JP7150010B2 - 自律型ロボット用充電システム及び方法 - Google Patents
自律型ロボット用充電システム及び方法 Download PDFInfo
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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 (8)
- 再充電可能なバッテリから給電され、第1の充電部材を備える自律型ロボットと、
充電ステーションと
を備える、前記自律型ロボットを充電する充電システムであって、前記充電ステーションは、
前記自律型ロボットが、前記再充電可能なバッテリへの充電のために前記充電ステーションとドッキングされるとき、前記自律型ロボットの前記第1の充電部材を受容するよう構成された第2の充電部材と、
前記充電ステーションでドッキングされると、前記自律型ロボットの前記再充電可能なバッテリを充電するよう構成された電源と、
充電中に、前記電源から前記自律型ロボットに運ばれた電荷量を測定するよう構成されたセンサと、
前記センサと通信し、前記センサを使って測定された、前記電源から前記自律型ロボットに運ばれた前記電荷量によって、前記自律型ロボットの充電状態(SOC)を判断するよう構成されたプロセッサと、
前記プロセッサと通信し、前記自律型ロボットの前記SOCを、前記充電ステーションでドッキングされている間に前記自律型ロボットに送信するよう構成された通信デバイスと
を備え、
前記自律型ロボットは、前記充電ステーションの前記通信デバイスと通信するよう構成された通信デバイスと、
前記再充電可能なバッテリから給電され、前記自律型ロボットが前記充電ステーションからドッキング解除されているときに前記自律型ロボットを推進するよう構成された、モータ駆動部と、
前記自律型ロボットが前記充電ステーションからドッキング解除されているときに前記自律型ロボットを推進するために、前記再充電可能なバッテリから前記モータ駆動部に供給される、前記電荷量を測定するよう構成された、前記再充電可能なバッテリと前記モータ駆動部との間のセンサと、をさらに備え、
前記自律型ロボットの前記通信デバイスは、前記充電ステーションから前記自律型ロボットの前記SOCを受信するよう構成され、前記自律型ロボットは、前記充電ステーションから受信した前記SOCを記憶するためのメモリを備え、
前記自律型ロボットの前記メモリはさらに、前記自律型ロボットが前記充電ステーションからドッキング解除されているときに前記自律型ロボットを推進するために、前記再充電可能なバッテリから前記モータ駆動部に供給される、前記電荷量を記憶するよう構成され、
前記充電ステーションの前記プロセッサは、前記自律型ロボットの前記SOCを、前記充電ステーションでドッキングされている間に定期的に判断し、前記通信デバイスに、前記自律型ロボットの前記定期的に判断されたSOCを、前記自律型ロボットに送信させるよう構成される、充電システム。 - 前記自律型ロボットは、前記充電ステーションからドッキング解除されているときに、前記自律型ロボットを推進するために前記再充電可能なバッテリから前記モータ駆動部に供給される前記電荷量を、前記充電ステーションから前記自律型ロボットに運ばれた前記SOCと比較することにより、前記自律型ロボットの前記SOCを定期的に判断するよう構成されたプロセッサをさらに備える、請求項1に記載の充電システム。
- 前記SOCは、少なくとも部分的に、前記再充電可能なバッテリ内又は外へ運ばれたクーロンの数値から判断される、請求項2に記載の充電システム。
- 前記プロセッサは、前記自律型ロボットの前記SOCが所定のレベルに達したときに、前記自律型ロボットを充電のために前記充電ステーションに戻すよう構成される、請求項3に記載の充電システム。
- 再充電可能なバッテリから給電される自律型ロボットを、充電ステーションで充電する方法であって、
前記自律型ロボットの第1の充電部材及び前記充電ステーションの第2の充電部材が嵌合するように、前記自律型ロボットを前記充電ステーションにドッキングするステップと、
前記充電ステーションでドッキングされると、前記自律型ロボットの前記再充電可能なバッテリを、前記充電ステーションの電源を使用して充電するステップと、
充電中に、前記電源から前記自律型ロボットに運ばれた電荷量を測定するステップと、
前記電源から前記自律型ロボットに運ばれた前記電荷量によって、前記自律型ロボットの充電状態(SOC)を判断するステップと、
前記自律型ロボットの前記SOCを、前記充電ステーションでドッキングされている間に、前記充電ステーションから前記自律型ロボットに送信するステップと、
前記自律型ロボットの通信デバイスを使って、前記充電ステーションから前記自律型ロボットの前記SOCを受信するステップと、前記充電ステーションから受信した前記SOCを前記自律型ロボットのメモリに記憶するステップと、
前記充電ステーションからドッキング解除されているときに、前記再充電可能なバッテリから給電されるモータ駆動部を使用して前記自律型ロボットを推進するステップと、
前記自律型ロボットが前記充電ステーションからドッキング解除されているときに前記自律型ロボットを推進するために、前記再充電可能なバッテリから前記モータ駆動部に供給される、前記電荷量を、前記再充電可能なバッテリと前記モータ駆動部との間のセンサにより測定するステップと、
前記自律型ロボットが前記充電ステーションからドッキング解除されているときに前記自律型ロボットを推進するために、前記再充電可能なバッテリから前記モータ駆動部に供給される前記電荷量を、前記自律型ロボットの前記メモリに記憶するステップと、
前記自律型ロボットの前記SOCを判断する前記ステップは、前記充電ステーションでドッキングされている間、前記自律型ロボットの前記SOCを定期的に判断するステップを含み、前記自律型ロボットに前記SOCを送信する前記ステップは、前記自律型ロボットの前記SOCを定期的に送信するステップと、
前記自律型ロボットの前記SOCを判断する前記ステップは、前記充電ステーションでドッキングされている間、前記自律型ロボットの前記SOCを定期的に判断するステップを含み、前記自律型ロボットに前記SOCを送信する前記ステップは、前記自律型ロボットの前記SOCを定期的に送信するステップと、
を含む方法。 - 前記充電ステーションからドッキング解除されているときに、前記自律型ロボットを推進するために前記再充電可能なバッテリから前記モータ駆動部に供給される前記電荷量を、前記充電ステーションから前記自律型ロボットに運ばれた前記SOCと定期的に比較することにより、前記自律型ロボットの前記SOCを定期的に判断するステップをさらに含む、請求項5に記載の方法。
- 前記SOCは、少なくとも部分的に、前記再充電可能なバッテリ内又は外へ運ばれたクーロンの数値から判断される、請求項6に記載の方法。
- 前記自律型ロボットの前記SOCが所定のレベルに達したときに、前記自律型ロボットを充電のために前記充電ステーションに戻すステップをさらに含む、請求項7に記載の方法。
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