JP2020534785A - ロボット充電ステーション用保護部材 - Google Patents
ロボット充電ステーション用保護部材 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/02—Details
- H02G3/04—Protective tubing or conduits, e.g. cable ladders or cable troughs
- H02G3/0493—Service poles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
再充電のための充電ステーション500へのロボットのドッキングについて、図17及び図18に関して説明する。図17では、充電ステーション500の充電組立体200に嵌合されている、充電ポート300を備えるロボット18を示す。ロボット18は、たとえば、充電ステーションについて記憶されたポーズによって定義される場所600に移動することができる。ポーズ600への誘導は、倉庫全体にわたる様々な大箱の場所にロボットを誘導するために、上記のやり方で行われる。ポーズ600に達すると、ロボット18を場所602に位置決めするために精密誘導プロセスが行われ、その場所で、充電ポート300が充電組立体200と嵌合し、再充電のためにロボット18が充電ステーション500にドッキングされる。
好ましい実施例において説明するロボットは、通常の「ライブ」動作中に、充電ステーションと自動的に嵌合するよう構成される。すなわち、ロボットは、充電中も電力がある状態で保持され、嵌合されながらも光通信又は他の方法を介して充電ステーションと情報交換できる。たとえば、充電ステーションは、充電中にロボットのバッテリの温度を取得し、一方ロボットは、充電ステーションからバッテリに運ばれた電荷量を取得する。
本明細書に記載するロボットに使用されるバッテリは、通常、比較的平坦な電流放電対電圧曲線を有するであろう。そして、バッテリは、温度依存性が高い可能性がある。こうした特性を、図21のグラフに示す、−20C、0C、23C、45C、及び60Cに対して示す5つの曲線によって証明する。グラフは、16Aだけ放電される、13.5Vの開放電圧を持つ、あるLiFePO4(リン酸鉄リチウム)バッテリの曲線を示す。バッテリが放電すると、バッテリ電圧は約13.5Vから約10Vに低下する。グラフの右側で、バッテリが所定の容量を放電した場合、曲線は「X」軸と交差し、バッテリに10Vの電位が残っていることを示す。23C及び45Cの曲線は、約16Aを放電する。60Cの曲線では、バッテリ管理システムの過熱保護機能が作動し、約14.4Aが放電された後にバッテリをシャット・ダウンする。より低い温度、すなわち0C及び−20Cでは、使用可能なエネルギーをすべてバッテリから取り出すことができず、それぞれ約14.4A及び12.24Aだけ放電した後、バッテリは機能を停止する。
Claims (7)
- 自律型ロボットを充電する充電ステーションであって、
前記充電ステーションは、
前記充電ステーションが位置することになる床に固定されるよう構成された、複数の相互連結されたフレーム要素を具備するフレーム基部を備える、充電ステーションのフレームであって、前記フレーム基部の前記フレーム要素の1つは前側フレーム要素である充電ステーションのフレームと、
前記充電ステーションのフレームに装着された充電ステーションのカバーであって、前記充電ステーションのカバーには、前記自律型ロボットが充電のために前記充電ステーションにドッキングされたときに、前記自律型ロボットの第2の充電部材を受容するよう構成された充電部材を備えた前面を有する、前側カバーが含まれる充電ステーションのカバーと、
前記前側カバーの前記前面を横切って延在し、前記前側カバーの前記前面から外向きに突出した前面を有する保護部材であって、前記保護部材は、前記前側カバーの複数の開口部を通して前記前側フレーム要素と相互連結され、前記前側フレーム要素は、前記前側カバーの、前記前面とは反対側の、後面に隣接して位置する保護部材と
を備える充電ステーション。 - 前記第1の充電要素は、雄型の充電部材又は雌型の充電部材の一方を備え、前記第2の充電部材は、前記雄型又は雌型の充電部材の他方を備える、請求項1に記載の充電ステーション。
- 前記前側要素には、前記充電ステーションの幅の端から端まで延在し、その各端部に少なくとも1つの、前記前側要素を前記床に固定するための留め具を受容するよう構成された開口部を有するC字形部材が含まれる、請求項1に記載の充電ステーション。
- 前記前側要素には、前記C字形部材と一体であり、前記充電ステーションの幅の端から端まで延在し、前記C字形部材の上面から突出するフランジ部材がさらに含まれる、請求項3に記載の充電ステーション。
- 前記フランジ部材は、前記保護部材の前記前面に平行な前面を有し、前記フランジ部材の前記前面は、前記前側カバーの前記後面に隣接して位置し、前記保護部材は、前記前側カバーの複数の開口部を通して、留め具を使って前記前側フレーム要素の前記フランジ部材に固定される、請求項4に記載の充電ステーション。
- 前記複数の相互連結されたフレーム要素には、前記前側フレーム要素の第1の端部に相互連結された右側フレーム要素と、前記前側フレーム要素の第2の端部に相互連結された左側フレーム要素とがさらに含まれる、請求項5に記載の充電ステーション。
- 前記複数の相互連結されたフレーム要素には、前記右側フレーム要素と前記左側フレーム要素との間に相互連結された後ろ側フレーム要素がさらに含まれ、前記後ろ側要素は、その各端部に少なくとも1つの、前記後ろ側要素を前記床に固定するための留め具を受容するよう構成された開口部を有する、請求項6に記載の充電ステーション。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/712,463 US10243379B1 (en) | 2017-09-22 | 2017-09-22 | Robot charging station protective member |
US15/712,463 | 2017-09-22 | ||
PCT/US2018/052249 WO2019060747A2 (en) | 2017-09-22 | 2018-09-21 | ROBOT LOAD STATION PROTECTION ELEMENT |
Publications (2)
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JP2020534785A true JP2020534785A (ja) | 2020-11-26 |
JP7009617B2 JP7009617B2 (ja) | 2022-01-25 |
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JP2020516741A Active JP7009617B2 (ja) | 2017-09-22 | 2018-09-21 | ロボット充電ステーション用保護部材 |
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US (1) | US10243379B1 (ja) |
EP (1) | EP3684642A2 (ja) |
JP (1) | JP7009617B2 (ja) |
KR (1) | KR102419528B1 (ja) |
CN (1) | CN111465525B (ja) |
CA (1) | CA3076527C (ja) |
WO (1) | WO2019060747A2 (ja) |
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WO2020116412A1 (ja) * | 2018-12-03 | 2020-06-11 | Groove X株式会社 | ロボット用充電ステーション |
TWI691141B (zh) * | 2018-12-26 | 2020-04-11 | 瑞軒科技股份有限公司 | 充電站、充電系統及充電方法 |
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EP3684642A2 (en) | 2020-07-29 |
KR20200088296A (ko) | 2020-07-22 |
US10243379B1 (en) | 2019-03-26 |
WO2019060747A2 (en) | 2019-03-28 |
JP7009617B2 (ja) | 2022-01-25 |
US20190097443A1 (en) | 2019-03-28 |
CN111465525B (zh) | 2024-02-09 |
CA3076527A1 (en) | 2019-03-28 |
CN111465525A (zh) | 2020-07-28 |
CA3076527C (en) | 2023-08-29 |
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KR102419528B1 (ko) | 2022-07-08 |
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