CN109861313B - Battery replacing device, battery replacing system and scheduling method - Google Patents
Battery replacing device, battery replacing system and scheduling method Download PDFInfo
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- CN109861313B CN109861313B CN201711244605.5A CN201711244605A CN109861313B CN 109861313 B CN109861313 B CN 109861313B CN 201711244605 A CN201711244605 A CN 201711244605A CN 109861313 B CN109861313 B CN 109861313B
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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
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Abstract
The invention provides a battery replacing device, a battery replacing system and a scheduling method, wherein the battery replacing device can rapidly replace available batteries for working equipment to enable the working equipment to continue working, the charging time is saved, the yield of a factory is improved, the monitoring unit of the battery replacing system monitors the battery information in the battery replacing device and the working equipment and sends the information of all batteries to the scheduling unit, and the scheduling unit provides different scheduling schemes according to the information, so that the battery replacing device can achieve the maximum use efficiency, and the condition that the replaced batteries conflict or are blocked is effectively prevented.
Description
Technical Field
The invention relates to the field of semiconductor manufacturing, in particular to a battery replacing device, a battery replacing system and a scheduling method.
Background
In the semiconductor field, material automation and intelligent management are inevitable trends, and mobile robots for material transportation and handling are widely used at present; this type of mobile robot adopts battery drive usually, when the battery power is not enough, generally adopts the mode of automatic charging or artifical change battery to continue a journey.
For the mode of replacing the battery manually, the labor cost is increased, and the development trend of intelligent equipment in the future is not met. The autonomous charging mode requires several hours for each charging time, reduces the working efficiency of robots, and seriously affects the yield problem most concerned by factories. In order to solve this problem, the number of robots must be increased, which in turn increases the cost. In addition, a plurality of charging piles are arranged in the factory building to charge different robots, so that the space of a factory is occupied, and the factory is very wasted due to the fact that the size of the soil is large.
Disclosure of Invention
The invention aims to provide a battery replacing device, a battery replacing system and a scheduling method, which are used for solving the problems that batteries cannot be replaced quickly in the prior art and the like.
In order to achieve the above object, the present invention provides a battery replacing apparatus, a battery replacing system and a scheduling method, wherein the battery replacing apparatus includes a storage unit, a conversion unit and at least one guiding unit;
the storage unit is used for storing a battery, the battery comprises an available battery and an unavailable battery, the electric quantity of the available battery is greater than or equal to a first threshold value, and the electric quantity of the unavailable battery is smaller than the first threshold value;
after the guide unit positions a piece of working equipment, the conversion unit takes out the unavailable battery in the working equipment and puts the available battery into the working equipment.
Optionally, the storage unit includes a carrying unit and a charging unit, the carrying unit is configured to carry the battery, and the charging unit is configured to charge the unavailable battery.
Optionally, the carrying unit includes a battery carrying tray, the charging unit includes a charging pile, a plurality of charging areas are arranged on the charging pile, the battery carrying tray is sleeved outside the charging pile, the storage unit further includes a rotary driver, the rotary driver is arranged on the battery carrying tray or the charging pile to drive the battery carrying tray and the charging pile to rotate together, the conversion unit takes out the unavailable battery from the working equipment, places the unavailable battery on the battery carrying tray, charges through the charging areas, and rotates the battery carrying tray and the charging pile together to align the available battery with the conversion unit.
Optionally, the carrying unit includes a battery carrying cabinet, a plurality of battery placing areas are arranged in the battery carrying cabinet, the charging unit is arranged in each battery placing area, the conversion unit takes out the unavailable battery from the working equipment, places the unavailable battery in the battery placing area, charges the battery through the charging unit in the battery placing area, and the conversion unit takes out the available battery from the battery carrying cabinet through movement.
Optionally, the available battery or the unavailable battery is placed on the carrying unit and connected to the signal interface of the charging unit to perform charging or signal transmission.
Optionally, the carrying unit includes a plurality of stations for placing the battery, the charging unit includes a plurality of signal interfaces, and the number of the stations of the carrying unit matches with the number of the signal interfaces of the charging unit.
Optionally, the battery replacing device has a housing, the storage unit and the converting unit are disposed in the housing, an opening is disposed on the housing, and the converting unit transmits the usable battery and the unusable battery through the opening.
Optionally, the guiding unit includes a contactless guiding component and a contact guiding component, the contactless guiding component includes an identifier and an identifier, the identifier and the identifier are respectively disposed on the housing and the working device or disposed oppositely, the contact guiding component is disposed on a side of the housing corresponding to the opening, the identifier is identified by the identifier to obtain a position of the working device relative to the contact guiding component, the working device moves to the contact guiding component, and is positioned by the contact guiding component to align with the opening.
Optionally, the contact-type guide assembly includes at least one guide rail, an end of the guide rail away from the housing is larger than an opening at an end closer to the housing, and the work equipment moves along the guide rail to align with the opening.
Optionally, the contact-type guiding assembly includes a magnetic strip and a magnetic navigation unit disposed in the working device, and the magnetic navigation unit detects a magnetic field generated by the magnetic strip to move to be aligned with the opening.
The invention also provides a battery replacing system, which comprises the battery replacing device, a monitoring unit, a scheduling unit and a plurality of working devices;
the monitoring unit monitors the information of the battery in the battery replacing device and the working equipment and sends the information of the battery to the scheduling unit;
and the scheduling unit adopts different scheduling strategies according to the information of the battery so as to perform overall scheduling on the battery replacing device and the plurality of working equipment.
Optionally, the monitoring unit monitors a use state of the battery replacing device, electric quantity information of the battery, and the number of available batteries.
Optionally, the battery replacing system further includes a wireless routing unit, and the monitoring unit, the scheduling unit, the battery replacing apparatus and all the working devices are in communication connection via the wireless routing unit.
The invention also provides a scheduling method of the battery replacing system, which comprises the following steps:
the monitoring unit monitors the information of the batteries in the battery replacing device and the m pieces of working equipment and sends the information of the batteries to the scheduling unit;
the scheduling unit adopts different scheduling strategies according to the information of the battery;
strategy one: when the battery capacity of the working equipment is smaller than a second threshold value, the battery replacing device is available, and the number of available batteries in the battery replacing device is larger than or equal to 1, the scheduling unit schedules the working equipment to replace the batteries;
and (2) strategy two: when the battery capacity of the working equipment is smaller than the second threshold value, the battery replacing device is unavailable or the number of available batteries in the battery replacing device is smaller than 1, the scheduling unit schedules the working equipment to a waiting area to queue for battery replacement;
strategy three: when the battery capacity of the working equipment is larger than or equal to the second threshold value, the battery replacement device is available, and the number of available batteries in the battery replacement device is larger than or equal to 1, the scheduling unit predicts a conflict, and when the scheduling unit predicts that a conflict will occur, the working equipment is scheduled to replace the batteries.
Optionally, the second threshold is smaller than the first threshold.
Optionally, the number of the batteries in the battery replacing device is n, the charging time of the batteries is Tc, the service time is Tw, and when the charging time Tc is less than or equal to the service time Tw, n is greater than or equal to m; when the charging time Tc is greater than the use time Tw, n ≧ m (Tc/Tw + 1).
Optionally, the step of performing collision prediction by the scheduling unit includes:
acquiring the number i of working equipment with the battery electric quantity smaller than the second threshold value and the number j of guide units in the battery replacing device, wherein i is not less than 2, and j is not less than 1;
in the i working devices, the number of the working devices of which the difference value of the electric quantity of the battery is less than or equal to a third threshold is k, and k is more than or equal to 0;
and judging whether a conflict occurs or not, wherein the conflict occurs when k is larger than j, and the conflict does not occur when k is smaller than or equal to j.
Optionally, the third threshold is smaller than the second threshold.
Optionally, when k is greater than j, the scheduling unit schedules the i-j working devices to replace the battery.
In the battery replacing device, the battery replacing system and the scheduling method provided by the invention, the battery replacing device can quickly replace available batteries for the working equipment to enable the working equipment to continue to work, the charging time is saved, the yield of a factory is improved, the monitoring unit of the battery replacing system monitors the battery information in the battery replacing device and the working equipment and sends the information of all the batteries to the scheduling unit, and the scheduling unit provides different scheduling schemes according to the information, so that the battery replacing device can achieve the maximum use efficiency, and the condition of conflict or blockage of the replaced batteries is effectively prevented.
Drawings
Fig. 1-3 are schematic views of a battery replacing device provided in accordance with an embodiment;
fig. 4 is a schematic diagram of a control unit of a battery replacing apparatus according to an embodiment;
FIG. 5 is a schematic diagram of a battery replacement system according to an exemplary embodiment;
fig. 6 is a schematic diagram illustrating a control method of a battery replacement system according to an embodiment;
fig. 7 is a schematic diagram illustrating a scheduling method of a battery replacement system according to an embodiment;
FIG. 8 is a schematic view of a battery replacing apparatus according to a second embodiment;
fig. 9 is a schematic view of a battery replacement system according to a third embodiment;
the system comprises a battery replacing device, a 10-first wireless transmission unit, a 11-shell, a 12-charging unit, a 13-bearing unit, a 14-conversion unit, a 141-third guide rail, a 142-manipulator, a 15-guiding unit, a 151-first guide rail, a 152-second guide rail, a 151 a-limiting part of the first guide rail, a 152 a-limiting part of the second guide rail, a 16-battery, a 17-control unit, a 18-positioning block, a 19-opening, a 2-working device, a 21a, a 21 b-wheel, a 22-second wireless transmission unit, a 3-main control end, a 31-monitoring unit, a 32-dispatching unit, a 4-wireless routing unit, a 5-waiting area and a 51-wireless charging device.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. Advantages and features of the present invention will become apparent from the following description and claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Example one
Referring to fig. 1, which is a schematic diagram of a battery replacing device provided in this embodiment, the battery replacing device 1 includes a storage unit, a converting unit 14, and at least one guiding unit 15; the storage unit is used for storing a battery 16, the battery comprises an available battery and an unavailable battery, the electric quantity of the available battery is greater than or equal to a first threshold value, and the electric quantity of the unavailable battery is smaller than the first threshold value; after the guiding unit 15 positions a working device 2, the converting unit 14 takes out an unavailable battery in the working device and puts the available battery into the working device 2.
Specifically, the storage unit stores batteries 16 (specifically, usable batteries and unusable batteries), 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 all disposed in a housing 11, and the guiding unit 15 is disposed outside the housing 11; the working device 2 moves to be butted with the shell 11 through the guide unit 15, the conversion unit 14 takes out the unavailable battery from the working device and places the unavailable battery on the carrying unit 13, and the charging unit 12 charges the unavailable battery; the conversion unit 14 puts the available battery into the working device from the carrying unit 13. The battery replacing device 1 can rapidly replace available batteries for working equipment to enable the working equipment to continue working, meanwhile, the batteries can be charged in a centralized manner, charging time is saved, and yield of a factory is improved.
As shown in fig. 1-2, in the present embodiment, the charging unit 12 is a rotatable charging post, which includes a charging area having a plurality of signal interfaces for charging the unavailable battery. The bearing unit 13 comprises a battery carrying disc, the battery carrying disc is sleeved outside the charging pile, the charging pile is connected with a rotary driver, the rotary driver is arranged on the battery carrying disc or the charging pile, when the rotary driver drives the charging pile and the battery carrying disc to rotate, the conversion unit 14 takes out the unavailable battery from the working equipment 2, the unavailable battery is placed on the battery carrying disc and is charged through the charging area, the battery carrying disc and the charging pile rotate together, and the available battery is aligned to the conversion unit 14.. The battery carrying disc is provided with a plurality of stations for carrying the battery 16, the number of the stations can be divided according to the size of the battery, and the number of the stations for carrying the battery 16 by the carrying unit 13 is the same as the number of the signal interfaces for charging the battery 16 by the charging unit 12. When the battery 16 is docked with the signal interface of the charging unit 12, the battery 16 is in a charging state and can transmit power information through the signal interface.
The conversion module 14 comprises a manipulator for taking and placing the battery 16, and when replacing the battery, the manipulator unloads the usable battery from the working device 2, and then places the unusable battery on the idle station on the carrying unit 13, the carrying unit 13 and the charging unit 12 rotate together, and aligns the usable battery at the picking station of the manipulator, and then the manipulator picks up the usable battery and installs it into the working device 2. The manipulator is a four-axis manipulator or a manipulator with more degrees of freedom, the stroke range of the manipulator covers the charging unit 12 and the working equipment 2, the load capacity meets the weight requirement of the battery, and the end effector of the manipulator is matched with the shape of the battery, so that the battery is convenient to take and place.
Preferably, an opening 19 may be provided on the side of the housing 11 where the guide unit 15 is provided to allow the battery 16 to enter and exit, the position of the opening 19 coincides with the position of the battery mounting port of the working device 2 to facilitate the mounting and dismounting of the battery by the converting unit 13, and the size of the opening 19 may be matched with the size of the battery 16.
The bearing unit 13, the charging unit 12 and the converting unit 14 are all arranged in the shell 11, and the guiding unit 15 is arranged on one side of the shell 11 and provides guiding and positioning functions for the working equipment 2. The guiding unit 15 comprises a contactless guiding assembly and a contact guiding assembly, the contactless guiding assembly comprises an identifier and an identifier, the identifier and the identifier are respectively arranged on the housing 11 and the working device 2 or are arranged oppositely, and specifically, 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, which may be a two-dimensional code, a cross, a triangle, a circle, or other patterns that can be recognized by a visual sensor, and when the working device 2 approaches the battery changer 1, the working device 2 can obtain the position of the working device 2 relative to the contact-type guide assembly by recognizing the identifier on the positioning plate 18.
The contact type guide assembly is disposed at a side of the outer case 11 corresponding to the opening 16, and the work equipment 2 moves to the contact type guide assembly and is positioned by the contact type guide assembly to be aligned with the opening 16. The working device 2 is typically a robot that can move, transport and handle materials, which is moved by wheels. The contact-type guide assembly comprises at least one guide rail for interfacing with a wheel of the work machine 2. Specifically, as shown in fig. 2, the working device 2 has two rows of symmetrical wheels (for example, wheels 21a and wheels 21 b), the guide unit 15 is provided with a first guide rail 151 and a second guide rail 152, an opening of one end of the first guide rail 151 and the second guide rail 152, which is far away from the outer shell 11, is large and horn-shaped, so that the wheels 21a and the wheels 21b can enter the guide unit, and the ends of the first guide rail 151 and the second guide rail 152, which are close to the outer shell 11, are both provided with limiting members (the limiting member 151a of the first guide rail 151 and the limiting member 152a of the second guide rail 152). After the working equipment 2 is preliminarily positioned by the positioning plate 18, the wheels 21a and the wheels 21b are respectively butted with the first guide rail 151 and the second guide rail 152, and then the wheels 21a and the wheels 21b can be corrected along the directions of the first guide rail 151 and the second guide rail 152 until the limiting parts are touched, so that the working equipment 2 stops moving, and at the moment, a better butt joint state is achieved through mechanical positioning of the wheels and the guide rails, and the batteries are convenient to replace.
Of course, when the magnetic navigation unit is installed in the working device 2, the contact-type guiding assembly may include a magnetic stripe and the magnetic navigation unit installed on the working device, and the magnetic stripe navigation has higher precision, so that the docking requirement can be completely met. The magnetic strip is laid on a set path, and the magnetic navigation unit moves to be aligned with the opening 16 by detecting the magnetic field of the magnetic strip. The working device 2 is provided with a second wireless transmission unit 22, and the electric quantity information can be transmitted through the second wireless transmission unit 22.
The number of guide units 15 in the battery exchange device 1 may be multiple, as shown in fig. 3, the battery exchange device 1 takes the form of a double guide unit, i.e. two guide units 15 are provided at one side of the housing 11, and the number of openings 19 may also match the number of guide units 15. By adopting the mode, the time for positioning the working equipment 2 can be saved, when the working equipment 2 is used for replacing the battery, the other working equipment 2 can be used for positioning, when one working equipment 2 finishes replacing the battery, the conversion unit 13 can immediately perform the battery replacing work of the other working equipment 2, the time spent for positioning the working equipment 2 is not required to be waited, and the effective utilization rate of the battery replacing device 1 is further improved.
Of course, a plurality of converting units 13 may be provided, and the number of converting units 13 may be the same as the number of guiding units 15, so as to ensure that the guiding units 15 can operate simultaneously. The distance between the two guide units 15 meets the space requirement of the two working devices 2, i.e. the two working devices 2 do not interfere spatially.
Referring to fig. 4, the battery replacing apparatus 1 further includes a control unit 17, and the control unit 17 controls the movement of the battery replacing apparatus 1. Specifically, when the battery is replaced, the control unit 17 controls the conversion unit 14 to detach the unavailable battery of the working device 2, place the unavailable battery on the carrying unit 13 for charging, and the control unit 17 converts the 220V voltage of the factory building into a corresponding charging voltage according to the voltage and power requirements of the battery, and ensures the voltage stability of each signal interface of the charging unit. The control unit 17 can obtain the power information of all the batteries in the battery exchange device 1 through the signal interface of the charging unit 12 and correspond to each battery station, that is, the power information of the batteries at each station, and can exchange the information with the outside through the first wireless transmission unit 10. When the conversion unit 14 places the unusable battery on the carrying unit 13, the control unit 17 controls the rotating motor to rotate by a certain angle to align the usable battery with the conversion unit 14, and the conversion unit 14 removes the usable battery.
Referring to fig. 5 to fig. 6, the present embodiment further provides a battery replacing system, which includes the battery replacing apparatus 1, a main control end 3, and a plurality of working devices 2; the master control end 3 comprises the monitoring unit 31 and the scheduling unit 32, the monitoring unit 31 monitors the information of the batteries in the battery replacing device 1 and the working equipment 2, and sends the information of the batteries to the scheduling unit 32; the scheduling unit 32 adopts different scheduling strategies according to the information of the battery, so that the utilization rate of the battery replacing device 1 meets the control requirement.
As shown in fig. 5, the battery replacing system further includes a wireless routing unit 4, where the wireless routing unit 4 connects the total control terminal 3, the battery replacing apparatus 1, and all the working devices 2 in the same local area network, and there may be 1 or more wireless routing units 4 to cover the movement areas of all the devices. The working equipment 2 is driven by batteries, the number of the working equipment is multiple, and the battery replacing device 1 is responsible for replacing the batteries of the working equipment 2 arriving at the station and can be used for charging all the batteries in a centralized manner. And the master control end 3 monitors the states of all the equipment through a wireless network, calculates an optimal scheduling scheme and performs overall scheduling on the battery replacing device 1 and the working equipment 2.
Referring to fig. 6, the monitoring unit 31 monitors the battery power of all the operating devices 2a and 2b \8230and2 m in the plant and the battery replacement device 1 through the wireless network, and transmits the monitored data to the scheduling unit 32, the scheduling unit 32 divides the m operating devices into two types of low battery power and high battery power according to the power level, when the battery power of the operating device 2 is less than a second threshold, the battery power of the operating device 2 is low, and when the battery power of the operating device 2 is greater than or equal to the second threshold, the battery power of the operating device 2 is high. The scheduling unit divides the battery exchange device 1 into two types, usable and unusable, and the battery exchange device 1 is usable when the battery exchange device 1 is not occupied and battery exchange is possible, and the battery exchange device 1 is unusable when the battery exchange device 1 is occupied and battery exchange is not possible. The scheduling unit 32 also counts the number of available batteries in the battery replacing apparatus 1. After the scheduling unit collects all the information, different scheduling strategies 1, 2 and 3 are adopted.
Specifically, strategy 1: when the battery capacity of the working device 2 is less than a second threshold, the battery exchange device 1 is available, and the number of available batteries in the battery exchange device 1 is greater than or equal to 1, the scheduling unit 32 schedules the working device 2 to exchange batteries;
strategy 2: when the battery capacity of the working equipment 2 is smaller than the second threshold, the battery replacing device 1 is unavailable or the number of available batteries in the battery replacing device 1 is smaller than 1, the scheduling unit schedules the working equipment 2 to a waiting area to queue for battery replacement;
strategy 3: when the battery level of the working device 2 is equal to or greater than the second threshold, the battery exchange apparatus 1 is available, and the number of available batteries in the battery exchange apparatus 1 is equal to or greater than 1, the scheduling unit 32 performs conflict prediction, and when the scheduling unit 32 predicts that a conflict will occur, the working device 2 is scheduled to be replaced with a battery.
Please refer to fig. 7, which is a flowchart of a scheduling method of the battery replacement system, which integrates scheduling policies 1, 2, and 3. As shown in fig. 6, when the general control terminal 3 is started, the monitoring unit 31 monitors the battery power of all the working devices 2, when the battery power of the working devices 2 is low, the monitoring unit 31 monitors the state of the battery replacing apparatus 1, when the battery replacing apparatus 1 is available and the number of available batteries is greater than or equal to 1, the scheduling unit 32 schedules the working devices 2 to replace the batteries, and when the battery replacing apparatus 1 is unavailable or the number of available batteries is less than 1, the scheduling unit 32 schedules the working devices 2 to the waiting area to queue up for battery replacement; when the battery power of the working device 2 is high, the scheduling unit 32 performs conflict prediction, and if it is predicted that a plurality of working devices 2 have a conflict in replacing batteries at a future time, the monitoring unit 31 monitors the state of the battery replacing apparatus 1, and when the battery replacing apparatus 1 is available and the number of available batteries is equal to or greater than 1, the scheduling unit 32 schedules the working devices 2 to replace the batteries, otherwise, if the scheduling unit 32 predicts that no conflict will occur, the working devices 2 continue to operate.
In the battery replacement system, the second threshold is smaller than the first threshold, for example, the second threshold is set to 30% of the first threshold. The number of batteries in the battery replacing device is n, the charging time of the batteries is Tc, the service time is Tw, and the number of the batteries n and the working equipment m are in the following relationship: when the charging time Tc is less than or equal to the using time Tw, n is more than or equal to m; when the charging time Tc is greater than the usage time Tw, n is greater than or equal to m (Tc/Tw + 1).
Optionally, the step of the scheduling unit 32 performing collision prediction includes: the scheduling unit 32 obtains the number i of the working devices with the battery electric quantity smaller than the second threshold value and the number j of the guide units in the battery replacing device, wherein i is more than or equal to 2, and j is more than or equal to 1; in the i working devices, the number of the working devices which acquire the difference value of the battery electric quantity and are less than or equal to a third threshold is k, and k is more than or equal to 0; when k is larger than j, a conflict will occur, when k is smaller than or equal to j, the conflict will not occur, whether the conflict will occur or not is judged through the method, and when k is larger than j, the scheduling unit 32 schedules the i-j working devices 2 to replace batteries. The third threshold is smaller than the second threshold, and of course, the second threshold and the third threshold may be adjusted according to actual situations, for example, in this embodiment, the third threshold may be set to be 1% of the first threshold.
In this embodiment, the master control terminal 3 monitors and schedules the states of all the working devices 2 and the states of the battery replacing apparatuses 1, so that multiple batteries need to be replaced simultaneously, which causes blockage, and the service efficiency of the battery replacing apparatuses 1 and the working devices 2 is maximized. And battery replacement device 1 concentrates the mode of charging to the battery, and area is less, compares every work equipment 2 and all takes the mode of a stake of charging, and under the condition that work equipment 2 is a lot of, the advantage is obvious.
Example two
Referring to fig. 8, the difference from the first embodiment is that in the present embodiment, the charging unit 12 of the battery changer 1 is embedded in the carrying unit 13, the converting unit 14 includes a third rail 141 and a manipulator 142, the manipulator 142 is mounted on the third rail 141, and the manipulator 142 in the present embodiment has a longer moving stroke than the manipulator in the first embodiment.
The bearing unit 13 comprises a battery loading cabinet, a plurality of battery placing areas are arranged in the battery loading cabinet, each battery placing area is internally provided with a charging unit, each charging unit 12 comprises a charging panel, each charging unit 12 can be a multilayer, each layer is provided with a plurality of charging stations, each charging station is provided with a signal interface, the signal interfaces are used for charging the batteries 16 or transmitting signals, and the bearing stations of the bearing unit 13 are matched with the charging stations of the charging units 12 in number. The third rail 141 is laid in the longitudinal direction of the charging plate (the direction perpendicular to the floor height of the charging station). The robot 142 can move along the third rail 141 to adapt to the length of the charging plate, so that the battery can be taken and placed at all charging stations by using one robot 142.
When the working equipment 2 is used for replacing the battery, the mechanical arm 142 takes out the unavailable battery from the working equipment 2, moves to the opposite side of the bearing unit 13, places the unavailable battery on a vacant station of the battery placing area, charges the battery through a charging unit in the battery placing area, if the mechanical arm 142 is just opposite to the station on the bearing unit 13, the mechanical arm 142 can move along a third guide rail, finds the vacant station, puts down the unavailable battery, searches for the available battery, and takes down the available battery after the mechanical arm 142 aligns the available battery, and installs the available battery on the working equipment 2.
EXAMPLE III
Referring to fig. 9, the difference from the first embodiment and the second embodiment is that in this embodiment, a wireless charging device 51 is disposed in the waiting area 5, and when the working device 2 is queued for charging in the waiting area 5, the second wireless transmission unit 22 can perform wireless charging, so as to prevent shutdown due to too long waiting time, thereby preventing congestion.
In summary, in the battery replacing apparatus, the battery replacing system and the scheduling method provided in the embodiments of the present invention, the battery replacing apparatus can quickly replace an available battery for a working device to continue working, so that the charging time is saved, the yield of a factory is improved, the monitoring unit of the battery replacing system monitors the battery information in the battery replacing apparatus and the working device, and sends the information of all the batteries to the scheduling unit, and the scheduling unit provides different scheduling schemes according to the information, so that the battery replacing apparatus can achieve the maximum use efficiency, and the conflict or blockage situation of the replaced battery can be effectively prevented.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. Any person skilled in the art can make any equivalent substitutions or modifications on the technical solutions and technical contents disclosed in the present invention without departing from the scope of the technical solutions of the present invention, and still fall within the protection scope of the present invention without departing from the technical solutions of the present invention.
Claims (17)
1. The scheduling method of the battery replacing system is characterized in that the battery replacing system comprises a battery replacing device, a monitoring unit, a scheduling unit and a plurality of working devices; the monitoring unit monitors the information of the battery in the battery replacing device and the working equipment and sends the information of the battery to the scheduling unit; the scheduling unit adopts different scheduling strategies according to the information of the battery so as to perform overall scheduling on the battery replacing device and the plurality of working equipment;
the battery replacing device comprises a storage unit, a conversion unit and at least one guide unit; the storage unit is used for storing a battery, the battery comprises an available battery and an unavailable battery, the electric quantity of the available battery is greater than or equal to a first threshold value, and the electric quantity of the unavailable battery is smaller than the first threshold value; after the guide unit positions a piece of working equipment, the conversion unit takes out an unavailable battery in the working equipment and puts the available battery into the working equipment;
the scheduling method of the battery replacement system comprises the following steps:
the monitoring unit monitors the information of the batteries in the battery replacing device and the m pieces of working equipment and sends the information of the batteries to the scheduling unit;
the scheduling unit adopts different scheduling strategies according to the information of the battery;
the first strategy is as follows: when the battery capacity of the working equipment is smaller than a second threshold value, the battery replacing device is available, and the number of available batteries in the battery replacing device is larger than or equal to 1, the scheduling unit schedules the working equipment to replace the batteries;
and (2) strategy two: when the battery capacity of the working equipment is smaller than the second threshold value, the battery replacing device is unavailable or the number of available batteries in the battery replacing device is smaller than 1, the scheduling unit schedules the working equipment to a waiting area to queue for battery replacement;
strategy three: when the battery capacity of the working equipment is larger than or equal to the second threshold value, the battery replacement device is available, and the number of available batteries in the battery replacement device is larger than or equal to 1, the scheduling unit predicts a conflict, and when the scheduling unit predicts that a conflict will occur, the working equipment is scheduled to replace the batteries.
2. The scheduling method of a battery replacement system according to claim 1, wherein the second threshold is less than the first threshold.
3. The scheduling method of the battery replacing system according to claim 2, wherein the number of the batteries in the battery replacing device is n, the charging time of the batteries is Tc, the using time is Tw, and when the charging time Tc is less than or equal to the using time Tw, n is greater than or equal to m; when the charging time Tc is greater than the usage time Tw, n is greater than or equal to m (Tc/Tw + 1).
4. The scheduling method of a battery replacement system according to claim 3, wherein the step of the scheduling unit performing the collision prediction includes:
acquiring the number i of working equipment with the battery electric quantity smaller than the second threshold and the number j of guide units in the battery replacing device, wherein i is not less than 2, and j is not less than 1;
in the i working devices, the number of the working devices which acquire the difference value of the battery electric quantity and are less than or equal to a third threshold is k, and k is more than or equal to 0;
and judging whether conflict occurs or not, wherein the conflict occurs when k is larger than j, and the conflict does not occur when k is smaller than or equal to j.
5. The scheduling method of a battery replacement system according to claim 4, wherein the third threshold is less than the second threshold.
6. The scheduling method of a battery replacing system according to claim 4 or 5, wherein the scheduling unit schedules i-j of the working devices to replace the battery when k is greater than j.
7. The scheduling method of the battery replacing system according to claim 1, wherein the storage unit comprises a carrying unit and a charging unit, the carrying unit is used for carrying the battery, and the charging unit is used for charging the unavailable battery.
8. The scheduling method of battery exchanging system according to claim 7, wherein the carrier unit includes a battery tray, the charging unit includes a charging post having a plurality of charging areas, the battery tray is sleeved outside the charging post, the storage unit further includes a rotary driver disposed on the battery tray or the charging post for driving the battery tray and the charging post to rotate together, the converting unit takes out the unusable battery from the working device, places the unusable battery on the battery tray, charges the battery through the charging areas, and rotates the battery tray and the charging post together for aligning the usable battery with the converting unit.
9. The scheduling method of the battery replacing system according to claim 7, wherein the carrying unit includes a battery carrying cabinet, a plurality of battery placing areas are provided in the battery carrying cabinet, each battery placing area is provided with the charging unit, the converting unit takes out the unusable battery from the working device, places the unusable battery in the battery placing area, and charges the unusable battery through the charging unit in the battery placing area, and the converting unit takes out the usable battery from the battery carrying cabinet through movement.
10. The scheduling method of battery exchange system according to claim 8 or 9, wherein the available battery or unavailable battery is placed on the carrying unit and connected with the signal interface of the charging unit for charging or signal transmission.
11. The scheduling method of battery replacing system according to claim 10, wherein the carrying unit comprises a plurality of stations for placing batteries, the charging unit comprises a plurality of signal interfaces, and the number of the stations of the carrying unit matches with the number of the signal interfaces of the charging unit.
12. The method of scheduling in a battery exchange system according to claim 1, wherein the battery exchange apparatus has a housing, the storage unit and the conversion unit are disposed in the housing, and the housing is provided with an opening through which the conversion unit transfers the usable battery and the unusable battery.
13. The scheduling method of a battery exchange system according to claim 12, wherein the guide unit includes a contactless guide module and a contact guide module, the contactless guide module includes an identifier and an identifier, the identifier and the identifier are respectively provided on the housing and the working device or are oppositely provided, the contact guide module is provided at a side of the exterior of the housing corresponding to the opening, the identifier is recognized by the identifier to obtain a position of the working device relative to the contact guide module, the working device is moved to the contact guide module, and the contact guide module is positioned to align the opening.
14. The method of scheduling of a battery exchange system of claim 13, wherein the contact-type guide assembly includes at least one guide rail, an end of the guide rail distal from the housing is larger than an opening at an end proximal to the housing, and the work implement is moved along the guide rail to align with the opening.
15. The method of claim 13, wherein the contact-type guiding assembly comprises 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 be aligned with the opening.
16. The scheduling method of a battery exchange system according to claim 1, wherein the monitoring unit monitors a use state of the battery exchange device, charge information of a battery, and the number of available batteries.
17. The scheduling method of a battery exchange system according to claim 1, wherein the battery exchange system further comprises a wireless routing unit, and the monitoring unit, the scheduling unit, the battery exchange device and all the working devices are in communication connection via the wireless routing unit.
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| 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 |
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| CN201711244605.5A CN109861313B (en) | 2017-11-30 | 2017-11-30 | Battery replacing device, battery replacing system and scheduling method |
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| 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 |
| 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 |
| CN113428036B (en) * | 2021-07-19 | 2023-03-14 | 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 |
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| CN102152731A (en) * | 2011-04-22 | 2011-08-17 | 中国民航大学 | Automatic energy continuation device for vehicle driven by storage battery and control method |
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| WO2019105397A1 (en) | 2019-06-06 |
| TWI704096B (en) | 2020-09-11 |
| TW201925069A (en) | 2019-07-01 |
| CN109861313A (en) | 2019-06-07 |
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