WO2019105397A1 - 电池更换装置、电池更换系统及调度方法 - Google Patents

电池更换装置、电池更换系统及调度方法 Download PDF

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Publication number
WO2019105397A1
WO2019105397A1 PCT/CN2018/118051 CN2018118051W WO2019105397A1 WO 2019105397 A1 WO2019105397 A1 WO 2019105397A1 CN 2018118051 W CN2018118051 W CN 2018118051W WO 2019105397 A1 WO2019105397 A1 WO 2019105397A1
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WIPO (PCT)
Prior art keywords
battery
unit
scheduling
charging
working
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PCT/CN2018/118051
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English (en)
French (fr)
Inventor
冯日盛
徐文
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上海微电子装备（集团）股份有限公司
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Publication of WO2019105397A1 publication Critical patent/WO2019105397A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • 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

Definitions

  • the present invention relates to the field of semiconductor manufacturing, and in particular, to a battery replacement device, a battery replacement system, and a scheduling method.
  • the method of manually replacing the battery not only increases the labor cost, but also does not conform to the development trend of the intelligent device in the future.
  • the method of self-charging requires several hours for each charging, which reduces the working efficiency of the robot and seriously affects the productivity problem most concerned by the factory. In order to solve this problem, it must be solved by increasing the number of robots, which increases the cost. In addition, there will be multiple charging piles in the factory to charge different robots, occupying the space of the factory, which is very wasteful for the factory.
  • An object of the present invention is to provide a battery replacement device, a battery replacement system, and a scheduling method to solve the problem that the prior art cannot quickly replace the battery.
  • the present invention provides a battery replacement device, a battery replacement device, and a scheduling method, wherein the battery replacement device is configured to perform battery replacement on a working device, and the battery replacement device includes a storage unit, a conversion unit, and At least one guiding unit; the storage unit is configured to store a battery, the battery includes an available battery and an unavailable battery, the available battery has a power greater than or equal to a first threshold, and the unavailable battery has a smaller amount than the first a threshold value; the conversion unit is configured to take out an unavailable battery in the working device after the guiding unit locates the working device, and put the available battery obtained from the storage unit into the working device in.
  • the storage unit includes a carrying unit for carrying the battery, and a charging unit for charging the unavailable battery.
  • the carrying unit includes a battery carrier
  • the charging unit includes a charging pile
  • the charging pile has a plurality of charging areas
  • the battery carrier is sleeved outside the charging pile
  • the storage unit Also included is a rotary drive disposed on the battery carrier or the charging post for driving the battery carrier and the charging post to rotate together, the conversion unit being removed from the working device
  • the unavailable battery, the unusable battery is placed on the battery carrier and charged by the charging zone, the battery carrier and the charging post are rotated together, and the available battery is aligned with the conversion unit.
  • the carrying unit comprises a battery carrying cabinet, wherein the battery carrying cabinet has a plurality of battery placing areas, wherein each of the battery placing areas is provided with the charging unit, and the converting unit is from the working device Removing the unavailable battery, placing the unavailable battery in the battery placement area, and charging through the charging unit in the battery placement area, the conversion unit is moved from the battery cabinet Remove the available battery.
  • the available battery or the unavailable battery is placed on the carrying unit and is connected to a signal interface of the charging unit for charging or signal transmission.
  • the carrying unit comprises a plurality of stations for placing batteries
  • the charging unit comprises a plurality of the signal interfaces
  • the number of stations of the carrying units matches the number of signal interfaces of the charging unit.
  • the battery exchange device has a casing, the storage unit and the conversion unit are disposed in the casing, the casing is provided with an opening, and the conversion unit transmits the available battery through the opening And not available batteries.
  • the guiding unit comprises a contactless guiding component and a contact guiding component
  • the contactless guiding component comprises an identifier and an identifier
  • the identifier and the identifier are respectively disposed on the outer casing and Provided on or opposite to the working device
  • the contact guiding assembly is disposed on a side of the outer casing corresponding to the opening
  • the identifier is recognized by an identifier to obtain the working device relative to the contact guide The position of the assembly, the working device is moved to the contact guide assembly, positioned by the contact guide assembly to align the opening.
  • the contact guide assembly includes at least one guide rail, the guide rail is away from an opening of the outer casing closer to an end of the outer casing, and the working device moves along the guide rail to align the Opening.
  • the contact guide assembly includes a magnetic strip and a magnetic navigation unit disposed in the working device, and the magnetic field generated by the magnetic strip is detected by the magnetic navigation unit to move to align with the opening.
  • the present invention also provides a battery replacement system including the battery replacement device, a monitoring unit, a dispatching unit, and a plurality of working devices;
  • the monitoring unit monitors information of the battery in the battery replacing device and the working device, and sends the information of the battery to the scheduling unit;
  • the scheduling unit adopts different scheduling policies according to the information of the battery, for performing overall scheduling on the battery replacing device and the plurality of working devices.
  • the monitoring unit is configured to monitor a usage state of the battery replacement device, a battery power information, and a quantity of available batteries.
  • the battery replacement system further includes a wireless routing unit, and the monitoring unit, the scheduling unit, the battery replacing device, and the plurality of working devices implement a communication connection by using a wireless routing unit.
  • the scheduling policy includes:
  • Strategy 1 when the battery power of the working device is less than a second threshold, the battery replacing device is in an available state, and the number of available batteries in the battery replacing device is greater than or equal to 1, the scheduling unit will be the working device Dispatch to replace the battery;
  • Strategy 2 when the battery capacity of the working device is less than the second threshold, the battery replacing device is in an unavailable state, or the number of available batteries in the battery replacing device is less than 1, the scheduling unit will work The equipment is dispatched to wait for the area to be queued, waiting to replace the battery;
  • Strategy 3 When the battery power of the working device is greater than or equal to the second threshold, the battery replacing device is in an available state, and the number of available batteries in the battery replacing device is greater than or equal to 1, the scheduling unit performs conflict Predicting that when the scheduling unit predicts that a collision will occur, the working device is scheduled to replace the battery,
  • the second threshold is smaller than the first threshold.
  • the present invention also provides a scheduling method of the battery replacement system, and the scheduling method of the battery replacement system includes:
  • the monitoring unit monitors information of the battery in the battery replacing device and the m working devices, and sends the information of the battery to the scheduling unit, where m is a natural number;
  • the scheduling unit adopts different scheduling policies according to the information of the battery
  • Strategy 1 when the battery power of the working device is less than a second threshold, the battery replacing device is in an available state, and the number of available batteries in the battery replacing device is greater than or equal to 1, the scheduling unit will be the working device Dispatch to replace the battery;
  • Strategy 2 when the battery capacity of the working device is less than the second threshold, the battery replacing device is in an unavailable state, or the number of available batteries in the battery replacing device is less than 1, the scheduling unit will work The equipment is dispatched to wait for the area to be queued, waiting to replace the battery;
  • Strategy 3 When the battery power of the working device is greater than or equal to the second threshold, the battery replacing device is in an available state, and the number of available batteries in the battery replacing device is greater than or equal to 1, the scheduling unit performs conflict Predicting that when the scheduling unit predicts that a collision will occur, the working device is scheduled to replace the battery,
  • the second threshold is smaller than the first threshold.
  • the number of batteries in the battery replacing device is n
  • the charging time of the battery is Tc
  • the usage time is Tw
  • m is a natural number
  • the charging time Tc is greater than the use time Tw, n is set to ⁇ m * (Tc / Tw + 1).
  • the step of performing, by the scheduling unit, the conflict prediction includes:
  • the number of working devices that obtain a difference in battery power less than or equal to a third threshold is k, k ⁇ 0;
  • the third threshold is smaller than the second threshold.
  • the scheduling unit schedules i-j of the working devices to replace the battery.
  • the battery replacing device can quickly replace the working device with the available battery, so that the battery can continue to work, saving the charging time and increasing the output of the factory.
  • the monitoring unit of the battery replacement system monitors the battery information in the battery replacement device and the working device for monitoring, and sends all the battery information to the scheduling unit, and the scheduling unit provides different scheduling schemes according to the information, so that the battery replacement device can be reached. Maximum efficiency of use, and effectively prevent the battery from colliding or blocking.
  • FIG. 1 to 3 are schematic views of a battery exchange device according to Embodiment 1;
  • FIG. 4 is a schematic diagram of a control unit of the battery exchange device provided in Embodiment 1;
  • FIG. 5 is a schematic diagram of a battery replacement system provided in Embodiment 1;
  • FIG. 6 is a schematic diagram of a control method of a battery replacement system according to Embodiment 1;
  • FIG. 7 is a schematic diagram of a scheduling method of a battery replacement system according to Embodiment 1;
  • FIG. 8 is a schematic view of a battery exchange device provided in Embodiment 2.
  • Embodiment 9 is a schematic diagram of a battery replacement system provided in Embodiment 3.
  • 1-battery replacement device 10-first wireless transmission unit, 11-shell, 12-charge unit, 13-bearing unit, 14-conversion unit, 141-third rail, 142-manipulator, 15-guide unit, 151 - first rail, 152 - second rail, 151a - limiting member of the first rail, 152a - limiting member of the second rail, 16 - battery, 17 - control unit, 18 - positioning plate, 19 - opening, 2-working equipment, 21a, 21b-wheel, 22-second wireless transmission unit, 3-total control terminal, 31-monitoring unit, 32-scheduling unit, 4-wireless routing unit, 5-waiting area, 51-wireless charging Device.
  • the battery replacement device 1 includes a storage unit, a conversion unit 14, and at least one guiding unit 15; the storage unit is used to store the battery 16,
  • the battery includes an available battery and a non-available battery.
  • the available battery has a power greater than or equal to a first threshold, and the unavailable battery has a smaller power than the first threshold.
  • the guiding unit 15 locates a working device 2
  • the battery The conversion unit 14 takes out the unavailable battery in the working device and puts the available battery into the working device 2.
  • the storage unit is configured to store a battery 16 (specifically, an available battery and an unavailable battery), the storage unit includes a carrying unit 13 and a charging unit 12, the carrying unit 13, the charging unit 12 and the converting unit 14 are disposed in a casing 11, the guiding unit 15 is disposed outside the casing 11; the working device 2 is moved to the casing 11 by the guiding unit 15, and the converting unit 14 will not use the battery Taken from the working device 2 and placed on the carrying unit 13, the charging unit 12 charges the unavailable battery; the converting unit 14 puts an available battery from the carrying unit 13 In the working device 2.
  • the battery replacing device 1 can quickly replace the working device 2 with an available battery to continue working, and at the same time, can centrally charge the battery, saving charging time and increasing the output of the factory.
  • the charging unit 12 is a rotatable charging pile, and the charging pile includes a charging area, and the charging area has a plurality of charging batteries for unavailable batteries.
  • the carrying unit 13 includes a battery carrier, the battery carrier is sleeved outside the charging pile, the charging pile is connected to a rotary drive, and the rotary drive is disposed on a battery carrier or a charging pile.
  • the conversion unit 14 takes out the unavailable battery from the working device 2, and places the unavailable battery on the battery carrier. And charging through the charging zone, the battery carrier and the charging post are rotated together, and the available battery is aligned with the conversion unit 14.
  • the battery carrier is provided with a plurality of workstations for carrying the battery 16, and the number of the workstations can be divided according to the size of the battery.
  • the carrying unit 13 carries the battery 16 and the charging unit 12 is the battery.
  • the number of 16 charged signal interfaces is the same.
  • the conversion module 14 includes a robot for picking up and placing the battery 16.
  • the robot When the battery is replaced, the robot first unloads the available battery from the working device 2, and then places the unavailable battery on the carrying unit 13. On the upper idle station, the carrying unit 13 and the charging unit 12 rotate together to align the available battery with the picking station of the robot, after which the robot picks up the available battery and installs it into the station.
  • the robot In the working device 2.
  • the robot is at least a four-axis robot, and may be a more degree of freedom robot, the stroke range of which covers the charging unit 12 and the working device 2, and the load capacity meets the weight requirement of the battery, and the end of the robot
  • the actuator matches the shape of the battery for easy access to the battery.
  • an opening 19 is provided on a side of the outer casing 11 on which the guiding unit 15 is disposed for the battery 16 to enter and exit.
  • the position of the opening 19 is consistent with the position of the battery mounting opening of the working device 2,
  • the conversion unit 13 is facilitated to mount and remove the battery 16, and the size of the opening 19 can be matched to the size of the battery 16.
  • the carrying unit 13 , the charging unit 12 and the converting unit 14 are all disposed in the outer casing 11 , and the guiding unit 15 is disposed on one side of the outer casing 11 to provide guiding and positioning functions for the working device 2 .
  • the guiding unit 15 comprises a contactless guiding assembly and a contact guiding assembly, the contactless guiding assembly comprising an identifier and an identifier, the identifier and the identifier being respectively disposed on the housing 11 and the working device 2 Or vice versa, in particular, the side of the housing 11 provided with the guiding unit 15 is further provided with a positioning plate 18 for remotely positioning the working device 2.
  • the positioning plate 18 has an identifier thereon, and the identifier may be a two-dimensional code, a cross, a triangle, a circle, or the like, which can be recognized by a visual sensor.
  • the identifier may be a two-dimensional code, a cross, a triangle, a circle, or the like, which can be recognized by a visual sensor.
  • the contact guide assembly is disposed on a side of the outer casing 11 corresponding to the opening 19, and the working device 2 is movable to the contact guide assembly, and is positioned by the contact guide assembly to align the opening 19.
  • the work equipment 2 is typically a robot that can move and transport materials, moving through the wheels.
  • the contact guide assembly includes at least one rail for mating with a wheel of the work equipment 2.
  • the working device 2 has two rows of symmetrical wheels (for example, a wheel 21a and a wheel 21b), and the guiding unit 15 is provided with a first rail 151 and a second rail 152.
  • One end of the guide rail 151 and the second guide rail 152 which are far from the outer casing 11 has a large opening and is flared to facilitate the entry of the wheel 21a and the wheel 21b.
  • the first rail 151 and the second rail 152 are closer to the outer casing 11 at the end.
  • a limit member (the stopper member 151a of the first rail 151, the stopper member 152a of the second rail 152) is provided.
  • the wheel 21a and the wheel 21b are respectively abutted with the first rail 151 and the second rail 152, and then the wheel 21a and the wheel 21b are along the first rail 151 and the first
  • the direction of the two guide rails 152 is corrected until the limit member is touched, and the working device 2 stops moving. At this time, the mechanical positioning of the wheel and the guide rail achieves a better docking state, which facilitates battery replacement.
  • the contact guide assembly may include a magnetic strip and a magnetic navigation unit mounted on the working device, and the magnetic strip navigation has high precision, so Can fully meet the needs of docking.
  • the magnetic strip is laid on a set path that is moved to align with the opening 19 by detecting a magnetic field of the magnetic strip.
  • the working device 2 is provided with a second wireless transmission unit 22, and the power information can be transmitted through the second wireless transmission unit 22.
  • the number of the guiding units 15 in the battery replacing device 1 may be plural. As shown in FIG. 3, the battery replacing device 1 takes the form of a double guiding unit, that is, two sides are provided on one side of the casing 11. The guiding unit 15 and the number of the openings 19 can also match the number of the guiding units 15.
  • the mode of the working device 2 can be saved. When the working device 2 performs battery replacement, the other working device 2 can perform positioning operation. When one working device 2 completes battery replacement, the converting unit 13 can perform the switching operation immediately. The battery replacement work of the other work device 2 does not have to wait for the time taken for the work device 2 to be positioned, which further improves the effective utilization rate of the battery exchange device 1.
  • the battery exchange device 1 further includes a control unit 17 that controls the movement of the battery exchange device 1. Specifically, when performing battery replacement, the control unit 17 controls the conversion unit 14 to remove the unavailable battery of the working device 2, and places the unavailable battery on the carrying unit 13 for charging.
  • the control unit 17 converts the voltage of the factory 220V into a corresponding charging voltage according to the voltage and power requirements of the battery, and ensures that the voltage of each signal interface of the charging unit is stable.
  • the control unit 17 can obtain the power information of all the batteries in the battery replacing device 1 through the signal interface of the charging unit 12 and correspond to each battery station, that is, the battery power information of each station, and can This information is exchanged with the outside world through the first wireless transmission unit 10.
  • the control unit 17 controls the rotary electric machine to rotate by an angle to align the available battery to the conversion unit 14, and the conversion unit 14 will be available. Take the battery away.
  • the embodiment further provides a battery replacement system including the battery replacement device 1, the total control terminal 3 and a plurality of working devices 2; the total control terminal 3 includes the monitoring unit 31 and the The scheduling unit 32, the monitoring unit 31 monitors the information of the battery in the battery replacing device 1 and the working device 2, and sends the information of the battery to the scheduling unit 32;
  • the information of the battery adopts different scheduling strategies, so that the usage rate of the battery replacing device 1 reaches the control requirement.
  • the battery replacement system further includes a wireless routing unit 4, which connects the total control terminal 3, the battery exchange device 1, and all of the working devices 2 in the same local area network, the wireless The routing unit 4 may be one or more, to cover the motion areas of all devices.
  • the working device 2 is driven by a battery, and the number may be multiple.
  • the battery replacing device 1 is responsible for battery replacement of the working device 2 to the station, and can centrally charge all the batteries.
  • the total control terminal 3 performs state monitoring on all devices through the wireless network, calculates an optimal scheduling scheme, and performs overall scheduling on the battery replacement device 1 and the working device 2.
  • the monitoring unit 31 monitors the battery power of all working devices 2a, 2b across2m in the plant and the battery replacing device 1 through the wireless network, and transmits the monitored data to the scheduling unit 32.
  • the scheduling unit 32 divides the m working devices into two categories: low power and high power. When the battery power of the working device 2 is less than a second threshold, the battery power of the working device 2 is low. When the battery power of the working device 2 is greater than or equal to the second threshold, the battery power of the working device 2 is high.
  • the dispatching unit divides the battery replacing device 1 into two states of an available state and an unavailable state.
  • the battery replacing device 1 When the battery replacing device 1 is not occupied, the battery replacing device 1 can be in a usable state when the battery is replaced, when the battery When the replacement device 1 is occupied and the battery replacement cannot be performed, the battery exchange device 1 is in an unusable state.
  • the scheduling unit 32 also counts the number of available batteries in the battery exchange device 1. After the scheduling unit 32 concentrates all the information, different scheduling strategies 1, 2, and 3 are adopted.
  • the scheduling Unit 32 schedules the work device 2 to replace the battery;
  • Strategy 2 when the battery power of the working device 2 is less than the second threshold, the battery replacing device 1 is in an unavailable state, or the number of available batteries in the battery replacing device 1 is less than 1, the scheduling unit will The working device 2 dispatches to wait for the area to be queued, waiting to replace the battery;
  • Strategy 3 When the battery power of the working device 2 is greater than or equal to the second threshold, the battery replacing device 1 is in an available state, and the number of available batteries in the battery replacing device 1 is greater than or equal to 1, the scheduling Unit 32 performs collision prediction, and when the scheduling unit 32 predicts that a collision will occur, the working device 2 is scheduled to replace the battery.
  • FIG. 7 is a flowchart of a scheduling method of the battery replacement system, which combines scheduling strategies 1, 2, and 3.
  • the monitoring unit 31 monitors the battery power of all the working devices 2, and when the battery power of the working device 2 is low, the monitoring unit 31 monitors The state of the battery exchange device 1, when the battery exchange device 1 is in an available state and the available battery amount is greater than or equal to 1, the dispatching unit 32 schedules the work device 2 to replace the battery, when the battery exchange device 1 is in an unavailable state or available battery
  • the scheduling unit 32 schedules the working device 2 to wait for the area to queue for battery replacement; when the battery level of the working device 2 is high, the scheduling unit 32 performs collision prediction, if a certain time is predicted in the future
  • the monitoring unit 31 monitors the state of the battery replacing device 1 when there are multiple working devices 2 in the battery replacement.
  • the scheduling unit 32 When the battery replacing device 1 is in an available state and the available battery amount is greater than or equal to 1, the scheduling unit 32 will work. The device 2 schedules to replace the battery, and conversely, if the scheduling unit 32 predicts that no collision will occur, the working device 2 continues to operate.
  • the second threshold is less than the first threshold, for example, the second threshold is set to 30% of the first threshold.
  • the number of batteries in the battery exchange device is n
  • the charging time of the battery is Tc
  • the usage time is Tw
  • the number n of the battery and the working device m are in the following relationship: when the charging time Tc is less than or equal to the use time Tw, n ⁇ m; when the charging time Tc is greater than the use time Tw, n ⁇ m * (Tc / Tw + 1).
  • the step of performing the conflict prediction by the scheduling unit 32 includes: the scheduling unit 32 acquires the number i of working devices whose battery power is less than the second threshold, and the number of guiding units in the battery replacing device, j, i ⁇ 2, j ⁇ 1; in the i working devices, the number of working devices that obtain the difference between the battery power and the third threshold is k, k ⁇ 0; when k is greater than j, a conflict occurs.
  • k is less than or equal to j, no collision occurs. It is determined by the above method whether a collision will occur.
  • the scheduling unit 32 schedules the ij pieces of the working device 2 to replace the battery.
  • the third threshold is smaller than the second threshold.
  • the second threshold and the third threshold may be adjusted according to actual conditions.
  • the third threshold may be set to the foregoing. 1% of the first threshold.
  • the state of all the working devices 2 and the state of the battery replacing device 1 are monitored and scheduled by the total control terminal 3 so that the blockage caused by the need to change batteries at the same time does not occur, so that the battery replacing device 1 and work equipment 2 are used most efficiently.
  • the battery replacing device 1 concentrates on charging the battery, and the floor space is small. Compared with each working device 2, a charging pile is provided, and in the case where the number of working devices 2 is large, the advantage is obvious.
  • the difference from the first embodiment is that in the embodiment, the charging unit 12 of the battery replacing device 1 is embedded inside the carrying unit 13, and the converting unit 14 includes a third rail 141 and a robot 142.
  • the robot 142 is mounted on the third rail 141.
  • the robot 142 in this embodiment has a longer motion stroke than the robot of the first embodiment.
  • the carrying unit 13 includes a battery carrying cabinet.
  • the battery carrying unit has a plurality of battery placing areas. Each of the battery placing areas is provided with the charging unit.
  • the charging unit 12 includes a charging board, and the charging unit 12 can be multiple. Layers, each layer is assigned a plurality of charging stations, each of which is provided with the signal interface for charging or signalling the battery 16, the carrying station of the carrying unit 13 and the charging The number of charging stations of unit 12 matches.
  • the third rail 141 is laid on the length direction of the charging board (the direction perpendicular to the layer height of the charging station).
  • the robot 142 can be moved along the third rail 141 to accommodate the length of the charging pad so that all of the charging stations can be picked up and discharged using a robot 142.
  • the robot 142 takes out the unavailable battery from the working device 2, moves to the opposite side of the carrying unit 13, and places the unavailable battery in the battery.
  • the vacant station of the area is charged by the charging unit in the battery placement area. If the robot 142 is not vacant to the station on the carrying unit 13, the robot 142 may be along the third rail 141. Moving, finding the vacant station, dropping the unavailable battery, and then searching for available batteries.
  • the robot 142 is aligned with the available battery, the available battery is removed, and the available battery is installed to the work. On device 2.
  • the difference between the first embodiment and the second embodiment is that, in the embodiment, in the waiting area 5, a wireless charging device 51 is laid, and when the working device 2 is queuing and charging in the waiting area 5, The wireless charging unit 22 can perform wireless charging to prevent shutdown due to excessive waiting time, thereby causing blocking.
  • the battery replacement device can quickly replace the available battery with the working device, so that the battery continues to work, saving the charging time and improving the charging time.
  • the output of the factory is monitored by the monitoring unit of the battery replacement system to monitor the battery information in the battery replacing device and the working device, and all the battery information is sent to the scheduling unit, and the scheduling unit provides different scheduling schemes according to the information, and can
  • the battery replacement device achieves maximum efficiency of use and effectively prevents the battery from colliding or blocking.

Abstract

一种电池更换装置、电池更换系统及调度方法，电池更换装置（1）可以快速给工作设备（2）换上可用电池，使其继续工作，节省出了充电时间，提高了工厂的产量，通过电池更换系统的监控单元（31）监控电池更换装置和工作设备中的电池信息进行监控，并将所有电池的信息发送给调度单元（32），调度单元根据这些信息提供不同的调度方案，可以提高电池更换装置的使用效率，并且有效的防止更换电池发生冲突或阻塞的情况。

Description

电池更换装置、电池更换系统及调度方法 技术领域
本发明涉及半导体制造领域，尤其涉及一种电池更换装置、电池更换系统及调度方法。
背景技术
在半导体领域中，物料自动化、智能管理是必然的趋势，目前用于物料运输和搬运的移动机器人已经得到广泛应用；该类移动机器人通常采用电池驱动，在电池电量不足时，一般采用自动充电或者人工更换电池的方式进行续航。
对于人工更换电池的方式，不仅增加了人力成本，且与未来智能化设备的发展趋势不符。自主充电的方式每次充电的时间需要几个小时，降低了机器人工作效率，严重影响了工厂最关心的产率问题。而为了解决该问题，必须通过增加机器人数量的方式来解决，这又增加了成本。另外厂房内会有多个充电桩来为不同的机器人充电，占用了工厂的空间，对于寸土寸金的工厂来说非常浪费。
发明内容
本发明的目的在于提供一种电池更换装置、电池更换系统及调度方法，以解决现有技术无法快速更换电池等问题。
为了达到上述目的，本发明提供了一种电池更换装置、电池更换系统及调度方法，所述电池更换装置，用于对一工作设备进行电池更换，所述电池更换装置包括存储单元、转换单元及至少一个导向单元；所述存储单元用于存储电池，所述电池包括可用电池和不可用电池，所述可用电池的电量大于或等于一第一阈值，所述不可用电池的电量小于所述第一阈值；所述转换单元用于在所述导向单元定位所述工作设备后取出所述工作设备中的不可用电池，并将获 取自所述存储单元的所述可用电池放入所述工作设备中。
可选的，所述存储单元包括承载单元和充电单元，所述承载单元用于承载所述电池，所述充电单元用于对所述不可用电池进行充电。
可选的，所述承载单元包括电池载盘，所述充电单元包括充电桩，所述充电桩上有多个充电区，所述电池载盘套接在所述充电桩外，所述存储单元还包括旋转驱动器，所述旋转驱动器设置在所述电池载盘或所述充电桩上，用于驱动所述电池载盘和所述充电桩一起旋转，所述转换单元从所述工作设备中取出所述不可用电池，将所述不可用电池放置在所述电池载盘上通过所述充电区充电，所述电池载盘和所述充电桩一起旋转，将所述可用电池对准所述转换单元。
可选的，所述承载单元包括电池载柜，所述电池载柜内有若干电池放置区，每个所述电池放置区内均设置有所述充电单元，所述转换单元从所述工作设备中取出所述不可用电池，将所述不可用电池放置在所述电池放置区，并通过所述电池放置区内的所述充电单元充电，所述转换单元通过移动从所述电池载柜内取出所述可用电池。
可选的，所述可用电池或不可用电池放置在所述承载单元上，并与所述充电单元的信号接口连接，以进行充电或信号传输。
可选的，所述承载单元包括多个放置电池的工位，所述充电单元包括多个所述信号接口，所述承载单元的工位数量与所述充电单元的信号接口数量相匹配。
可选的，所述电池更换装置具有一外壳，所述存储单元和所述转换单元设置于所述外壳内，所述外壳上设置有开口，所述转换单元通过所述开口传递所述可用电池和不可用电池。
可选的，所述导向单元包括无接触式导向组件和接触式导向组件，所述无接触式导向组件包括标识符和识别器，所述标识符和所述识别器分别设置在所述外壳和所述工作设备上或相反设置，所述接触式导向组件设置在所述外 壳外部与所述开口对应的一侧，通过识别器识别所述标识符以获得所述工作设备相对所述接触式导向组件的位置，所述工作设备移动至所述接触式导向组件，通过所述接触式导向组件定位以对准所述开口。
可选的，所述接触式导向组件包括至少一个导轨，所述导轨远离所述外壳的一端较靠近所述外壳的一端的开口大，所述工作设备沿着所述导轨移动至对准所述开口。
可选的，所述接触式导向组件包括一磁条和设置于所述工作设备中的磁导航单元，通过所述磁导航单元检测所述磁条产生的磁场以移动至对准所述开口。
本发明还提供了一种电池更换系统，包括所述电池更换装置、监控单元、调度单元和若干个工作设备；
所述监控单元监控所述电池更换装置和所述工作设备中电池的信息，并将所述电池的信息发送给所述调度单元；
所述调度单元根据所述电池的信息采取不同的调度策略，以用于对所述电池更换装置和若干个所述工作设备进行整体调度。
可选的，所述监控单元用于监控所述电池更换装置的使用状态、电池的电量信息和可用电池的数量。
可选的，所述电池更换系统还包括无线路由单元，所述监控单元、所述调度单元、所述电池更换装置和若干个所述工作设备通过无线路由单元实现通信连接。
可选的，所述调度策略包括：
策略一：当所述工作设备的电池电量小于第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元将所述工作设备调度去更换电池；
策略二：当所述工作设备的电池电量小于所述第二阈值，所述电池更换装置处于不可用状态或者所述电池更换装置中可用电池的数量小于1时，所述 调度单元将所述工作设备调度去等待区排队，等待更换电池；
策略三：当所述工作设备的电池电量大于等于所述第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元进行冲突预测，当所述调度单元预测到将会发生冲突时，将所述工作设备调度去更换电池，
其中，所述第二阈值小于所述第一阈值。
本发明还提供了一种所述电池更换系统的调度方法，所述电池更换系统的调度方法包括：
所述监控单元监控所述电池更换装置和m个所述工作设备中电池的信息，并将所述电池的信息发送给所述调度单元，其中，m为自然数；
所述调度单元根据所述电池的信息采取不同的调度策略；
策略一：当所述工作设备的电池电量小于第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元将所述工作设备调度去更换电池；
策略二：当所述工作设备的电池电量小于所述第二阈值，所述电池更换装置处于不可用状态或者所述电池更换装置中可用电池的数量小于1时，所述调度单元将所述工作设备调度去等待区排队，等待更换电池；
策略三：当所述工作设备的电池电量大于等于所述第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元进行冲突预测，当所述调度单元预测到将会发生冲突时，将所述工作设备调度去更换电池，
其中，所述第二阈值小于所述第一阈值。
可选的，所述电池更换装置中电池的数量为n，所述电池的充电时间为Tc，使用时间为Tw，其中，m为自然数，当所述充电时间Tc小于等于所述使用时间Tw时，将n设置为≥m；当所述充电时间Tc大于所述使用时间Tw时，将n设置为≥m*(Tc/Tw+1)。
可选的，所述调度单元进行冲突预测的步骤包括：
获取电池电量小于所述第二阈值的工作设备的数量i和所述电池更换装置中导向单元的数量j，i≥2，j≥1；
在i个所述工作设备中，获取电池电量的差值小于等于一第三阈值的工作设备的数量为k，k≥0；
判断是否会发生冲突，当k大于j时将会发生冲突，当k小于等于j时不会发生冲突，
其中，所述第三阈值小于所述第二阈值。
可选的，当k大于j时，所述调度单元将i-j个所述工作设备调度去更换电池。
在本发明提供的电池更换装置、电池更换系统及调度方法中，所述电池更换装置可以快速给工作设备换上可用电池，使其继续工作，节省出了充电时间，提高了工厂的产量，通过电池更换系统的监控单元监控电池更换装置和工作设备中的电池信息进行监控，并将所有电池的信息发送给调度单元，调度单元根据这些信息提供不同的调度方案，可以使所述电池更换装置达到最大的使用效率，并且有效的防止更换电池发生冲突或阻塞的情况。
附图说明
图1-图3为实施例一提供的电池更换装置的示意图；
图4为实施例一提供的电池更换装置的控制单元的示意图；
图5为实施例一提供的电池更换系统的示意图；
图6为实施例一提供的电池更换系统的控制方法的示意图；
图7为实施例一提供的电池更换系统的调度方法的示意图；
图8为实施例二提供的电池更换装置的示意图；
图9为实施例三提供的电池更换系统的示意图；
其中，1-电池更换装置，10-第一无线传输单元，11-外壳，12-充电单元， 13-承载单元，14-转换单元，141-第三导轨，142-机械手，15-导向单元，151-第一导轨，152-第二导轨，151a-第一导轨的限位部件，152a-第二导轨的限位部件，16-电池，17-控制单元，18-定位板，19-开口，2-工作设备，21a、21b-车轮，22-第二无线传输单元，3-总控制端，31-监控单元，32-调度单元，4-无线路由单元，5-等待区，51-无线充电装置。
具体实施方式
下面将结合示意图对本发明的具体实施方式进行更详细的描述。根据下列描述和权利要求书，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。
实施例一
参阅图1-2，其为本实施例提供的电池更换装置的示意图，所述电池更换装置1包括存储单元、转换单元14及至少一个导向单元15；所述存储单元用于存储电池16，所述电池包括可用电池和不可用电池，所述可用电池的电量大于等于一第一阈值，所述不可用电池的电量小于所述第一阈值；所述导向单元15定位一工作设备2后，所述转换单元14取出所述工作设备中的不可用电池，并将所述可用电池放入所述工作设备2中。
具体的，所述存储单元用于存储电池16(具体可以是可用电池和不可用电池)，所述存储单元包括一承载单元13和充电单元12，所述承载单元13、充电单元12和转换单元14均设置于一外壳11内，所述导向单元15设置于所述外壳11的外侧；工作设备2通过所述导向单元15移动至与所述外壳11对接，所述转换单元14将不可用电池从所述工作设备2中取出并放置在所述承载单元13上，所述充电单元12对所述不可用电池进行充电；所述转换单元14从所述承载单元13上将可用电池放入所述工作设备2中。所述电池更换装置1可以快速给工作设备2换上可用电池，使其继续工作，同时又可以 对电池进行集中充电，节省出了充电时间，提高了工厂的产量。
如图1-图2所示，在本实施例中，所述充电单元12为一个可旋转的充电桩，所述充电桩包括充电区，所述充电区有多个可供不可用电池充电的信号接口。所述承载单元13包括一电池载盘，所述电池载盘套接在所述充电桩外，所述充电桩与一旋转驱动器连接，所述旋转驱动器设置在电池载盘或充电桩上，当所述旋转驱动器驱动所述充电桩和电池载盘进行旋转时，所述转换单元14从所述工作设备2中取出所述不可用电池，将所述不可用电池放置在所述电池载盘上，并通过所述充电区充电，电池载盘和充电桩一起旋转，将可用电池对准所述转换单元14。所述电池载盘上设置有多个承载电池16的工位，工位的数量可以根据电池的大小进行划分，所述承载单元13承载电池16的工位与所述充电单元12为所述电池16充电的信号接口的数量一致。当所述电池16与所述充电单元12的信号接口对接时，所述电池16处于充电状态，并且可以通过所述信号接口传输电量信息。
所述转换模块14包括一机械手用于取放所述电池16，在更换电池时，机械手先将所述可用电池从所述工作设备2上卸载，再将所述不可用电池放置在承载单元13上的空闲工位上，所述承载单元13和所述充电单元12一起旋转，将可用电池对准所述机械手的拾取工位，之后所述机械手拾取所述可用电池，并将其安装进所述工作设备2中。所述机械手至少为四轴的机械手，也可以为更多自由度的机械手，其行程范围覆盖所述充电单元12和所述工作设备2，另外载重能力满足电池的重量需求，所述机械手的末端执行器与电池的形状相匹配，便于电池的取放。
优选的，可以在所述外壳11设置有导向单元15的一侧上设置一开口19，以供电池16的进出，所述开口19的位置与所述工作设备2的电池安装口的位置一致，便于所述转换单元13安装和卸下电池16，并且，所述开口19的尺寸可以与所述电池16的尺寸匹配。
所述承载单元13、充电单元12和转换单元14均设置于所述外壳11内， 所述导向单元15设置于所述外壳11的一侧，为所述工作设备2提供导向和定位作用。所述导向单元15包括无接触式导向组件和接触式导向组件，所述无接触式导向组件包括标识符和识别器，标识符和识别器分别设置在所述外壳11和所述工作设备2上或相反设置，具体的，所述外壳11设置有导向单元15的这一侧还设置有定位板18，用于远程定位所述工作设备2。所述定位板18上有标识符，该标识符可以为二维码、十字、三角形、圆形等可以通过视觉传感器识别的图案，所述工作设备2靠近所述电池更换装置1时，所述工作设备2可通过识别定位板18上的标识符以获得工作设备2相对所述接触式导向组件的位置。
所述接触式导向组件设置在所述外壳11外部与所述开口19对应的一侧，所述工作设备2可移动至所述接触式导向组件，通过接触式导向组件定位以对准所述开口19。所述工作设备2通常为可以进行移动运输和搬运材料的机器人，其通过车轮进行移动。所述接触式导向组件包括至少一个导轨，用于与所述工作设备2的车轮进行对接。具体的，如图2所示，所述工作设备2具有两列对称的车轮(例如车轮21a和车轮21b)，所述导向单元15上设置有第一导轨151和第二导轨152，所述第一导轨151和第二导轨152距离外壳11较远的一端开口较大，呈喇叭状，便于车轮21a和车轮21b进入，所述第一导轨151和第二导轨152距离外壳11较近的一端均设置有限位部件(所述第一导轨151的限位部件151a，所述第二导轨152的限位部件152a)。所述工作设备2通过所述定位板18初步定位以后，车轮21a和车轮21b分别与所述第一导轨151和第二导轨152对接，之后车轮21a和车轮21b会沿着第一导轨151和第二导轨152的方向进行校正，直到触碰到限位部件，工作设备2停止运动，此时通过车轮和导轨的机械定位达到了较好的对接状态，便于进行电池的更换。
当然，当所述工作设备2中安装有磁导航单元时，所述接触式导向组件可以包括一磁条和安装在所述工作设备上的磁导航单元，磁条导航具有较高 的精度，因此可以完全达到对接的需求。所述磁条铺设在设定的路径上，所述磁导航单元通过检测所述磁条的磁场以移动至对准所述开口19。所述工作设备2上设置有第二无线传输单元22，可以通过所述第二无线传输单元22传输电量信息。
所述电池更换装置1中的导向单元15的数量可以为多个，如图3所示，所述电池更换装置1采用了双导向单元的形式，即，在所述外壳11的一侧设置两个导向单元15，并且所述开口19的数量也可以与所述导向单元15的数量匹配。采用该模式可以节省工作设备2定位的时间，在工作设备2进行电池更换的同时，另一台工作设备2可以进行定位操作，当一台工作设备2完成电池更换后，转换单元13可立刻进行另一台工作设备2的电池更换工作，不必等待工作设备2定位所花费的时间，这样进一步提高了电池更换装置1的有效利用率。
当然，也可以设置多个转换单元13，所述转换单元13的数量可以与所述导向单元15的数量一致，保证导向单元15能够同时运行。两个导向单元15之间的距离满足两台工作设备2的空间要求，即两台工作设备2在空间上不干涉。
请参阅图4，所述电池更换装置1还包括一控制单元17，所述控制单元17对所述电池更换装置1的运动进行控制。具体的，当进行电池更换时，所述控制单元17控制所述转换单元14将所述工作设备2的不可用电池卸下，将所述不可用电池放在所述承载单元13上进行充电，所述控制单元17根据电池的电压和功率要求，将厂房220V电压转换为相应的充电电压，并保证充电单元的每个信号接口的电压稳定。所述控制单元17可以通过所述充电单元12的信号接口获取所述电池更换装置1中所有电池的电量信息并对应到每个电池工位，即每个工位上电池的电量信息，并可以将这些信息通过第一无线传输单元10与外界进行信息交换。当所述转换单元14将不可用电池放在所述承载单元13上后，所述控制单元17控制旋转电机旋转某一角度，以将可用 电池对准转换单元14，所述转换单元14将可用电池取走。
参阅图5-图6，本实施例还提供了一种电池更换系统，包括所述电池更换装置1、总控制端3和若干个工作设备2；总控制端3包括所述监控单元31和所述调度单元32，所述监控单元31监控所述电池更换装置1和所述工作设备2中电池的信息，并将所述电池的信息发送给所述调度单元32；所述调度单元32根据所述电池的信息采取不同的调度策略，使所述电池更换装置1的使用率达到控制要求。
如图5所示，所述电池更换系统还包括无线路由单元4，所述无线路由单元4将总控制端3、电池更换装置1和所有所述工作设备2连在同一局域网内，所述无线路由单元4可以为1个也可以为多个，以覆盖所有设备的运动区域。所述工作设备2采用电池驱动，数量可以为多台，所述电池更换装置1负责对到站的工作设备2进行电池更换，并可以对所有的电池进行集中充电。总控制端3通过无线网络对所有设备进行状态监控，计算最优的调度方案，对电池更换装置1以及工作设备2进行整体调度。
请继续参阅图6，所述监控单元31通过无线网络对厂房内所有的工作设备2a、2b…..2m的电池电量和电池更换装置1进行监控，并将监控的数据传输给调度单元32，所述调度单元32将这m个工作设备按电量的高低分为电量低和电量高的两类，当工作设备2的电池电量小于一第二阈值时，所述工作设备2的电池电量低，当工作设备2的电池电量大于等于所述第二阈值时，所述工作设备2的电池电量高。所述调度单元将所述电池更换装置1分为可用状态和不可用状态的两种，当电池更换装置1没有被占用，可以进行电池更换时，所述电池更换装置1处于可用状态，当电池更换装置1被占用，不能进行电池更换时，所述电池更换装置1处于不可用状态。所述调度单元32还要统计所述电池更换装置1中可用电池数量。所述调度单元32集中了所有的信息后，采用不同的调度策略1、2、3。
具体的，策略1：当所述工作设备2的电池电量小于第二阈值，所述电池 更换装置1处于可用状态，并且所述电池更换装置1中可用电池的数量大于等于1时，所述调度单元32将所述工作设备2调度去更换电池；
策略2：当所述工作设备2的电池电量小于所述第二阈值，所述电池更换装置1处于不可用状态或者所述电池更换装置1中可用电池的数量小于1时，所述调度单元将所述工作设备2调度去等待区排队，等待更换电池；
策略3：当所述工作设备2的电池电量大于等于所述第二阈值，所述电池更换装置1处于可用状态，并且所述电池更换装置1中可用电池的数量大于等于1时，所述调度单元32进行冲突预测，当所述调度单元32预测到将会发生冲突时，将所述工作设备2调度去更换电池。
请参阅图7，其为所述电池更换系统的调度方法的流程图，其融合了调度策略1、2、3。结合图6所示，当所述总控制端3启动时，所述监控单元31监控所有所述工作设备2的电池电量，当所述工作设备2的电池电量低时，所述监控单元31监控电池更换装置1的状态，当电池更换装置1处于可用状态并且可用电池数量大于等于1时，所述调度单元32将工作设备2调度去更换电池，当电池更换装置1处于不可用状态或可用电池数量小于1时，所述调度单元32将工作设备2调度去等待区排队更换电池；当所述工作设备2的电池电量高时，所述调度单元32进行冲突预测，若预测到未来某个时间里会有多台工作设备2更换电池冲突时，所述监控单元31监控电池更换装置1的状态，当电池更换装置1处于可用状态并且可用电池数量大于等于1时，所述调度单元32将工作设备2调度去更换电池，反之，若调度单元32预测不会发生冲突，则使工作设备2继续工作。
在所述电池更换系统中，所述第二阈值小于所述第一阈值，例如，将所述第二阈值设置为所述第一阈值的30％。所述电池更换装置中电池的数量为n，所述电池的充电时间为Tc，使用时间为Tw，电池的数量n和工作设备m成如下的关系：当充电时间Tc小于等于使用时间Tw时，n≥m；当充电时间Tc大于使用时间Tw时，n≥m*(Tc/Tw+1)。
可选的，所述调度单元32进行冲突预测的步骤包括：所述调度单元32获取电池电量小于所述第二阈值的工作设备的数量i和所述电池更换装置中导向单元的数量j，i≥2，j≥1；在i个所述工作设备中，获取电池电量的差值小于等于第三阈值的工作设备的数量为k，k≥0；当k大于j时将会发生冲突，当k小于等于j时不会发生冲突，通过以上方法判断是否会发生冲突，当k大于j时，所述调度单元32将i-j个所述工作设备2调度去更换电池。所述第三阈值小于所述第二阈值，当然，所述第二阈值与所述第三阈值可以根据实际情况进行调整，例如，本实施例中，可以将所述第三阈值设置为所述第一阈值的1％。
本实施例中，通过总控制端3对所有的工作设备2的状态和电池更换装置1的状态进行监控和调度，使其不会发生多台同时需要换电池而导致的阻塞，使电池更换装置1和工作设备2的使用效率达到最高。并且电池更换装置1集中对电池进行充电的方式，占地面积较小，相比每台工作设备2都带一个充电桩的方式，在工作设备2数量很多的情况下，优势明显。
实施例二
参阅图8，与实施例一的区别在于，本实施例中，所述电池更换装置1的充电单元12嵌入了所述承载单元13内部，所述转换单元14包括第三导轨141和机械手142，机械手142安装于第三导轨141上，本实施例中的机械手142相较于实施例一的机械手具有更长的运动行程。
所述承载单元13包括电池载柜，电池载柜内有若干电池放置区，每个电池放置区内均设置有所述充电单元，所述充电单元12包括一充电板，充电单元12可以为多层，每一层分配多个充电工位，每个充电工位上均设置有所述信号接口，用于给电池16充电或进行信号传输，所述承载单元13的承载工位与所述充电单元12的充电工位的数量匹配。所述第三导轨141铺设在充电板的长度方向(与充电工位的层高相垂直的方向)上。机械手142可以沿着所述第三导轨141移动，以适应充电板的长度，使得采用一个机械手142即可 对所有充电工位进行取放电池。
当所述工作设备2来更换电池时，所述机械手142从所述工作设备2中取出所述不可用电池，移动至所述承载单元13的正对面，将所述不可用电池放置在电池放置区的空缺工位上，并通过电池放置区内的充电单元充电，若所述机械手142正对所述承载单元13上的工位不是空缺的，则所述机械手142可沿着第三导轨141移动，找到空缺的工位，将不可用电池放下，再寻找可用电池，当所述机械手142对准所述可用电池后，将所述可用电池取下，将所述可用电池安装到所述工作设备2上。
实施例三
请参阅图9，与实施例一和实施例二的区别在于，本实施例中，在所述等待区5中，铺设了无线充电装置51，所述工作设备2在等待区5排队充电时，可以通过第二无线传输单元22进行无线充电，防止因等待时间过长而导致关机，从而引起阻塞。
综上，在本发明实施例提供的电池更换装置、电池更换系统及调度方法中，所述电池更换装置可以快速给工作设备换上可用电池，使其继续工作，节省出了充电时间，提高了工厂的产量，通过电池更换系统的监控单元监控电池更换装置和工作设备中的电池信息进行监控，并将所有电池的信息发送给调度单元，调度单元根据这些信息提供不同的调度方案，可以使所述电池更换装置达到最大的使用效率，并且有效的防止更换电池发生冲突或阻塞的情况。
上述仅为本发明的优选实施例而已，并不对本发明起到任何限制作用。任何所属技术领域的技术人员，在不脱离本发明的技术方案的范围内，对本发明揭露的技术方案和技术内容做任何形式的等同替换或修改等变动，均属未脱离本发明的技术方案的内容，仍属于本发明的保护范围之内。

Claims (18)

  1. 一种电池更换装置，用于对一工作设备进行电池更换，其特征在于，所述电池更换装置包括存储单元、转换单元及至少一个导向单元；
    所述存储单元用于存储电池，所述电池包括可用电池和不可用电池，所述可用电池的电量大于或等于一第一阈值，所述不可用电池的电量小于所述第一阈值；
    所述转换单元用于在所述导向单元定位所述工作设备后取出所述工作设备中的不可用电池，并将获取自所述存储单元的所述可用电池放入所述工作设备中。
  2. 如权利要求1所述的电池更换装置，其特征在于，所述存储单元包括承载单元和充电单元，所述承载单元用于承载所述电池，所述充电单元用于对所述不可用电池进行充电。
  3. 如权利要求2所述的电池更换装置，其特征在于，所述承载单元包括电池载盘，所述充电单元包括充电桩，所述充电桩上有多个充电区，所述电池载盘套接在所述充电桩外，所述存储单元还包括旋转驱动器，所述旋转驱动器设置在所述电池载盘或所述充电桩上，用于驱动所述电池载盘和所述充电桩一起旋转，所述转换单元从所述工作设备中取出所述不可用电池，将所述不可用电池放置在所述电池载盘上通过所述充电区充电，所述电池载盘和所述充电桩一起旋转，将所述可用电池对准所述转换单元。
  4. 如权利要求2所述的电池更换装置，其特征在于，所述承载单元包括电池载柜，所述电池载柜内有若干电池放置区，每个所述电池放置区内均设置有所述充电单元，所述转换单元从所述工作设备中取出所述不可用电池，将所述不可用电池放置在所述电池放置区，并通过所述电池放置区内的所述充电单元充电，所述转换单元通过移动从所述电池载柜内取出所述可用电池。
  5. 如权利要求3或4所述的电池更换装置，其特征在于，所述可用电池 或所述不可用电池放置在所述承载单元上，并与所述充电单元的信号接口连接，以进行充电或信号传输。
  6. 如权利要求5所述的电池更换装置，其特征在于，所述承载单元包括多个放置电池的工位，所述充电单元包括多个所述信号接口，所述承载单元的工位数量与所述充电单元的所述信号接口数量相匹配。
  7. 如权利要求1所述的电池更换装置，其特征在于，所述电池更换装置具有一外壳，所述存储单元和所述转换单元设置于所述外壳内，所述外壳上设置有开口，所述转换单元通过所述开口传递所述可用电池和所述不可用电池。
  8. 如权利要求7所述的电池更换装置，其特征在于，所述导向单元包括无接触式导向组件和接触式导向组件，所述无接触式导向组件包括标识符和识别器，所述标识符和所述识别器分别设置在所述外壳和所述工作设备上或相反设置，所述接触式导向组件设置在所述外壳外部与所述开口对应的一侧，通过识别器识别所述标识符以获得所述工作设备相对所述接触式导向组件的位置，所述工作设备移动至所述接触式导向组件，通过所述接触式导向组件定位以对准所述开口。
  9. 如权利要求8所述的电池更换装置，其特征在于，所述接触式导向组件包括至少一个导轨，所述导轨远离所述外壳的一端较靠近所述外壳的一端的开口大，所述工作设备沿着所述导轨移动至对准所述开口。
  10. 如权利要求8所述的电池更换装置，其特征在于，所述接触式导向组件包括一磁条和设置于所述工作设备中的磁导航单元，通过所述磁导航单元检测所述磁条产生的磁场以移动至对准所述开口。
  11. 一种电池更换系统，其特征在于，包括如权利要求1-10中任一项所述的电池更换装置、监控单元、调度单元和若干个工作设备；
    所述监控单元用于监控所述电池更换装置和所述工作设备中电池的信息，并将所述电池的信息发送给所述调度单元；
    所述调度单元根据所述电池的信息采取不同的调度策略，以用于对所述 电池更换装置和若干个所述工作设备进行整体调度。
  12. 如权利要求11所述的电池更换系统，其特征在于，所述监控单元用于监控所述电池更换装置的使用状态、电池的电量信息和可用电池的数量。
  13. 如权利要求11所述的电池更换系统，其特征在于，所述电池更换系统还包括无线路由单元，所述监控单元、所述调度单元、所述电池更换装置和若干个所述工作设备通过无线路由单元实现通信连接。
  14. 如权利要求11所述的电池更换系统，其特征在于，所述调度策略包括：
    策略一：当所述工作设备的电池电量小于第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元将所述工作设备调度去更换电池；
    策略二：当所述工作设备的电池电量小于所述第二阈值，所述电池更换装置处于不可用状态或者所述电池更换装置中可用电池的数量小于1时，所述调度单元将所述工作设备调度去等待区排队，等待更换电池；
    策略三：当所述工作设备的电池电量大于等于所述第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元进行冲突预测，当所述调度单元预测到将会发生冲突时，将所述工作设备调度去更换电池，
    其中，所述第二阈值小于所述第一阈值。
  15. 一种如权利要求11-13中任一项所述的电池更换系统的调度方法，其特征在于，所述电池更换系统的调度方法包括：
    所述监控单元监控所述电池更换装置和m个所述工作设备中电池的信息，并将所述电池的信息发送给所述调度单元，其中，m为自然数；
    所述调度单元根据所述电池的信息采取不同的调度策略；
    策略一：当所述工作设备的电池电量小于第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述 调度单元将所述工作设备调度去更换电池；
    策略二：当所述工作设备的电池电量小于所述第二阈值，所述电池更换装置处于不可用状态或者所述电池更换装置中可用电池的数量小于1时，所述调度单元将所述工作设备调度去等待区排队，等待更换电池；
    策略三：当所述工作设备的电池电量大于等于所述第二阈值，所述电池更换装置处于可用状态，并且所述电池更换装置中可用电池的数量大于等于1时，所述调度单元进行冲突预测，当所述调度单元预测到将会发生冲突时，将所述工作设备调度去更换电池，
    其中，所述第二阈值小于所述第一阈值。
  16. 如权利要求15所述的电池更换系统的调度方法，其特征在于，所述电池更换装置中电池的数量为n，所述电池的充电时间为Tc，使用时间为Tw，其中，m为自然数，当所述充电时间Tc小于等于所述使用时间Tw时，将n设置为≥m；当所述充电时间Tc大于所述使用时间Tw时，将n设置为≥m*(Tc/Tw+1)。
  17. 如权利要求16所述的电池更换系统的调度方法，其特征在于，所述调度单元进行冲突预测的步骤包括：
    获取电池电量小于所述第二阈值的工作设备的数量i和所述电池更换装置中导向单元的数量j，i≥2，j≥1；
    在i个所述工作设备中，获取电池电量的差值小于等于一第三阈值的工作设备的数量为k，k≥0；
    判断是否会发生冲突，当k大于j时将会发生冲突，当k小于等于j时不会发生冲突，
    其中，所述第三阈值小于所述第二阈值。
  18. 如权利要求17所述的电池更换系统的调度方法，其特征在于，当k大于j时，所述调度单元将i-j个所述工作设备调度去更换电池。
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