CN109861313A - Battery replacement device, battery change system and dispatching method - Google Patents
Battery replacement device, battery change system and dispatching method Download PDFInfo
- Publication number
- CN109861313A CN109861313A CN201711244605.5A CN201711244605A CN109861313A CN 109861313 A CN109861313 A CN 109861313A CN 201711244605 A CN201711244605 A CN 201711244605A CN 109861313 A CN109861313 A CN 109861313A
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- battery
- unit
- replacement device
- working equipment
- scheduling
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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
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Secondary Cells (AREA)
Abstract
The present invention provides a kind of battery replacement devices, battery change system and dispatching method, the battery replacement device quickly can change available battery to working equipment, continue to work, the charging time is saved, improve output of a factory, the battery information in battery replacement device and working equipment is monitored by the monitoring unit of battery change system to be monitored, and the information of all batteries is sent to scheduling unit, scheduling unit provides different scheduling schemes according to these information, the battery replacement device can be made to reach maximum service efficiency, and the case where effectively preventing replacement battery from clashing or blocking.
Description
Technical field
The present invention relates to field of semiconductor manufacture more particularly to a kind of battery replacement devices, battery change system and scheduling
Method.
Background technique
In semiconductor field, material automation, intelligent management are inevitable trend, currently used for material transportation and carrying
Mobile robot be used widely；Such mobile robot generallys use battery driving, in battery capacity deficiency,
It is general to be continued a journey by the way of automatic charging or artificial replacement battery.
For manually replacing the mode of battery, human cost is not only increased, and become with the development of the following intelligent equipment
Gesture is not inconsistent.The time that the mode of recharging charges every time needs several hours, reduces robot working efficiency, seriously affects
Factory most concerned yield issues.And in order to solve this problem, it is necessary to it is solved by way of increasing robot quantity, this
Cost is increased again.In addition it has multiple charging piles to charge in workshop for different robots, occupies the space of factory, it is right
It is wasted very much for the factory of an inch of land is an inch of gold.
Summary of the invention
The purpose of the present invention is to provide a kind of battery replacement device, battery change system and dispatching methods, existing to solve
Have technology can not quick-replaceable battery the problems such as.
In order to achieve the above object, the present invention provides a kind of battery replacement device, battery change system and dispatching method,
The battery replacement device includes storage unit, converting unit and at least one pilot unit；
The storage unit is used for storage battery, and the battery includes available battery and unavailable battery, it is described can electricity consumption
The electricity in pond is greater than or equal to a first threshold, and the electricity of the unavailable battery is less than the first threshold；
After the pilot unit positions a working equipment, the converting unit take out in the working equipment can not electricity consumption
Pond, and can be put into described in the working equipment with battery.
Optionally, the storage unit includes load bearing unit and charhing unit, and the load bearing unit is for carrying the electricity
Pond, the charhing unit is for charging to the unavailable battery.
Optionally, the load bearing unit includes battery load plate, and the charhing unit includes charging pile, is had on charging pile multiple
Charging zone, battery load plate are socketed in outside the charging pile, and the storage unit further includes rotating driver, rotating driver setting
On battery load plate or charging pile, battery load plate and charging pile is driven to rotate together, the converting unit is from the working equipment
It is middle to take out the unavailable battery, the unavailable battery is placed on the battery load plate, and is charged by charging zone, electricity
Pond load plate and charging pile rotate together, can be directed at the converting unit with battery.
Optionally, the load bearing unit includes that battery carries cabinet, if battery, which carries in cabinet, dry cell rest area, each battery is put
It sets and is provided with the charhing unit in area, the converting unit takes out the unavailable battery from the working equipment, will
The unavailable battery is placed on battery rest area, and passes through the charhing unit charging in battery rest area, the converting unit
Battery can be used by mobile take out out of battery load cabinet.
Optionally, described to be placed on the load bearing unit with battery or unavailable battery, and with the charhing unit
Signaling interface connection, with carry out charging or signal transmission.
Optionally, the load bearing unit includes the station of multiple placing batteries, and the charhing unit includes multiple letters
Number interface, the station quantity of the load bearing unit match with the signaling interface quantity of the charhing unit.
Optionally, the battery replacement device has a shell, and the storage unit and the converting unit are set to institute
State in shell, be provided with opening on the shell, the converting unit by described in opening transmitting can with battery with can not
Use battery.
Optionally, the pilot unit includes non-contact type guidance set and contact guidance set, the non-contact type
Guidance set includes identifier and identifier, identifier and identifier be separately positioned on the shell and the working equipment or
It is reversed, the contact guidance set is arranged in shell exterior side corresponding with the opening, passes through identifier
Identification marking is accorded with to obtain the position of the relatively described contact guidance set of working equipment, and the working equipment is moved to described connect
Touch guidance set is positioned by contact guidance set to be directed at the opening.
Optionally, the contact guidance set includes at least one guide rail, the one end of the guide rail far from the shell
The opening of one end of the closer shell is big, and the working equipment is moved to the alignment opening along the guide rail.
Optionally, the contact guidance set includes a magnetic stripe and the magnetic navigation list that is set in the working equipment
Member detects the magnetic field that the magnetic stripe generates by the magnetic navigation unit to be moved to the alignment opening.
The present invention also provides a kind of battery change systems, including the battery replacement device, monitoring unit, scheduling unit
With several working equipments；
The monitoring unit monitors the information of battery in the battery replacement device and the working equipment, and by the electricity
The information in pond is sent to the scheduling unit；
The scheduling unit takes different scheduling strategies according to the information of the battery, to the battery replacement device
Integrated scheduling is carried out with working equipment described in several.
Optionally, the monitoring unit monitor the use state of the battery replacement device, battery information about power and can
With the quantity of battery.
Optionally, the battery change system further includes wireless routing unit, the monitoring unit, scheduling unit, battery
More changing device and all working equipment are realized by wireless routing unit to be communicated to connect.
The present invention also provides a kind of dispatching method of battery change system, the dispatching parties of the battery change system
Method includes:
The monitoring unit monitors the information of battery in the battery replacement device and m working equipments, and by institute
The information for stating battery is sent to the scheduling unit；
The scheduling unit takes different scheduling strategies according to the information of the battery；
Strategy one: when the battery capacity of the working equipment is less than second threshold, the battery replacement device is available, and
When can be more than or equal to 1 with the quantity of battery in the battery replacement device, the scheduling unit goes working equipment scheduling
Replace battery；
Strategy two: when the battery capacity of the working equipment is less than the second threshold, the battery replacement device can not
With or the battery replacement device in can with the quantity of battery less than 1 when, the scheduling unit dispatches the working equipment
It goes to Accreditation Waiting Area to be lined up, waits battery to be replaced；
Strategy three: when the battery capacity of the working equipment is more than or equal to the second threshold, the battery replacement device
When can use, and can be more than or equal to 1 with the quantity of battery in the battery replacement device, the scheduling unit conflict pre-
It surveys, when the scheduling unit, which predicts, to be clashed, replacement battery is removed into working equipment scheduling.
Optionally, the second threshold is less than the first threshold.
Optionally, the quantity of battery is n in the battery replacement device, and charging time of the battery is Tc, when use
Between be Tw, when charging between Tc when being less than or equal to using time Tw, n >=m；When Tc is greater than using time Tw between when charging, n >=
m*(Tc/Tw+1)。
Optionally, the step of scheduling unit progress conflict prediction includes:
It obtains and is oriented in the quantity i and the battery replacement device for the working equipment that battery capacity is less than the second threshold
The quantity j of unit, i >=2, j >=1；
In i working equipments, the difference for obtaining battery capacity is less than or equal to the working equipment of a third threshold value
Quantity is k, k >=0；
Judge whether to clash, will be clashed when k is greater than j, will not be clashed when k is less than or equal to j.
Optionally, the third threshold value is less than the second threshold.
Optionally, when k is greater than j, the i-j working equipment scheduling are removed replacement battery by the scheduling unit.
In battery replacement device provided by the invention, battery change system and dispatching method, the battery replacement device
Available battery quickly can be changed to working equipment, continue to work, saved the charging time, improve the production of factory
Amount monitors the battery information in battery replacement device and working equipment by the monitoring unit of battery change system and is monitored,
And the information of all batteries is sent to scheduling unit, scheduling unit provides different scheduling schemes according to these information, can be with
The feelings for making the battery replacement device reach maximum service efficiency, and effectively preventing replacement battery from clashing or blocking
Condition.
Detailed description of the invention
Fig. 1-Fig. 3 is the schematic diagram for the battery replacement device that embodiment one provides；
Fig. 4 is the schematic diagram of the control unit for the battery replacement device that embodiment one provides；
Fig. 5 is the schematic diagram for the battery change system that embodiment one provides；
Fig. 6 is the schematic diagram of the control method for the battery change system that embodiment one provides；
Fig. 7 is the schematic diagram of the dispatching method for the battery change system that embodiment one provides；
Fig. 8 is the schematic diagram for the battery replacement device that embodiment two provides；
Fig. 9 is the schematic diagram for the battery change system that embodiment three provides；
Wherein, 1- battery replacement device, the first wireless transmission unit of 10-, 11- shell, 12- charhing unit, 13- carrying are single
Member, 14- converting unit, 141- third guide rail, 142- manipulator, 15- pilot unit, the first guide rail of 151-, the second guide rail of 152-,
The limiting component of the first guide rail of 151a-, the limiting component of the second guide rail of 152a-, 16- battery, 17- control unit, 18- positioning
Block, 19- opening, 2- working equipment, 21a, 21b- wheel, the second wireless transmission unit of 22-, 3- master control end, 31- monitoring are single
Member, 32- scheduling unit, 4- wireless routing unit, the Accreditation Waiting Area 5-, 51- wireless charging device.
Specific embodiment
A specific embodiment of the invention is described in more detail below in conjunction with schematic diagram.According to following description and
Claims, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and
Using non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
Embodiment one
It refering to fig. 1, is the schematic diagram of battery replacement device provided in this embodiment, the battery replacement device 1 includes
Storage unit, converting unit 14 and at least one pilot unit 15；The storage unit is used for storage battery 16, the battery pack
Available battery and unavailable battery are included, the electricity with battery is more than or equal to a first threshold, the unavailable battery
Electricity is less than the first threshold；After the pilot unit 15 positions a working equipment 2, the converting unit 14 takes out the work
Make the unavailable battery in equipment, and can be put into described with battery in the working equipment 2.
Specifically, the storage unit storage battery 16 (specifically can be available battery and unavailable battery), described to deposit
Storage unit includes a load bearing unit 13 and charhing unit 12, and the load bearing unit 13, charhing unit 12 and converting unit 14 are all provided with
It is placed in a shell 11, the pilot unit 15 is set to the outside of the shell 11；Working equipment 2 passes through the pilot unit
15 are moved to and dock with the shell 11, and the converting unit 14 removes and places unavailable battery from the working equipment
On the load bearing unit 13, the charhing unit 12 charges to the unavailable battery；The converting unit 14 is from institute
Stating can be put into the working equipment on load bearing unit 13 with battery.The battery replacement device 1 can quickly be set to work
It is standby to change available battery, work is continued to, while concentration charging can be carried out to battery again, has saved the charging time, mentioned
High output of a factory.
As Figure 1-Figure 2, in the present embodiment, the charhing unit 12 is a rotatable charging pile, described to fill
Electric stake includes charging zone, and there are multiple signaling interfaces for the charging of unavailable battery in the charging zone.The load bearing unit 13 wraps
A battery load plate is included, the battery load plate is socketed in outside the charging pile, and the charging pile is connect with a rotating driver, described
Rotating driver is arranged on battery load plate or charging pile, when the rotating driver drive the charging pile and battery load plate into
When row rotation, the converting unit 14 takes out the unavailable battery from the working equipment 2, and the unavailable battery is put
It sets on the battery load plate, and charged by the charging zone, battery load plate and charging pile rotate together, can use battery pair
The quasi- converting unit 14.The station of multiple carrying batteries 16 is provided on the battery load plate, the quantity of station can basis
The size of battery is divided, and the load bearing unit 13 carries the station of battery 16 and the charhing unit 12 is the battery 16
The quantity of the signaling interface of charging is consistent.When the battery 16 is docked with the signaling interface of the charhing unit 12, the electricity
Pond 16 is in charged state, and can transmit information about power by the signaling interface.
The conversion module 14 includes a manipulator for picking and placing the battery 16, and when replacing battery, manipulator first will
It is described to be unloaded from the working equipment 2 with battery, then the unavailable battery is placed on to the free time on load bearing unit 13
On station, the load bearing unit 13 and the charhing unit 12 rotate together, and the pickup of the manipulator will can be directed at battery
Station can use battery described in the manipulator pickup later, and be installed into the working equipment 2.The manipulator is extremely
It is less the manipulator of four axis, or the manipulator of more freedom, stroke range cover the charhing unit 12 and institute
Working equipment 2 is stated, in addition lifting capacity meets the weight requirements of battery, the end effector of the manipulator and the shape of battery
Match, convenient for the pick-and-place of battery.
Preferably, an opening 19 can be set on the side that the shell 11 is provided with pilot unit 15, for battery
16 disengaging, the position consistency of the battery installing port of the position and working equipment 2 of the opening 19 are single convenient for the conversion
Battery is installed and unloaded to member 13, also, the size of the opening 19 can be matched with the size of the battery 16.
The load bearing unit 13, charhing unit 12 and converting unit 14 are all set in the shell 11, and the guiding is single
Member 15 is set to the side of the shell 11, provides guiding and positioning action for the working equipment 2.The pilot unit 15 wraps
Non-contact type guidance set and contact guidance set are included, the non-contact type guidance set includes identifier and identifier, mark
Know symbol and identifier is separately positioned on the shell 11 and the working equipment 2 or is reversed, specifically, the shell 11
This side for being provided with pilot unit 15 is additionally provided with positioning plate 18, for being remotely located the working equipment 2.The positioning plate
There is identifier on 18, what which can be identified for two dimensional code, cross, triangle, circle etc. by visual sensor
Pattern, when the working equipment 2 is close to the battery replacement device 1, the working equipment 2 can be by identification positioning plate 18
The first position to obtain the relatively described contact guidance set of working equipment 2 of identifier.
The contact guidance set setting is in 11 outside of shell and 16 corresponding sides of the opening, the work
Equipment 2 is moved to the contact guidance set, is positioned by contact guidance set to be directed at the opening 16.The work
Equipment 2 is usually the robot that can carry out mobile transport and materials hauling, is moved by wheel.The contact is led
It include at least one guide rail to component, for being docked with the wheel of the working equipment 2.Specifically, as shown in Fig. 2, institute
Working equipment 2 is stated with the two symmetrical wheels (such as wheel 21a and wheel 21b) of column, the is provided on the pilot unit 15
One guide rail 151 and the second guide rail 152, first guide rail 151 and the second guide rail 152 apart from shell 11 it is farther away it is open at one end compared with
Greatly, in horn-like, enter convenient for wheel 21a and wheel 21b, first guide rail 151 and the second guide rail 152 apart from shell 11 compared with
Close one end is provided with limiting component (the limiting component 151a of first guide rail 151, the limit of second guide rail 152
Component 152a).After the working equipment 2 is by 18 Primary Location of positioning plate, wheel 21a and wheel 21b respectively with institute
State the first guide rail 151 and the second guide rail 152 docking, rear wheel 21a and wheel 21b can be led along the first guide rail 151 and second
The direction of rail 152 is corrected, and until touching limiting component, 2 stop motion of working equipment passes through wheel and guide rail at this time
Machinery positioning has reached preferable mated condition, is convenient for the replacement of battery.
Certainly, when being equipped with magnetic navigation unit in the working equipment 2, the contact guidance set may include one
Magnetic stripe and the magnetic navigation unit being mounted on the working equipment, magnetic stripe navigation precision with higher, therefore can reach completely
To the demand of docking.The magnetic stripe is laid on the path of setting, the magnetic field that the magnetic navigation unit passes through the detection magnetic stripe
To be moved to the alignment opening 16.It is provided with the second wireless transmission unit 22 on the working equipment 2, described can be passed through
Two wireless transmission units 22 transmit information about power.
The quantity of pilot unit 15 in the battery replacement device 1 can be to be multiple, as shown in figure 3, the battery is more
Changing device 1 uses the form of double pilot units, that is, two pilot units 15, and institute is arranged in the side of the shell 11
The quantity for stating opening 19 can also be with the quantity Matching of the pilot unit 15.It is fixed that working equipment 2 can be saved using the mode
The time of position, while working equipment 2 carries out battery altering, another working equipment 2 can carry out positioning operation, Dang Yitai
After working equipment 2 completes battery altering, converting unit 13 can carry out the battery altering work of another working equipment 2 at once, no
Working equipment 2 must be waited to position the time it takes, which further increases the effective rates of utilization of battery replacement device 1.
It is of course also possible to which multiple converting units 13 are arranged, the quantity of the converting unit 13 can be with the pilot unit
15 quantity is consistent, guarantees that pilot unit 15 can be run simultaneously.The distance between two pilot units 15 meet two work
The space requirement of equipment 2, i.e. two working equipments 2 are not interfered spatially.
Referring to Fig. 4, the battery replacement device 1 further includes a control unit 17, described control unit 17 is to the electricity
The movement of pond more changing device 1 is controlled.Specifically, described control unit 17 controls the conversion when carrying out battery altering
Unit 14 unloads the unavailable battery of the working equipment 2, and it is enterprising that the unavailable battery is placed on the load bearing unit 13
Workshop 220V voltage is converted to corresponding charging according to the voltage and power requirement of battery by row charging, described control unit 17
Voltage, and guarantee the voltage stabilization of each signaling interface of charhing unit.Described control unit 17 can be single by the charging
The signaling interface of member 12 obtains the information about power of all batteries in the battery replacement device 1 and corresponds to each cell station,
The information about power of battery on i.e. each station, and these information can be subjected to letter with the external world by the first wireless transmission unit 10
Breath exchange.After unavailable battery is placed on the load bearing unit 13 by the converting unit 14, described control unit 17 is controlled
Rotating electric machine rotates a certain angle, can be directed at converting unit 14 with battery, the converting unit 14 can be taken away with battery.
Refering to Fig. 5-Fig. 6, the present embodiment additionally provides a kind of battery change system, including the battery replacement device 1, total
Control terminal 3 and several working equipments 2；Master control end 3 includes the monitoring unit 31 and the scheduling unit 32, the monitoring
Unit 31 monitors the information of battery in the battery replacement device 1 and the working equipment 2, and the information of the battery is sent
To the scheduling unit 32；The scheduling unit 32 takes different scheduling strategies according to the information of the battery, makes the electricity
The utilization rate of pond more changing device 1 reaches control and requires.
As shown in figure 5, the battery change system further includes wireless routing unit 4, the wireless routing unit 4 is by master control
End 3, battery replacement device 1 and all working equipments 2 processed are connected in same local area network, and the wireless routing unit 4 can be with
It is for 1 or multiple, to cover the moving region of all devices.The working equipment 2 is driven using battery, and quantity is more
Platform, the battery replacement device 1 is responsible for carrying out battery altering to the working equipment 2 to arrive at a station, and can carry out to all batteries
Concentrate charging.Master control end 3 carries out condition monitoring to all devices by wireless network, optimal scheduling scheme is calculated, to electricity
Pond more changing device 1 and working equipment 2 carry out integrated scheduling.
Please continue to refer to Fig. 6, the monitoring unit 31 by wireless network to working equipment 2a all in workshop,
The battery capacity and battery replacement device 1 of 2b ... ..2m is monitored, and the data of monitoring are transferred to scheduling unit 32, described
This m working equipment is divided into that electricity is low and two high classes of electricity by scheduling unit 32 by the height of electricity, when the electricity of working equipment 2
When pond electricity is less than a second threshold, the battery capacity of the working equipment 2 is low, when working equipment 2 battery capacity be greater than etc.
When the second threshold, the battery capacity of the working equipment 2 is high.The scheduling unit divides the battery replacement device 1
For available and not available two class, when battery replacement device 1 is without occupied, when can carry out battery altering, the battery is more
Changing device 1 can be used, and when battery replacement device 1 is occupied, when not can be carried out battery altering, the battery replacement device 1 is unavailable.
The scheduling unit 32, which will also count in the battery replacement device 1, can use number of batteries.The scheduling unit has been concentrated all
Information after, using different scheduling strategies 1,2,3.
Specifically, strategy 1: when the battery capacity of the working equipment 2 is less than second threshold, the battery replacement device 1
When can use, and can be more than or equal to 1 with the quantity of battery in the battery replacement device 1, the scheduling unit 32 is by the work
Make the scheduling of equipment 2 and removes replacement battery；
Strategy 2: when the battery capacity of the working equipment 2 is less than the second threshold, the battery replacement device 1 can not
With or the battery replacement device 1 in can with the quantity of battery less than 1 when, the scheduling unit adjusts the working equipment 2
Degree goes to Accreditation Waiting Area to be lined up, and waits battery to be replaced；
Strategy 3: when the battery capacity of the working equipment 2 is more than or equal to the second threshold, the battery replacement device 1
When can use, and can be more than or equal to 1 with the quantity of battery in the battery replacement device 1, the scheduling unit 32 conflicts
The working equipment 2 scheduling is removed replacement battery when the scheduling unit 32, which predicts, to be clashed by prediction.
Referring to Fig. 7, its flow chart for the dispatching method of the battery change system, merged scheduling strategy 1,2,
3.As shown in fig. 6, the monitoring unit 31 monitors the battery electricity of all working equipments 2 when the master control end 3 starting
Amount, when the battery capacity of the working equipment 2 is low, the monitoring unit 31 monitors the state of battery replacement device 1, works as battery
When more changing device 1 can be used and can be more than or equal to 1 with number of batteries, the scheduling of working equipment 2 is gone to replace by the scheduling unit 32
Battery, when battery replacement device 1 is unavailable or can with number of batteries less than 1 when, the scheduling unit 32 dispatches working equipment 2
Accreditation Waiting Area is gone to be lined up replacement battery；When the battery capacity of the working equipment 2 is high, the scheduling unit 32 conflict pre-
It surveys, if predicting when having more working equipments 2 in some following time and replacing batteries conflict, the monitoring unit 31 monitors electricity
The state of pond more changing device 1, when battery replacement device 1 can be used and can be more than or equal to 1 with number of batteries, the scheduling unit
32 by working equipment 2 scheduling go replacement battery, conversely, if scheduling unit 32 prediction will not clash, make working equipment 2 after
Continuous work.
In the battery change system, the second threshold is less than the first threshold, for example, by the second threshold
It is set as the 30% of the first threshold.The quantity of battery is n in the battery replacement device, and the charging time of the battery is
Tc is Tw using the time, and the quantity n and working equipment m of battery are at following relationship: when Tc is less than or equal to use between when charging
Between Tw when, n >=m；When Tc is greater than using time Tw between when charging, n >=m* (Tc/Tw+1).
Optionally, the step of progress of scheduling unit 32 conflict prediction includes: that the scheduling unit 32 obtains battery electricity
Amount is less than the quantity j, i >=2, j of pilot unit in the quantity i and the battery replacement device of the working equipment of the second threshold
≥1；In the i working equipments, the quantity for the working equipment that the difference for obtaining battery capacity is less than or equal to third threshold value is
K, k >=0；It will be clashed when k is greater than j, will not clash when k is less than or equal to j, be judged whether by above method
It can clash, when k is greater than j, the i-j scheduling of working equipment 2 are removed replacement battery by the scheduling unit 32.Described
Three threshold values are less than the second threshold, and certainly, the second threshold can be adjusted according to the actual situation with the third threshold value
It is whole, for example, in the present embodiment the 1% of the first threshold can be set by the third threshold value.
In the present embodiment, by master control end 3 to the state of all working equipments 2 and the state of battery replacement device 1
It is monitored and dispatches, block so that it will not occur more while needing to change caused by battery, make more 1 He of battery replacement device
The service efficiency of working equipment 2 reaches highest.And battery replacement device 1 concentrates the mode charged the battery, takes up an area face
Smaller, the mode of compared to every working equipment 2 all one charging piles of band of product, in the case where there are many 2 quantity of working equipment, advantage
Obviously.
Embodiment two
Refering to Fig. 8, the difference with embodiment one is, in the present embodiment, 1 charhing unit 12 of battery replacement device is embedding
Enter inside the load bearing unit 13, the converting unit 14 includes third guide rail 141 and manipulator 142, and manipulator 142 is installed
In on third guide rail 141, the manipulator 142 in the present embodiment is gone compared to the manipulator of embodiment one with longer movement
Journey.
The load bearing unit 13 includes that battery carries cabinet, if battery, which carries in cabinet, dry cell rest area, each battery rest area
It is inside provided with the charhing unit, the charhing unit 12 includes a charging panel, and charhing unit 12 can be multilayer, each layer
Multiple charging stations are distributed, are provided with the signaling interface on each charging station, for charging or carrying out letter to battery 16
Number transmission, the load bearing unit 13 carrying station and the charhing unit 12 charging station quantity Matching.The third
Guide rail 141 is laid on the length direction (the high perpendicular direction of layer with charging station) of charging panel.Manipulator 142 can edge
The third guide rail 141 it is mobile, to adapt to the length of charging panel, so that can be to all chargings using a manipulator 142
Station carries out fetching battery.
When the working equipment 2 is to replace battery, the manipulator 142 taken out from the working equipment 2 it is described not
Battery can be used, the right opposite of the load bearing unit 13 is moved to, the unavailable battery is placed on to the vacancy of battery rest area
On station, and by the charhing unit charging in battery rest area, if on load bearing unit 13 described in 142 face of the manipulator
Station is not vacancy, then the manipulator 142 can be moved along third guide rail, finds the station of vacancy, by unavailable battery
Put down, then find can with battery, when the manipulator 142 be aligned it is described can be with battery after, can be removed described with battery, by institute
Available battery is stated to be installed on the working equipment 2.
Embodiment three
Referring to Fig. 9, be with the difference of embodiment one and embodiment two, in the present embodiment, in the Accreditation Waiting Area 5,
It is laid with wireless charging device 51, the working equipment 2, can be single by the second wireless transmission when Accreditation Waiting Area 5 is lined up and charges
Member 22 carries out wireless charging, prevents from causing to shut down because the waiting time is too long, so as to cause obstruction.
To sum up, in battery replacement device provided in an embodiment of the present invention, battery change system and dispatching method, the electricity
Pond more changing device quickly can change available battery to working equipment, continue to work, saved the charging time, improve
Output of a factory, by the monitoring unit of battery change system monitor the battery information in battery replacement device and working equipment into
Row monitoring, and the information of all batteries is sent to scheduling unit, scheduling unit provides different dispatching parties according to these information
Case can make the battery replacement device reach maximum service efficiency, and effectively prevent replacement battery clash or
The case where obstruction.
The above is only a preferred embodiment of the present invention, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical solution of the present invention, to the invention discloses technical solution and
Technology contents make the variation such as any type of equivalent replacement or modification, belong to the content without departing from technical solution of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (19)
1. a kind of battery replacement device, which is characterized in that the battery replacement device includes storage unit, converting unit and at least
One pilot unit；
The storage unit is used for storage battery, and the battery includes available battery and unavailable battery, described with battery
Electricity is greater than or equal to a first threshold, and the electricity of the unavailable battery is less than the first threshold；
After the pilot unit positions a working equipment, the converting unit takes out the unavailable battery in the working equipment,
And it can be put into described in the working equipment with battery.
2. battery replacement device as described in claim 1, which is characterized in that the storage unit includes load bearing unit and charging
Unit, the load bearing unit is for carrying the battery, and the charhing unit is for charging to the unavailable battery.
3. battery replacement device as claimed in claim 2, which is characterized in that the load bearing unit includes battery load plate, described
Charhing unit includes charging pile, there is multiple charging zones on charging pile, and battery load plate is socketed in outside the charging pile, and the storage is single
Member further includes rotating driver, and rotating driver is arranged on battery load plate or charging pile, drives battery load plate and charging pile one
Rotation is played, the converting unit takes out the unavailable battery from the working equipment, the unavailable battery is placed on
It on the battery load plate, and is charged by charging zone, battery load plate and charging pile rotate together, and described turn can be directed at battery
Change unit.
4. battery replacement device as claimed in claim 2, which is characterized in that the load bearing unit includes that battery carries cabinet, battery
If carrying in cabinet has dry cell rest area, it is provided with the charhing unit in each battery rest area, the converting unit is from institute
It states and takes out the unavailable battery in working equipment, the unavailable battery is placed on battery rest area, and put by battery
The charhing unit charging in area is set, the converting unit can use battery by mobile take out out of battery load cabinet.
5. battery replacement device as described in claim 3 or 4, which is characterized in that described to be put with battery or unavailable battery
It sets on the load bearing unit, and is connect with the signaling interface of the charhing unit, to carry out charging or signal transmission.
6. battery replacement device as claimed in claim 5, which is characterized in that the load bearing unit includes multiple placing batteries
Station, the charhing unit include multiple signaling interfaces, station quantity and the charhing unit of the load bearing unit
Signaling interface quantity matches.
7. battery replacement device as described in claim 1, which is characterized in that the battery replacement device has a shell, institute
It states storage unit and the converting unit is set in the shell, opening is provided on the shell, the converting unit is logical
Battery and unavailable battery can be used described in the opening transmitting by crossing.
8. battery replacement device as claimed in claim 7, which is characterized in that the pilot unit includes non-contact type guiding group
Part and contact guidance set, the non-contact type guidance set include identifier and identifier, and identifier and identifier are distinguished
It is arranged on the shell and the working equipment or is reversed, the contact guidance set is arranged in the shell exterior
Side corresponding with the opening is accorded with by identifier identification marking to obtain the relatively described contact guidance set of working equipment
Position, the working equipment is moved to the contact guidance set, is positioned by contact guidance set described to be aligned
Opening.
9. battery replacement device as claimed in claim 8, which is characterized in that the contact guidance set includes at least one
The opening of guide rail, one end of the closer shell in the one end of the guide rail far from the shell is big, the working equipment along
The guide rail is moved to the alignment opening.
10. battery replacement device as claimed in claim 8, which is characterized in that the contact guidance set includes a magnetic stripe
With the magnetic navigation unit being set in the working equipment, by the magnetic navigation unit detect the magnetic field that the magnetic stripe generates with
It is moved to the alignment opening.
11. a kind of battery change system, which is characterized in that including battery altering dress such as of any of claims 1-10
It sets, monitoring unit, scheduling unit and several working equipments；
The monitoring unit monitors the information of battery in the battery replacement device and the working equipment, and by the battery
Information is sent to the scheduling unit；
The scheduling unit takes different scheduling strategies according to the information of the battery, if with to the battery replacement device and
The dry working equipment carries out integrated scheduling.
12. battery change system as claimed in claim 11, which is characterized in that the monitoring unit monitors the battery altering
The quantity of the use state of device, the information about power of battery and available battery.
13. battery change system as claimed in claim 11, which is characterized in that the battery change system further includes no route
By unit, the monitoring unit, scheduling unit, battery replacement device and all working equipment are realized logical by wireless routing unit
Letter connection.
14. a kind of dispatching method of the battery change system as described in any one of claim 11-13, which is characterized in that institute
The dispatching method for stating battery change system includes:
The monitoring unit monitors the information of battery in the battery replacement device and m working equipments, and by the electricity
The information in pond is sent to the scheduling unit；
The scheduling unit takes different scheduling strategies according to the information of the battery；
Strategy one: when the battery capacity of the working equipment is less than second threshold, the battery replacement device is available, and described
When can be more than or equal to 1 with the quantity of battery in battery replacement device, working equipment scheduling is gone to replace by the scheduling unit
Battery；
Strategy two: when the working equipment battery capacity be less than the second threshold, the battery replacement device it is unavailable or
When can use the quantity of battery less than 1 in battery replacement device described in person, the scheduling unit goes working equipment scheduling
It is lined up to area, waits battery to be replaced；
Strategy three: when the battery capacity of the working equipment is more than or equal to the second threshold, the battery replacement device is available,
And when can be more than or equal to 1 with the quantity of battery in the battery replacement device, the scheduling unit carries out conflict prediction, works as institute
It states scheduling unit to predict when will clash, replacement battery is removed into working equipment scheduling.
15. the dispatching method of battery change system as claimed in claim 14, which is characterized in that the second threshold is less than institute
State first threshold.
16. the dispatching method of battery change system as claimed in claim 15, which is characterized in that in the battery replacement device
The quantity of battery is n, and it is Tw using the time that charging time of the battery, which is Tc, when charging between Tc when being less than or equal to use
Between Tw when, n >=m；When Tc is greater than using time Tw between when charging, n >=m* (Tc/Tw+1).
17. the dispatching method of battery change system as claimed in claim 16, which is characterized in that the scheduling unit is rushed
The step of prominent prediction includes:
Obtain pilot unit in the quantity i and the battery replacement device for the working equipment that battery capacity is less than the second threshold
Quantity j, i >=2, j >=1；
In i working equipments, obtain battery capacity difference be less than or equal to a third threshold value working equipment quantity
For k, k >=0；
Judge whether to clash, will be clashed when k is greater than j, will not be clashed when k is less than or equal to j.
18. the dispatching method of battery change system as claimed in claim 17, which is characterized in that the third threshold value is less than institute
State second threshold.
19. the dispatching method of the battery change system as described in claim 17 or 18, which is characterized in that when k is greater than j, institute
It states scheduling unit and replacement battery is removed into the i-j working equipment scheduling.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711244605.5A CN109861313B (en) | 2017-11-30 | 2017-11-30 | Battery replacing device, battery replacing system and scheduling method |
| PCT/CN2018/118051 WO2019105397A1 (en) | 2017-11-30 | 2018-11-29 | Battery-swapping apparatus, battery-swapping system, and scheduling method |
| TW107142824A TWI704096B (en) | 2017-11-30 | 2018-11-29 | Battery replacement device, battery replacement system and scheduling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711244605.5A CN109861313B (en) | 2017-11-30 | 2017-11-30 | Battery replacing device, battery replacing system and scheduling method |
Publications (2)
| Publication Number | Publication Date |
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| CN109861313A true CN109861313A (en) | 2019-06-07 |
| CN109861313B CN109861313B (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711244605.5A Active CN109861313B (en) | 2017-11-30 | 2017-11-30 | Battery replacing device, battery replacing system and scheduling method |
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| Country | Link |
|---|---|
| CN (1) | CN109861313B (en) |
| TW (1) | TWI704096B (en) |
| WO (1) | WO2019105397A1 (en) |
Cited By (2)
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| CN112720515A (en) * | 2020-12-21 | 2021-04-30 | 正从科技(上海)有限公司 | Water supply method and system suitable for artificial intelligent cleaning robot |
| CN113428036A (en) * | 2021-07-19 | 2021-09-24 | 中国煤炭科工集团太原研究院有限公司 | Automatic charging platform of high-capacity power supply device for underground coal mine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799626B (en) * | 2020-06-17 | 2024-06-11 | 阿里巴巴集团控股有限公司 | Robot charging method, device and equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI704096B (en) | 2020-09-11 |
| WO2019105397A1 (en) | 2019-06-06 |
| CN109861313B (en) | 2022-10-18 |
| TW201925069A (en) | 2019-07-01 |
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