robot with battery of replacing can be controlled to mobile robot or itself replacement battery.
Several two-dimension code labels used for positioning being set on ground, multiple two-dimension code labels are disposed adjacent structure successively
At two-dimension code navigation band, for providing positioning to mobile robot and automatic robot with battery of replacing.Charging rack connection provides electricity
The external charging station of energy, the cradle of charging rack give the battery charging 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 several
A second electric power detection module 28, the second electric power detection module 28 are corresponded with cradle 19, the second electric power detection module 28
Electricity for detecting battery 6 on corresponding cradle 19, and microprocessor 26 is sent it to, administrative center 14 passes through wireless network
The second wireless communication module of network 27 is wirelessly connected, and microprocessor 26 is sent out battery level information by the second wireless communication module 27
It is sent to administrative center 14.
A kind of control method of the automatic replacement battery system of the present embodiment, using above-mentioned automatic replacement battery system,
For to wireless communication function mobile robot replace battery, including：Mobile robot believes the battery capacity of itself
Breath is sent to administrative center, and when there is battery fully charged on charging rack, administrative center finds out battery electricity in all mobile robots
Minimum mobile robot is measured, judges whether the battery capacity of the mobile robot is less than setting value K1, if it is less than setting value
K1 then sends move and gives the mobile robot, orders it to be moved to the designated position near charging rack, and send and change battery
It instructs and replaces robot with battery to automatic, it is automatic to replace after robot with battery receives and change Battery Directive, it is moved to and the movement
Robot needs the corresponding position in designated position being moved to, and battery is taken out out of the mobile robot battery tray, then
Automatic robot with battery of replacing is moved to the preceding designated position of charging rack, battery is put on cradle idle on charging rack and is filled
Electricity, then replace automatically robot with battery be moved to administrative center's distribution for the fully charged battery position replaced,
As shown in Figure 10, the battery is taken out from charging rack, last automatic replacement robot with battery is moved to opposite with mobile robot
The battery taken out from charging rack is put into the battery tray of the mobile robot by the position answered as shown in figure 11, completes battery
It replaces.
It includes battery altering instruction, cradle position idle on charging rack, for the fully charged of replacement to change Battery Directive
The location information that battery is changed to mobile robot that the location information and needs of battery are moved to.The method advantage is rational management
All batteries in system, maximal efficiency utilize charging rack.
Embodiment 2：A kind of control method of the automatic replacement battery system of the present embodiment, using embodiment 1 it is automatic more
Battery system is changed, for giving there is the mobile robot of wireless communication function to replace battery, including：Mobile robot by itself
Battery level information is sent to administrative center, when the battery capacity of some mobile robot is less than setting value K2, administrative center
The maximum battery of electricity on charging rack is found out, move is sent and gives the mobile robot, it is ordered to be moved near charging rack
Designated position, and send and change Battery Directive and replace robot with battery to automatic, it is automatic replace robot with battery and receive changes electricity
After the instruction of pond, it is moved to position corresponding with the designated position that mobile robot needs are moved to, from the mobile robot
Battery tray in take out battery, then automatically replace robot with battery be moved to the preceding designated position of charging rack, battery is put into and is filled
It charges on idle cradle on electric frame, then replaces robot with battery automatically and be moved to administrative center's distribution and be used for replacing
The maximum battery position of electricity, takes out the battery from charging rack, and last automatic robot with battery of replacing is moved to and moves
The corresponding position of mobile robot, the battery taken out from charging rack is put into the battery tray of the mobile robot, completes electricity
It replaces in pond.
Change Battery Directive include battery altering instruction, cradle position idle on charging rack, for replacement electricity most
The location information that battery is changed to mobile robot that the location information and needs of big battery are moved to.
Embodiment 3：The control method of a kind of automatic replacement battery system of the present invention, using the automatic replacement of embodiment 1
Battery system, including：The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, when on charging rack
Have battery it is fully charged when, administrative center finds out the minimum automatic replacement battery of battery capacity in all automatic replacement robot with batteries
Robot, judges whether the battery capacity of the automatic replacement robot with battery is less than setting value K3, if it is less than setting value K3, then
Transmission changes Battery Directive and gives the automatic replacement robot with battery, automatic to replace after robot with battery receives and change Battery Directive, moves
The preceding designated position of charging rack is moved, reserve battery power supply is then started, battery is taken out out of cells slot and is put on charging rack
It charges on idle cradle, then replaces robot with battery automatically and be moved to the fully charged for replacing of administrative center's distribution
Battery position, the battery is taken out from charging rack and is put into cells slot, start battery case in battery powered, it is spare
Battery stops power supply, completes battery altering, and battery returns reserve battery charging in battery case.
It includes battery altering instruction, cradle position idle on charging rack, for the fully charged of replacement to change Battery Directive
The location information of battery.The method advantage is all batteries in rational management system, and maximal efficiency utilizes charging rack.
Embodiment 4：A kind of control method of the automatic replacement battery system of the present embodiment, using embodiment 1 it is automatic more
Battery system is changed, including：The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, when some from
When the dynamic battery capacity for replacing robot with battery is less than setting value K4, administrative center finds out the maximum battery of electricity on charging rack,
Transmission changes Battery Directive and replaces robot with battery to automatic, automatic to replace after robot with battery receives and change Battery Directive, mobile
To the preceding designated position of charging rack, then start reserve battery power supply, battery is taken out out of cells slot and is put into charging rack overhead
It charges on not busy cradle, then replaces the electricity maximum for being used for replacing that robot with battery is moved to administrative center's distribution automatically
Battery position, the battery is taken out from charging rack and is put into cells slot, start battery case in battery powered, it is spare
Battery stops power supply, completes battery altering, and battery returns reserve battery charging in battery case.
Change Battery Directive include battery altering instruction, cradle position idle on charging rack, for replacement electricity most
The location information of big battery.
Embodiment 5：A kind of control method of the automatic replacement battery system of the present embodiment, using embodiment 1 it is automatic more
Battery system is changed, for giving there is the mobile robot of wireless communication function to replace battery, including：Mobile robot by itself
Battery level information is sent to administrative center, and when there is battery fully charged on charging rack, administrative center finds out all mobile machines
The minimum mobile robot of battery capacity in people, judges whether the battery capacity of the mobile robot is less than setting value K1, if
It less than setting value K1, then sends move and gives the mobile robot, it is ordered to be moved to the designated position near charging rack, and
It sends first and changes Battery Directive to automatic replacement robot with battery（First change Battery Directive include battery altering instruction, charging rack
The cradle position of upper free time, for replacement fully charged battery location information and being changed to mobile robot of being moved to of needs
The location information of battery）, it is automatic replace robot with battery receive first change Battery Directive after, be moved to and the mobile robot
The corresponding position in the designated position being moved to is needed, battery is taken out out of the mobile robot battery tray, then automatically more
It changes robot with battery and is moved to the preceding designated position of charging rack, battery is put on cradle idle on charging rack and is charged, then
It is automatic replace robot with battery be moved to administrative center's distribution for the fully charged battery position replaced, such as Figure 10 institutes
Showing, the battery is taken out from charging rack, last automatic robot with battery of replacing is moved to position corresponding with mobile robot,
As shown in figure 11, the battery taken out from charging rack is put into the battery tray of the mobile robot, completes battery altering.
When the battery capacity of some mobile robot is less than setting value K2, it is maximum that administrative center finds out electricity on charging rack
Battery, send move and give the mobile robot, it is ordered to be moved to the designated position near charging rack, and send second
It changes Battery Directive and replaces robot with battery to automatic（Second change Battery Directive include battery altering instruction, it is idle on charging rack
Cradle position, for replacement the maximum battery of electricity location information and needs be moved to change battery to mobile robot
Location information）, it is automatic replace robot with battery receive second change Battery Directive after, be moved to and the mobile robot needs
The corresponding position in designated position being moved to, takes out battery out of the mobile robot battery tray, then automatic to replace electricity
Pond robot is moved to the preceding designated position of charging rack, battery is put on cradle idle on charging rack and is charged, then automatically
Replace robot with battery be moved to administrative center's distribution for the maximum battery position of electricity replaced, from charging rack
The battery is taken out, last automatic robot with battery of replacing is moved to position corresponding with mobile robot, will be from charging rack
The battery of taking-up is put into the battery tray of the mobile robot, completes battery altering.
The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, when there is battery on charging rack
When fully charged, administrative center finds out the automatic replacement battery machine that battery capacity is minimum in all automatic replacement robot with batteries
People, judges whether the battery capacity of the automatic replacement robot with battery then sends less than setting value K3 if it is less than setting value K3
Third changes Battery Directive to the automatic replacement robot with battery（It includes that battery altering instructs, on charging rack that third, which changes Battery Directive,
Idle cradle position, for replacement fully charged battery location information）, robot with battery is replaced automatically receives third
After changing Battery Directive, it is moved to the preceding designated position of charging rack, then starts reserve battery power supply, electricity is taken out out of cells slot
Pond is put on cradle idle on charging rack and charges, and then replaces the use that robot with battery is moved to administrative center's distribution automatically
Come the fully charged battery position replaced, the battery is taken out from charging rack and is put into cells slot, start battery case
Interior battery powered, reserve battery stop power supply, complete battery altering, and battery returns reserve battery charging in battery case.
When some automatic battery capacity for replacing robot with battery 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 replacement robot with battery（4th to change Battery Directive include battery
Replace instruction, cradle position idle on charging rack, for replacement the maximum battery of electricity location information）, automatically more
Change robot with battery receive the 4th change Battery Directive after, be moved to the preceding designated position of charging rack, then start reserve battery supply
Electricity, taking-up battery, which is put on cradle idle on charging rack, out of cells slot charges, and then replaces battery machine automatically
People be moved to administrative center's distribution for the maximum battery position of electricity replaced, the battery is taken out from charging rack and is put
Into cells slot, start battery powered in battery case, reserve battery stops powering, completion battery altering, electricity in battery case
Return reserve battery charging in pond.
Claims (8)
1. a kind of automatic replacement battery system, it is characterised in that：It is automatic to replace battery machine including replacing robot with battery automatically
People includes mobile chassis（1）With for capturing battery（6）Mechanical arm（2）, the mobile chassis（1）It is read equipped with Quick Response Code bottom
Take device, the mobile chassis（1）It is equipped with and drives mechanical arm（2）Vertically moving lifter（4）With for placing electricity
Pond（6）Battery case（5）, the battery case（5）It is interior to be equipped with battery（6）, the mobile chassis（1）On be additionally provided with controller（7）
With the first wireless communication module（8）, the controller（7）Respectively with mobile chassis（1）, mechanical arm（2）, two-dimensional code reader
（3）, lifter（4）, the first wireless communication module（8）And battery case（5）Interior battery（6）Electrical connection, further includes administrative center
（14）, charging rack（15）With several two-dimension code labels used for positioning being set on ground, the charging rack（15）On set
There are several for battery（6）The cradle of charging（16）, the charging rack（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 is simultaneously sent it in management
The heart（14）, administrative center（14）Pass through wireless network and the first wireless communication module（8）It is wirelessly connected；
The battery level information of itself is sent to administrative center by mobile robot, when there is battery fully charged on charging rack, pipe
The mobile robot that battery capacity is minimum in all mobile robots is found out at reason center, judges the battery capacity of the mobile robot
Whether then sends move if it is less than setting value K1 less than setting value K1 and give the mobile robot, it is ordered to be moved to finger
Positioning is set, and transmission changes Battery Directive and replaces robot with battery to automatic, and automatic replacement robot with battery, which receives, changes Battery Directive
Battery is taken out out of the mobile robot battery tray afterwards to be put on charging rack and charge, and fully charged battery is taken out from charging rack
It is put into the battery tray of the mobile robot.
2. a kind of automatic replacement battery system according to claim 1, it is characterised in that：The mobile chassis（1）It is upper to go back
Equipped with drive lifter（4）The translation mechanism moved horizontally（9）, the translation mechanism（9）With controller（7）Electrical connection.
3. a kind of automatic replacement battery system according to claim 1, it is characterised in that：The mobile chassis（1）It is upper to go back
Equipped with reserve battery（10）, the reserve battery（10）With controller（7）Electrical connection.
4. a kind of automatic replacement battery system according to claim 1 or 2 or 3, it is characterised in that：The mechanical arm（2）
Including with battery（6）The gripper of cooperation（24）, drive gripper（24）The telescoping mechanism moved horizontally（11）And driving telescopic machine
Structure（11）Flexible driving mechanism（12）, the driving mechanism（12）With controller（7）Electrical connection.
5. a kind of automatic replacement battery system according to claim 1 or 2 or 3, it is characterised in that：The mobile chassis
（1）On be additionally provided with detection battery case（5）Interior battery（6）First electric power detection module of electricity（13）, first electric power detection
Module（13）With controller（7）Electrical connection.
6. a kind of control method of automatic replacement battery system, for replacing electricity to the mobile robot with wireless communication function
Pond, automatic battery system of replacing includes automatic replacement robot with battery, and automatic robot with battery of replacing includes mobile chassis（1）With
For capturing battery（6）Mechanical arm（2）, the mobile chassis（1）Bottom is equipped with two-dimensional code reader, the mobile chassis
（1）It is equipped with and drives mechanical arm（2）Vertically moving lifter（4）With for placing battery（6）Battery case（5）,
The battery case（5）It is interior to be equipped with battery（6）, the mobile chassis（1）On be additionally provided with controller（7）With the first wireless communication module
（8）, the controller（7）Respectively with mobile chassis（1）, mechanical arm（2）, two-dimensional code reader（3）, lifter（4）, the first nothing
Line communication module（8）And battery case（5）Interior battery（6）Electrical connection, further includes administrative center（14）, charging rack（15）And setting
In several two-dimension code labels used for positioning on ground, the charging rack（15）Several are equipped with to be used for battery（6）
The cradle of charging（16）, the charging rack（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）It is logical
Cross wireless network and the first wireless communication module（8）It is wirelessly connected；
It is characterised in that it includes：The battery level information of itself is sent to administrative center by mobile robot, when some moving machine
When the battery capacity of device people is less than setting value K2, administrative center finds out the maximum battery of electricity on charging rack, sends move
The mobile robot is given, it is ordered to be moved to designated position, transmission changes Battery Directive and replaces robot with battery to automatic, automatically more
Change robot with battery receive change Battery Directive after take out battery out of the mobile robot battery tray and be put on charging rack and fill
Electricity, the taking-up maximum battery of electricity is put into the battery tray of the mobile robot from charging rack.
7. a kind of control method of automatic replacement battery system, automatic battery system of replacing includes automatic replacement robot with battery,
Automatic robot with battery of replacing includes mobile chassis（1）With for capturing battery（6）Mechanical arm（2）, the mobile chassis（1）
Bottom is equipped with two-dimensional code reader, the mobile chassis（1）It is equipped with and drives mechanical arm（2）Vertically moving lifter
（4）With for placing battery（6）Battery case（5）, the battery case（5）It is interior to be equipped with battery（6）, the mobile chassis（1）On
It is additionally provided with controller（7）With the first wireless communication module（8）, the controller（7）Respectively with mobile chassis（1）, mechanical arm
（2）, two-dimensional code reader（3）, lifter（4）, the first wireless communication module（8）And battery case（5）Interior battery（6）It is electrically connected
It connects, further includes administrative center（14）, charging rack（15）With several two-dimension code labels used for positioning being set on ground, institute
State charging rack（15）Several are equipped with to be used for battery（6）The cradle of charging（16）, the charging rack（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 is simultaneously
Send it to administrative center（14）, administrative center（14）Pass through wireless network and the first wireless communication module（8）It is wirelessly connected；
It is characterised in that it includes：The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, when filling
Have on electric frame battery it is fully charged when, administrative center find out battery capacity in all automatic replacement robot with batteries it is minimum it is automatic more
Robot with battery is changed, judges whether the battery capacity of the automatic replacement robot with battery is less than setting value K3, if it is less than setting
Value K3 then sends and changes Battery Directive and give the automatic replacement robot with battery, it is automatic replace robot with battery and receive change battery and refer to
Start reserve battery power supply after order, battery is then taken out out of cells slot is put on charging rack and charges, and is taken from charging rack
Go out fully charged battery to be put into cells slot, start battery powered in battery case, reserve battery stops power supply.
8. a kind of control method of automatic replacement battery system, automatic battery system of replacing includes automatic replacement robot with battery,
Automatic robot with battery of replacing includes mobile chassis（1）With for capturing battery（6）Mechanical arm（2）, the mobile chassis（1）
Bottom is equipped with two-dimensional code reader, the mobile chassis（1）It is equipped with and drives mechanical arm（2）Vertically moving lifter
（4）With for placing battery（6）Battery case（5）, the battery case（5）It is interior to be equipped with battery（6）, the mobile chassis（1）On
It is additionally provided with controller（7）With the first wireless communication module（8）, the controller（7）Respectively with mobile chassis（1）, mechanical arm
（2）, two-dimensional code reader（3）, lifter（4）, the first wireless communication module（8）And battery case（5）Interior battery（6）It is electrically connected
It connects, further includes administrative center（14）, charging rack（15）With several two-dimension code labels used for positioning being set on ground, institute
State charging rack（15）Several are equipped with to be used for battery（6）The cradle of charging（16）, the charging rack（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 is simultaneously
Send it to administrative center（14）, administrative center（14）Pass through wireless network and the first wireless communication module（8）It is wirelessly connected,
It is characterised in that it includes：The battery level information of itself is sent to administrative center by automatic robot with battery of replacing, when certain
When the battery capacity of a automatic replacement robot with battery is less than setting value K4, administrative center finds out the maximum electricity of electricity on charging rack
Pond, transmission change Battery Directive and replace robot with battery to automatic, it is automatic replace robot with battery receive change Battery Directive after open
Dynamic reserve battery power supply is then taken out battery out of cells slot and is put on charging rack and charge, electricity is taken out from charging rack
Maximum battery is put into cells slot, starts battery powered in battery case, and reserve battery stops power supply.
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| CN201610540375.6A CN106379289B (en) | 2016-07-11 | 2016-07-11 | It is a kind of to replace robot with battery, system and system control method automatically |
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| CN201610540375.6A CN106379289B (en) | 2016-07-11 | 2016-07-11 | It is a kind of to replace robot with battery, system and system control method automatically |
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| CN106379289B true CN106379289B (en) | 2018-09-14 |
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