Autonomous robot for replacing battery cells for detection modules

Abstract

The present application relates to an autonomous robot for replacing battery cells for a detection module for monitoring a fastening failure of a fastening device, the autonomous robot being provided with a storage warehouse for storing the battery cells, the invention relates to a method for transferring a storage warehouse to a detection module and replacing a battery cell in the detection module with a battery cell in the storage warehouse, the storage warehouse being designed such that a battery cell located within the storage warehouse can be moved into a chamber of the detection module for receiving the battery cell, and to receive the battery cells that would otherwise be received in the chamber that were removed from the chamber, thereby enabling battery cell replacement.

Description

Technical Field

[0001] The present application generally relates to the field of detecting failure states of fastening devices, and more specifically, to an autonomous robot for replacing a battery cell for a detection module, a detection module for monitoring fastening failure of a fastening device, a fastening system, a system for multiple fastening devices, and a method for replacing a battery cell for a detection module. Background Art

[0002] Fastening devices, especially threaded fastening devices, are widely used in road infrastructure. The failure of fastening devices in road infrastructure, such as tunnels and bridges, may cause particularly serious personal and property losses. Therefore, it is of great significance to monitor the failure state of fastening devices used in road infrastructure, especially the failure state. At the same time, the fastening devices used in road infrastructure have the characteristics of wide distribution range, large number, long service time, and difficulty in frequent manual inspection and replacement.

[0003] Some so-called intelligent fastening devices known in the prior art, such as intelligent bolts, can continuously detect the tension at the mounting base of the fastening device, thereby monitoring the failure state of these fastening devices. However, since a large number of fastening devices need to use a wired network or a wireless network or a visual method to transmit information about their failure state to a central monitoring station or a remote monitoring station, this will cause a huge consumption of energy.

[0004] In addition, since the monitoring, analysis and broadcasting of the failure status of smart bolts all require energy consumption, some solutions known in the prior art are to directly connect the so-called smart fastening devices to the power distribution system so as to continuously power these fastening devices. However, this requires huge infrastructure construction costs.

[0005] In some cases, the failure state of the threaded fastener can also be monitored by regular manual inspection. For example, workers can manually tap the fastener at set time intervals to detect its failure state. However, such manual inspection not only requires a lot of labor, but also has low efficiency and accuracy and cannot be performed continuously for a long time, so there are many loopholes. In addition, such manual inspection usually requires the closure of road infrastructure, such as tunnels, for a long time. Summary of the invention

[0006] The task of the present application is to provide an autonomous robot for replacing a battery cell for a detection module, a detection module for monitoring the fastening failure of a fastening device, a fastening system, a system for multiple fastening devices and a method for replacing a battery cell for a detection module, which can overcome at least one defect in the prior art.

[0007] The task is solved by an autonomous robot for replacing a battery cell for a detection module, a detection module for monitoring fastening failure of a fastening device, a fastening system, a system for multiple fastening devices and a method for replacing a battery cell for a detection module according to the present application.

[0008] A first aspect of the present application relates to an autonomous robot for replacing battery cells for a detection module, wherein the detection module is used to monitor the fastening failure of a fastening device, and the autonomous robot is equipped with a storage warehouse for storing battery cells, so as to transport the storage warehouse to the detection module and replace the battery cells in the detection module with the battery cells in the storage warehouse, wherein the storage warehouse is constructed so that the battery cells in the storage warehouse can be moved into a chamber of the detection module for receiving battery cells, and the battery cells originally received in the chamber can be received after being moved out of the chamber, thereby realizing the battery cell replacement.

[0009] In the scope of this application, an autonomous robot can be a robot that has its own necessary sensors and controllers, and can independently complete certain tasks without external human information input and control during operation. Transportation infrastructure refers to fixed engineering facilities on land that provide transportation services for residents' travel and social product transportation, including roads, railways, bridges, tunnels, as well as urban rails, urban roads and supporting facilities, such as related buildings, etc. There is a traffic flow of vehicles in the transportation infrastructure. In other words, vehicles can move on the transportation infrastructure and form a traffic flow. In this application, a fastening device is used in the transportation infrastructure, so as to, for example, fasten the load to the mounting surface. The fastening device of this application can be understood as any fastener used to fasten the load to the mounting surface, for example, including but not limited to: nails, pins, columns, bolts, especially screws, screw pins, studs, bolts, especially expansion bolts or chemical bolts, and nuts assembled together when necessary. The assembly parts of this application can be understood as various types of structural parts, such as loads, structural parts, or mounting brackets. Exemplarily, in the case where the traffic infrastructure is a tunnel, the fastening device can be used, for example, to install various accessories such as cables, pipes, lighting equipment, monitoring equipment, fire fighting equipment, communication equipment, etc. in the tunnel.

[0010] The autonomous robot for replacing the battery cell for the detection module according to the present application can have the following technical advantages: the autonomous robot is equipped with a storage warehouse for storing battery cells, which can realize the transportation of the storage warehouse to the detection module, and automatically replace the battery cells in the detection module with the battery cells in the storage warehouse. In addition, the autonomous robot can also recover the battery cells originally received in the chamber that were removed from the chamber. This can not only maintain the kinematic balance of the autonomous robot (because the load of the autonomous robot hardly changes), but also be environmentally friendly and cost-effective (the recovered battery cells can be reused). Such an autonomous robot can replace the battery cell for the detection module without basically stopping for maintenance. Such an autonomous robot can be used repeatedly, so the manufacturing or use cost can be reduced.

[0011] In some embodiments, the storage warehouse may be provided with a pushing mechanism for pushing the battery cells in the storage warehouse into the chamber of the detection module, and for pushing the battery cells originally received in the chamber out of the chamber.

[0012] In some embodiments, the pushing mechanism may be configured to push the battery cells in the storage warehouse so that the battery cells in the storage warehouse contact and push the battery cells originally received in the chamber.

[0013] In some embodiments, the storage warehouse may include a warehouse entrance, a warehouse exit, and a warehouse passage connecting the warehouse entrance and the warehouse exit, and the battery units removed from the chambers can be moved into the warehouse passage through the warehouse entrance and can be transported along the warehouse passage toward the warehouse exit.

[0014] In some embodiments, the storage warehouse can be configured to cooperate with the chamber so that the warehouse outlet of the warehouse channel is aligned with the channel entrance of the chamber's guide channel for guiding the power supply unit to be pushed through the chamber and the warehouse outlet of the warehouse channel is aligned with the channel entrance of the guide channel, so that the warehouse channel is connected with the guide channel and forms a complete circulation channel for the battery cell.

[0015] In some embodiments, the storage warehouse may be configured as a U-shaped structure, with two legs of the U-shaped structure forming a clamping portion for clamping the chamber.

[0016] In some embodiments, the warehouse entrance and the warehouse exit may be disposed on opposite sides of two legs of the U-shaped structure such that the warehouse entrance and the warehouse exit are aligned in a horizontal direction.

[0017] In some embodiments, the two legs may be made of an elastic material and spaced apart in a horizontal direction by a distance smaller than a length of the chamber in the horizontal direction, so that the two legs can clamp the chamber.

[0018] In some embodiments, the pushing mechanism may be disposed on the first leg of the U-shaped structure with the warehouse outlet, so that the pushing mechanism can push the battery unit out of the warehouse outlet along a horizontal direction.

[0019] In some embodiments, a first one-way stop may be provided on the first leg, which allows the battery unit to move in the warehouse channel in a direction toward the free end of the first leg and prevents the battery unit from moving in the warehouse channel in a direction away from the free end of the first leg.

[0020] In some embodiments, the first one-way stopper may be disposed on the first leg such that only one battery cell can be located between the first one-way stopper and the free end of the first leg.

[0021] In some embodiments, the storage warehouse may be provided with a sliding mechanism on the second leg of the U-shaped structure having the warehouse entrance, so that the sliding mechanism can vertically slide the battery unit removed from the chamber.

[0022] In some embodiments, a second one-way stop may be provided on the second leg, which allows the battery unit to move in the warehouse channel in a direction away from the free end of the second leg and prevents the battery unit from moving in the warehouse channel in a direction toward the free end of the second leg.

[0023] In some embodiments, the second one-way stopper may be disposed on the second leg such that only one battery cell can be located between the second one-way stopper and the free end of the second leg.

[0024] In some embodiments, an alignment component may be provided on the storage warehouse to cooperate with an alignment component provided on the chamber, so as to align the storage warehouse with the chamber.

[0025] In some embodiments, the alignment component of the storage warehouse may be configured as a truncated cone-shaped structure that tapers in a direction of the storage warehouse away from the chamber.

[0026] In some embodiments, the autonomous robot may be equipped with:

[0027] a motion unit for making the autonomous robot move;

[0028] A communication unit for sending and receiving signals;

[0029] A control unit connected to the communication unit and the motion unit by signal, and used to control the communication unit and the motion unit;

[0030] The control unit is configured to control the motion unit to move the autonomous robot to the detection module, and to control the communication unit to obtain a signal indicating a failure state of the fastening device from the communication unit of the detection module.

[0031] In some embodiments, the autonomous robot may be equipped with:

[0032] A signal acquisition unit, used to acquire an indication signal output by a signal output unit of the detection module, which is used to indicate a failure state of a corresponding fastening device; and / or

[0033] A power transmission module, wherein the power transmission module is configured to transmit power to the power receiving module of the detection module; and / or

[0034] A navigation unit, used to navigate the autonomous robot to a corresponding detection module; and / or

[0035] A counting unit for recording the number of fully charged battery cells in the storage warehouse.

[0036] In some embodiments, the autonomous robot may be constructed as a drone or a wall-climbing robot; or the autonomous robot may be constructed as an unmanned vehicle with a lifting device, and the lifting device is used to transport the storage warehouse to the corresponding detection module.

[0037] A second aspect of the present application relates to a detection module for monitoring fastening failure of a fastening device, the detection module comprising a battery cell for powering the detection module and comprising a chamber for receiving the battery cell, wherein the chamber is constructed so that an additional battery cell outside the chamber can be moved into the chamber and a battery cell originally received in the chamber can be moved out of the chamber, thereby achieving battery cell replacement.

[0038] In some embodiments, the battery cell replacement may be achieved using an autonomous robot for replacing battery cells for a detection module according to the present application.

[0039] In some embodiments, the chamber may include a guide channel for guiding the battery cells to be pushed through the chamber, the guide channel including a channel inlet and a channel outlet.

[0040] In some embodiments, the guide channel may be configured to extend linearly such that the channel inlet and the channel outlet are disposed on opposite sides of the chamber.

[0041] In some embodiments, the channel entrance may be provided with a first one-way door, which is used to close the channel entrance and allow the battery unit to be moved from outside the chamber into the guide channel; and / or the channel exit may be provided with a second one-way door, which is used to close the channel exit and allow the battery unit to be moved from the guide channel to outside the chamber.

[0042] In some embodiments, the first one-way door may be configured as a spring door; and / or the second one-way door may be configured as a spring door.

[0043] In some embodiments, the friction coefficient of a local section of the guide channel that is relatively close to the channel entrance may be greater than the friction coefficient of a local section of the guide channel that is relatively close to the channel exit.

[0044] In some embodiments, the friction coefficient of the guide channel may gradually decrease from the channel inlet to the channel outlet.

[0045] In some embodiments, a conveying device may be provided at the channel outlet of the guide channel to facilitate conveying the battery cells originally received in the chamber out of the guide channel.

[0046] In some embodiments, the conveying device may include conveying rollers or conveying belts.

[0047] In some embodiments, an alignment feature may be provided on the chamber to cooperate with an alignment feature on a storage warehouse accommodating the additional battery cells, so as to align the chamber with the storage warehouse.

[0048] In some embodiments, the alignment feature on the chamber may be configured as a truncated cone-shaped structure that tapers along the direction of the chamber toward the storage warehouse.

[0049] In some embodiments, the chamber may be configured such that the guide channel extends in a horizontal direction.

[0050] In some embodiments, the detection module may include:

[0051] a detection unit for generating a signal indicating a failure state of the fastening device;

[0052] A communication unit connected to the detection unit signal, used for sending and receiving signals;

[0053] A control unit connected to the communication unit and the detection unit by signal, and used to control the communication unit and the detection unit;

[0054] The control unit is configured to control the communication unit to obtain and send the signal indicating the failure state of the fastening device from the detection unit according to the signal received by the communication unit.

[0055] In some embodiments, the detection module may be equipped with:

[0056] a signal output unit, configured to output an indication signal for indicating a failure state of a corresponding fastening device; and / or

[0057] a wake-up unit, configured to obtain a wake-up signal and activate the detection module according to the wake-up signal; and / or

[0058] A beacon unit, used to provide a navigation signal marker to the detection module; and / or

[0059] Visual identification mark, so that the visual identification module can identify the detection module; and / or

[0060] The power receiving module is used to obtain power for powering the detection module and / or for charging the battery unit.

[0061] In some embodiments, the detection module may be disposed on a free end of the fastening device.

[0062] A third aspect of the present application relates to a fastening system, which includes a fastening device and a detection module according to the present application for monitoring fastening failure of the fastening device.

[0063] A fourth aspect of the present application relates to a system for multiple fastening devices, the system comprising:

[0064] A plurality of detection modules for monitoring fastening failure of fastening devices according to the present application, each detection module being respectively assigned to one or more fastening devices; and

[0065] An autonomous robot for replacing a battery unit for a detection module according to the present application.

[0066] In some embodiments, the system may include a central station configured to:

[0067] - communicating with the autonomous robot, including: receiving data transmitted by the autonomous robot; and / or

[0068] - communicating with a cloud server, including: transmitting data transmitted by the autonomous robot to the cloud server; and / or

[0069] - charging the battery unit;

[0070] - providing a storage depot with multiple fully charged battery cells for autonomous robots; and / or

[0071] - Transporting autonomous robots to transportation infrastructure.

[0072] The fifth aspect of the present application relates to a method for replacing a battery cell for a detection module, wherein the detection module includes a battery cell for powering the detection module and includes a chamber for receiving the battery cell, and is characterized in that the method is used to move another battery cell outside the chamber into the chamber and to move a battery cell originally received in the chamber out of the chamber, thereby achieving battery cell replacement, wherein the method is implemented using an autonomous robot for replacing battery cells for a detection module according to the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 An exemplary use scenario of the detection module for monitoring fastening failure of a fastening device according to the present application is shown;

[0074] Figure 2 An exemplary schematic diagram showing an autonomous robot for replacing a battery unit for a detection module according to the present application and a fastening system according to the present application, wherein the fastening system includes a fastening device and a detection module for monitoring fastening failure of the fastening device according to the present application;

[0075] Figure 3 An exemplary schematic diagram showing a storage warehouse for storing battery cells equipped with an autonomous robot according to the present application and a fastening system according to the present application, wherein the fastening system includes a fastening device and a detection module for monitoring fastening failure of the fastening device according to the present application;

[0076] Figure 4 A schematic diagram showing an embodiment of a fastening system according to the present application;

[0077] Figure 5 A schematic diagram is shown of one embodiment of a system for multiple fastening devices according to the present application. DETAILED DESCRIPTION

[0078] The present application will be described below with reference to the accompanying drawings, which illustrate several embodiments of the present application. However, it should be understood that the present application can be presented in a variety of different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the present application more complete and fully illustrate the scope of protection of the present application to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0079] It should be understood that the terms used herein are only used to describe specific embodiments and are not intended to limit the present application. All terms (including technical terms and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. For the sake of simplicity and / or clarity, well-known functions or structures may not be described in detail.

[0080] Herein, the term "A or B" includes "A and B" and "A or B" rather than exclusively including only "A" or only "B", unless specifically stated otherwise.

[0081] In this document, the term "exemplary" means "used as an example, instance, or illustration". Any implementation described as an example herein is not necessarily to be construed as preferred or advantageous over other implementations. Moreover, this application is not limited by any stated or implied theory given in the above technical field, background technology, summary of the invention or detailed description.

[0082] It should also be understood that when the term "include / comprise" is used in this article, it indicates the presence of the indicated features, integrals, steps, operations, units and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, units and / or components and / or their combinations. Unless otherwise defined, all terms (including technical terms and scientific terms) are used in this article according to their general meaning in the field to which the examples belong.

[0083] In general, see first Figure 2 and Figure 3 According to the present application, an autonomous robot 100 is proposed for replacing a battery cell for a detection module 200, wherein the detection module 200 is used to monitor the fastening failure of a fastening device 300, wherein the autonomous robot 100 is equipped with a storage warehouse 120 for storing battery cells 110, so as to transport the storage warehouse 120 to the detection module 200 and use the battery cells 110 in the storage warehouse 120 to replace the battery cells 110 in the detection module 200, wherein the storage warehouse 120 is constructed so that the battery cells 110 in the storage warehouse 120 can be moved into a chamber 210 of the detection module 200 for receiving the battery cells 110, and the battery cells 110 originally received in the chamber 210 that are moved out of the chamber 210 can be received, so as to realize the replacement of the battery cells 110.

[0084] The autonomous robot 100 for replacing battery cells for the detection module 200 according to the present application can have the following technical advantages: the autonomous robot 100 is equipped with a storage warehouse 120 for storing battery cells 110, which can realize the transportation of the storage warehouse 120 to the detection module 200, and automatically use the battery cells 110 in the storage warehouse 120 to replace the battery cells 110 in the detection module 200. In addition, the autonomous robot 100 can also recover the battery cells 110 originally received in the chamber 210 that have been removed from the chamber 210. This can not only maintain the kinematic balance of the autonomous robot 100 (because the load of the autonomous robot 100 has almost no change), but also be environmentally friendly and cost-effective (the recovered battery cells can be reused). Such an autonomous robot can replace the battery cells 110 for the detection module 200 without basically stopping for maintenance. Such an autonomous robot 100 can be used repeatedly, so the manufacturing or use cost can be reduced. This will be described below with the help of Figure 2 and Figure 3 Elaborate in more detail.

[0085] Specifically, Figure 1 An exemplary usage scenario of the detection module 200 for monitoring fastening failure of a fastening device 300 according to the present application is shown. Figure 2 An exemplary schematic diagram of an autonomous robot 100 for replacing a battery cell 110 for a detection module 200 according to the present application and a fastening system 700 according to the present application is shown, wherein the fastening system 700 includes a fastening device 300 and a detection module 200 for monitoring fastening failure of the fastening device 300 according to the present application. Figure 3 An exemplary schematic diagram of a storage warehouse 120 for storing battery cells 110 equipped with an autonomous robot 100 according to the present application and a fastening system 700 according to the present application is shown, wherein the fastening system 700 includes a fastening device 300 and a detection module 200 according to the present application for monitoring fastening failure of the fastening device 300.

[0086] like Figure 1As shown, the fastening device 300 is used, for example, in a traffic infrastructure 400 as a railway tunnel, for fastening a mounting bracket 420 of a contact network cable 410 to a tunnel wall 430 of the railway tunnel. Two mounting brackets 420 are drawn here by way of example, and each mounting bracket 420 is fixed by way of example via two fastening devices 300. In order to detect a failure state of the fastening device 300, in particular to detect a failure of the fastening device 300, a corresponding detection module 200 exists for each fastening device 300. Here, the detection module 200 is, for example, mounted on the fastening device 300. The detection module 200 is configured to detect a failure of the fastening device 300 and output the detected failure state as a signal. As shown in FIG. Figure 2 and Figure 3 As shown, the detection module 200 may include a battery unit 110 for powering the detection module 200 and a chamber 210 for receiving the battery unit 110. The battery unit 110 may include a disposable battery or a rechargeable battery. For example, the battery unit 110 may be a button battery.

[0087] In order to facilitate the replacement of the battery unit 110 for the detection module 200, as shown in FIG. Figure 2 As shown, the present application proposes an autonomous robot 100. The autonomous robot 100 can be constructed as Figure 2 The autonomous robot 100 may be configured as an unmanned vehicle with a lifting device, and the lifting device is used to transport the storage warehouse 120 to the corresponding detection module 200. The autonomous robot 100 may be equipped with the following: Figure 3 The storage warehouse 120 for storing battery cells 110 is shown, so as to transport the storage warehouse 120 to the detection module 200 and replace the battery cells 110 in the detection module 200 with the battery cells 110 in the storage warehouse 120. The storage warehouse 120 is configured so that the battery cells 110 in the storage warehouse 120 can be moved into the chamber 210 of the detection module 200 for receiving the battery cells 110, and the battery cells 110 originally received in the chamber 210 that are moved out of the chamber 210 can be received, so as to achieve the replacement of the battery cells 110. In other words, the old battery cells 110 originally received in the chamber 210 can be replaced with the battery cells 110 in the storage warehouse 120, for example, the new battery cells 110 that are fully charged.

[0088] like Figure 3As shown, in some embodiments, the storage warehouse 120 may be provided with a pushing mechanism 121, which is used to push the battery cell 110 in the storage warehouse 120 into the chamber 210 of the detection module 200, and to push the battery cell 110 originally received in the chamber 210 out of the chamber 210. Here, the pushing mechanism 121 may be configured to push the battery cell 110 in the storage warehouse 120, so that the battery cell 110 in the storage warehouse 120 contacts and pushes the battery cell 110 originally received in the chamber 210.

[0089] In some embodiments, the storage warehouse 120 may include a warehouse entrance 122, a warehouse exit 123, and a warehouse passage 124 for connecting the warehouse entrance 122 and the warehouse exit 123. The battery cells 110 removed from the chamber 210 can be moved into the warehouse passage 124 through the warehouse entrance 122 and can be transported along the warehouse passage 124 toward the warehouse exit 123. The storage warehouse 120 may be configured to cooperate with the chamber 210, so that the warehouse exit 123 of the warehouse passage 124 is aligned with the passage entrance 220 of the guide passage 240 of the chamber 210 for guiding the battery cells 110 to be pushed through the chamber 210, and the warehouse exit 123 of the warehouse passage 124 is aligned with the passage entrance 220 of the guide passage 240, so that the warehouse passage 124 is connected with the guide passage 240 and forms a complete circulation passage for the battery cells 110.

[0090] In some embodiments, Figure 3 As shown, the storage warehouse 120 can be configured as a U-shaped structure, and the two legs 130, 140 of the U-shaped structure form a clamping portion for clamping the chamber 210. The warehouse entrance 122 and the warehouse exit 123 can be arranged on opposite sides of the two legs 130, 140 of the U-shaped structure, so that the warehouse entrance 122 and the warehouse exit 123 are aligned in the horizontal direction. In some embodiments, the two legs can be made of elastic material and the distance D1 spaced apart in the horizontal direction is less than the length L1 of the chamber 210 in the horizontal direction, so that the two legs can clamp the chamber 210.

[0091] The U-shaped structure includes a first leg 140 with a warehouse exit 123 and a second leg 130 with a warehouse entrance 122. The pushing mechanism 121 is arranged on the first leg 140 so that the pushing mechanism 121 can push the battery unit 110 out of the warehouse exit 123 in a horizontal direction. The pushing mechanism 121 can be, for example, a spring or a linear displacement device, such as a screw device, etc. A first one-way stopper is arranged on the first leg 140, and the first one-way stopper allows the battery unit 110 to move in the warehouse passage 124 in a direction toward the free end 141 of the first leg 140, and prevents the battery unit 110 from moving in the warehouse passage 124 in a direction away from the free end 141 of the first leg 140. The first one-way stopper is arranged on the first leg 140 so that only one battery unit 110 can be located between the first one-way stopper and the free end 141 of the first leg 140.

[0092] The storage warehouse 120 may be provided with a push mechanism 135 on the second leg 130 of the U-shaped structure, so that the push mechanism 135 can push the battery unit 110 removed from the chamber 210 in the vertical direction. The push mechanism 135 can be constructed similarly to the pushing mechanism 121. In particular, the push mechanism 135 can be constructed as, for example, a spring or a linear displacement device, such as a screw device, etc. A second one-way stopper is provided on the second leg 130, and the second one-way stopper allows the battery unit 110 to move in the warehouse passage 124 in a direction away from the free end 131 of the second leg 130, and prevents the battery unit 110 from moving in the warehouse passage 124 in a direction toward the free end 131 of the second leg 130. The second one-way stopper can be arranged on the second leg 130 in such a way that only one battery unit 110 can be located between the second one-way stopper and the free end 131 of the second leg 130.

[0093] In some embodiments not shown, an additional pushing mechanism may be provided at the bottom of the second leg 130, for example, on the side wall of the second leg 130 away from the first leg 140, and the additional pushing mechanism pushes the battery unit 110 toward the bottom of the first leg. Accordingly, an additional pushing mechanism may be provided at the bottom of the first leg 140, for example, on the bottom side opposite to the free end 141 of the first leg 140, and the additional pushing mechanism pushes the battery unit 110 toward the free end 141 of the first leg 140. In this way, the battery unit 110 can be transported horizontally in the warehouse channel 124 of the storage warehouse 120 from the warehouse entrance 122 to the warehouse exit 123. This enables the autonomous robot 100 to maintain balance in terms of kinematics, especially during the replacement of the battery unit 110.

[0094] In some embodiments, an alignment component may be provided on the storage warehouse 120 to cooperate with an alignment component provided on the chamber 210, so as to align the storage warehouse 120 with the chamber 210. To this end, the alignment component of the storage warehouse 120 may be configured as a truncated cone-shaped structure, which tapers in a direction of the storage warehouse 120 away from the chamber 210.

[0095] In some embodiments, the autonomous robot 100 may be equipped with: a motion unit for moving the autonomous robot 100; a communication unit for sending and receiving signals; a control unit connected to the communication unit and the motion unit signal for controlling the communication unit and the motion unit; wherein the control unit is configured to control the motion unit to move the autonomous robot 100 to the detection module 200, and to control the communication unit to obtain a signal indicating the failure state of the fastening device 300 from the communication unit of the detection module 200. In addition, the autonomous robot 100 may be equipped with: a signal acquisition unit for acquiring an indication signal output by the signal output unit of the detection module 200 for indicating the failure state of the corresponding fastening device 300; and / or a power transmission module, the power transmission module being configured to transmit power to the power receiving module of the detection module 200; and / or a navigation unit for navigating the autonomous robot 100 to the corresponding detection module 200; and / or a counting unit for recording the number of fully charged battery cells 110 in the storage warehouse 120.

[0096] By setting a power transmission module on the autonomous robot 100, such as a drone, the autonomous robot 100 can reach the vicinity of the detection module 200 (or other intelligent device) of the fastening device 300 by flying, driving, crawling, etc., and power the detection module 200 (or other intelligent device). Such power supply or charging can be contact-type, such as connecting to the charging interface on the detection module 200 through a charging cable, or non-contact-type, such as charging by induction or using a laser. The advantage of contact charging is that the autonomous robot 100, such as a drone, can save energy during the period of charging. Therefore, according to the technical solutions of the autonomous robot 100 and the detection module 200 of the present application, the fastening device 300 and the detection module 200 according to the present disclosure can still be used even in a location without direct power access.

[0097] For status reading, the autonomous robot 100, such as a drone, can temporarily provide power to the detection module 200 of the fastening device 300 or other electrical equipment, and read the failure status of the fastening device 300. During the status reading process, the autonomous robot 100, such as a drone, can also charge the energy storage device or power supply. After completing the status reading process, the autonomous robot 100, such as a drone, can stop supplying power to the detection module 200 of the fastening device 300 or other electrical equipment, and can stop charging the battery unit 110 or other energy storage device or power supply, and then return to the central station to charge itself, and can send the collected data directly or indirectly through the central station to the cloud server or data center through wireless communication.

[0098] That is, the autonomous robot 100 according to the present application, such as a drone, can charge the battery unit 110 of the detection module 200 and query the failure state of the fastening device 300. Alternatively, the autonomous robot 100 according to the present application, such as a drone, can directly power the electronic components of the detection module 200 to query the failure state of the fastening device 300. In this case, the battery unit 110 is not required on the intelligent fastening device 300. Of course, it should be understood that the autonomous robot 100 can also be used to replace the battery unit 110 for the detection module 200 as described above.

[0099] Corresponding to the autonomous robot 100 according to the present application, the present application also proposes a detection module 200 for monitoring the fastening failure of the fastening device 300. In general, the detection module 200 includes a battery cell 110 for powering the detection module 200 and includes a chamber 210 for receiving the battery cell 110, wherein the chamber 210 is constructed so that another battery cell 110 outside the chamber 210 can be moved into the chamber 210 and the battery cell 110 originally received in the chamber 210 can be moved out of the chamber 210, thereby achieving replacement of the battery cell 110. The replacement of the battery cell 110 of the detection module 200 can be achieved using the autonomous robot 100 for replacing the battery cell 110 for the detection module 200 according to the present application.

[0100] In some embodiments, the chamber 210 may include a guide channel 240 for guiding the battery cell 110 to be pushed through the chamber 210, and the guide channel 240 includes a channel inlet 220 and a channel outlet 230. Here, the guide channel 240 may be configured to extend in a straight line so that the channel inlet 220 and the channel outlet 230 are disposed on opposite sides of the chamber 210. In particular, the chamber 210 may be configured so that the guide channel 240 extends in a horizontal direction.

[0101] In some embodiments, the channel entrance 220 is provided with a first one-way door 221, which is used to close the channel entrance 220 and allow the battery unit 110 to be moved from the outside of the chamber 210 into the guide channel 240; and / or the channel exit 230 is provided with a second one-way door 231, which is used to close the channel exit 230 and allow the battery unit 110 to be moved from the guide channel 240 to the outside of the chamber 210. Here, the first one-way door 221 is configured as a spring door; and / or the second one-way door 231 is configured as a spring door.

[0102] In some embodiments, in order to facilitate the battery cell 110 to leave the guide channel 240, the friction coefficient of the local section of the guide channel 240 relatively close to the channel entrance 220 can be set to be greater than the friction coefficient of the local section of the guide channel 240 relatively close to the channel exit 230. In particular, the friction coefficient of the guide channel 240 can be gradually reduced from the channel entrance 220 to the channel exit 230. In addition, a conveying device can be provided at the channel exit 230 of the guide channel 240 to facilitate conveying the battery cell 110 originally received in the chamber 210 to leave the guide channel 240. Here, the conveying device can include a conveying roller or a conveyor belt.

[0103] In some embodiments, an alignment component may be provided on the chamber 210 to cooperate with an alignment component on the storage warehouse 120 accommodating the additional battery cells 110, so as to align the chamber 210 with the storage warehouse 120. Here, the alignment component on the chamber 210 may be configured as a truncated cone structure, which gradually tapers along the direction of the chamber 210 toward the storage warehouse 120.

[0104] In some embodiments, the detection module 200 may include: a detection unit for generating a signal indicating a failure state of the fastening device 300; a communication unit connected to the detection unit signal, for sending and receiving signals; a control unit connected to the communication unit and the detection unit signal, for controlling the communication unit and the detection unit; wherein the control unit is configured to control the communication unit to obtain and send the signal indicating the failure state of the fastening device 300 from the detection unit according to the signal received by the communication unit.

[0105] In some embodiments, the detection module 200 may be equipped with: a signal output unit for outputting an indication signal for indicating a failure state of the corresponding fastening device 300; and / or a wake-up unit for acquiring a wake-up signal and activating the detection module 200 according to the wake-up signal; and / or a beacon unit for providing a navigation signal mark to the detection module 200; and / or a visual identification mark for facilitating identification of the detection module 200 by the visual identification module; and / or an electric energy receiving module for acquiring electric energy for powering the detection module 200 and / or for charging the battery unit 110.

[0106] Figure 4 A schematic diagram of an embodiment of a fastening system 700 according to the present application is shown. The fastening system 700 includes a fastening device 300 and a detection module 200 for monitoring fastening failure of the fastening device 300 according to the present application. The fastening device 300 can be understood as any fastener used to fasten a load to a mounting surface, such as but not limited to: nails, pins, columns, bolts, especially screws, screw pins, studs, bolts, especially expansion bolts or chemical bolts, and nuts assembled together when necessary. Figure 2 and Figure 3 The embodiment shown is different in that Figure 4 As shown, the detection module 200 can also be fixed on the screw of the fastening device (here a screw) 300.

[0107] Figure 5 Schematic diagram of an embodiment of a system 900 for multiple fastening devices 300 according to the present application is shown. The system shown can be a system 900 for monitoring fastening failure of multiple fastening devices 300; or it can be a replacement system for replacing a battery cell 110 for a detection module 200. Figure 5 As shown, the system 900 includes: a plurality of detection modules 200 for monitoring fastening failure of fastening devices 300 according to the present application, exemplified here as four detection modules 200, each detection module 200 being respectively assigned to one or more fastening devices 300; and an autonomous robot 100 for replacing battery cells 110 for the detection modules 200 according to the present application.

[0108] In some embodiments, the system 900 may include a central station configured to: communicate with the autonomous robot 100, including: receiving data transmitted by the autonomous robot 100; and / or communicate with a cloud server, including: transmitting data transmitted by the autonomous robot 100 to the cloud server; and / or charge the battery unit 110; provide the autonomous robot 100 with a storage warehouse 120 storing a plurality of fully charged battery units 110; and / or transport the autonomous robot 100 to a transportation infrastructure. The central station may provide energy, such as charging, to the autonomous robot 100, such as a drone. Alternatively, the staff may move the central station to the next area to be inspected, such as a bridge or a tunnel, after completing the inspection of the failure state of the fastening device 300 in one area.

[0109] In addition, the present application also proposes a method for replacing a battery cell 110 for a detection module 200, wherein the method is used to move another battery cell 110 outside the chamber 210 into the chamber 210 and to move a battery cell 110 originally received in the chamber 210 out of the chamber 210, thereby replacing the battery cell 110, wherein the method is implemented using an autonomous robot 100 for replacing a battery cell 110 for a detection module 200 according to the present application.

[0110] The present application is not limited to the embodiments shown, but includes or extends to all technical equivalents that may fall within the effective scope of the appended claims. The position descriptions selected in the specification, such as top, bottom, left, right, etc., refer to the direct description and the drawings shown and can be transferred to the new position according to the meaning when the position changes.

[0111] Although the present application has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present application. Any technical personnel in this field can use the methods and technical contents disclosed above to make possible changes and modifications to the technical solution of the present application without departing from the spirit and scope of the present application. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are within the protection scope of the technical solution of the present application.

Claims

1. An autonomous robot for replacing a battery cell for a detection module, the detection module being used to monitor fastening failure of a fastening device, characterized in that: The autonomous robot is equipped with a storage warehouse for storing battery cells, so as to transport the storage warehouse to the detection module and replace the battery cells in the detection module with the battery cells in the storage warehouse, wherein the storage warehouse is constructed so as to be able to move the battery cells in the storage warehouse into the chamber of the detection module for receiving the battery cells, and to receive the battery cells originally received in the chamber that are moved out of the chamber, thereby realizing the battery cell replacement.

2. The autonomous robot for replacing a battery unit for a detection module according to claim 1, characterized in that: The storage warehouse is provided with a pushing mechanism for pushing the battery cells in the storage warehouse into the chamber of the detection module, and for pushing the battery cells originally received in the chamber out of the chamber.

3. The autonomous robot for replacing a battery unit for a detection module according to claim 2, characterized in that: The pushing mechanism is configured to push the battery cells in the storage warehouse so that the battery cells in the storage warehouse contact and push the battery cells originally received in the chamber.

4. An autonomous robot for replacing a battery unit for a detection module according to claim 2 or 3, characterized in that: The storage warehouse includes a warehouse entrance, a warehouse exit and a warehouse passage connecting the warehouse entrance and the warehouse exit. The battery units removed from the chambers can be moved into the warehouse passage through the warehouse entrance and can be transported along the warehouse passage toward the warehouse exit.

5. The autonomous robot for replacing a battery unit for a detection module according to claim 4, characterized in that: The storage warehouse is configured to cooperate with the chamber so that the warehouse outlet of the warehouse channel is aligned with the channel entrance of the chamber's guide channel for guiding the power supply unit to be pushed through the chamber and the warehouse outlet of the warehouse channel is aligned with the channel entrance of the guide channel, so that the warehouse channel is connected with the guide channel and forms a complete circulation channel for the battery cell.

6. The autonomous robot for replacing a battery unit for a detection module according to claim 4, characterized in that: The storage warehouse is configured as a U-shaped structure, and two legs of the U-shaped structure form clamping portions for clamping the chamber.

7. The autonomous robot for replacing a battery unit for a detection module according to claim 6, characterized in that: The warehouse entrance and the warehouse exit are arranged on opposite sides of the two legs of the U-shaped structure, so that the warehouse entrance and the warehouse exit are aligned in the horizontal direction.

8. The autonomous robot for replacing a battery unit for a detection module according to claim 6, characterized in that: The two legs are made of elastic material and are spaced apart in a horizontal direction at a distance smaller than a length of the chamber in the horizontal direction, so that the two legs can clamp the chamber.

9. The autonomous robot for replacing a battery unit for a detection module according to claim 6, characterized in that: The pushing mechanism is arranged on the first leg of the U-shaped structure with the warehouse outlet, so that the pushing mechanism can push the battery unit out of the warehouse outlet along the horizontal direction.

10. The autonomous robot for replacing a battery unit for a detection module according to claim 6, characterized in that: A first one-way stopper is provided on the first leg, which allows the battery unit to move in the warehouse channel in a direction toward the free end of the first leg and prevents the battery unit from moving in the warehouse channel in a direction away from the free end of the first leg.

11. The autonomous robot for replacing a battery unit for a detection module according to claim 10, characterized in that: The first one-way stop is arranged on the first leg so that only one battery cell can be located between the first one-way stop and the free end of the first leg.

12. The autonomous robot for replacing a battery unit for a detection module according to claim 7, characterized in that: The storage warehouse is provided with a sliding mechanism on the second leg of the U-shaped structure having the warehouse entrance, so that the sliding mechanism can slide the battery unit removed from the chamber along the vertical direction.

13. The autonomous robot for replacing a battery unit for a detection module according to claim 12, characterized in that: A second one-way stopper is provided on the second leg, which allows the battery unit to move in the warehouse channel in a direction away from the free end of the second leg and prevents the battery unit from moving in the warehouse channel in a direction toward the free end of the second leg.

14. The autonomous robot for replacing a battery unit for a detection module according to claim 13, characterized in that: The second one-way stop is arranged on the second leg so that only one battery cell can be located between the second one-way stop and the free end of the second leg.

15. An autonomous robot for replacing a battery unit for a detection module according to any one of claims 1 to 3, characterized in that: An alignment component is arranged on the storage warehouse for cooperating with an alignment component arranged on the chamber, so as to align the storage warehouse with the chamber.

16. The autonomous robot for replacing a battery unit for a detection module according to claim 15, characterized in that: The aligning component of the storage warehouse is configured as a truncated cone-shaped structure, which tapers in a direction away from the chamber of the storage warehouse.

17. An autonomous robot for replacing a battery unit for a detection module according to any one of claims 1 to 3, characterized in that: The autonomous robot is equipped with: a motion unit for making the autonomous robot move; A communication unit for sending and receiving signals; A control unit connected to the communication unit and the motion unit by signal, and used to control the communication unit and the motion unit; The control unit is configured to control the motion unit to move the autonomous robot to the detection module, and to control the communication unit to obtain a signal indicating a failure state of the fastening device from the communication unit of the detection module.

18. An autonomous robot for replacing a battery unit for a detection module according to any one of claims 1 to 3, characterized in that: The autonomous robot is equipped with: A signal acquisition unit, used to acquire an indication signal output by a signal output unit of the detection module and used to indicate a failure state of a corresponding fastening device; and / or A power transmission module, wherein the power transmission module is configured to transmit power to the power receiving module of the detection module; and / or A navigation unit, used to navigate the autonomous robot to a corresponding detection module; and / or A counting unit for recording the number of fully charged battery cells in the storage warehouse.

19. An autonomous robot for replacing a battery unit for a detection module according to any one of claims 1 to 3, characterized in that: The autonomous robot is configured as a drone or a wall-climbing robot; or The autonomous robot is constructed as an unmanned vehicle with a lifting device, and the lifting device is used to transport the storage warehouse to the corresponding detection module.

20. A detection module for monitoring fastening failure of a fastening device, characterized in that: The detection module includes a battery cell for powering the detection module and a chamber for receiving the battery cell, wherein the chamber is constructed so that another battery cell outside the chamber can be moved into the chamber and a battery cell originally received in the chamber can be moved out of the chamber, thereby realizing battery cell replacement.

21. The detection module for monitoring fastening failure of a fastening device according to claim 20, characterized in that: The battery cell replacement is achieved using an autonomous robot for replacing a battery cell for a detection module according to any one of claims 1 to 19.

22. The detection module for monitoring fastening failure of a fastening device according to claim 20, characterized in that: The chamber includes a guide channel for guiding the battery cell to be pushed through the chamber, and the guide channel includes a channel inlet and a channel outlet.

23. The detection module for monitoring fastening failure of a fastening device according to claim 22, characterized in that: The guide channel is configured to extend linearly such that the channel inlet and the channel outlet are disposed on opposite sides of the chamber.

24. The detection module for monitoring fastening failure of a fastening device according to claim 22 or 23, characterized in that: The channel entrance is provided with a first one-way door, which is used to close the channel entrance and allow the battery unit to be moved from outside the chamber into the guide channel; and / or the channel exit is provided with a second one-way door, which is used to close the channel exit and allow the battery unit to be moved out of the guide channel to the outside of the chamber.

25. The detection module for monitoring fastening failure of a fastening device according to claim 24, characterized in that: The first one-way door is configured as a spring door; and / or the second one-way door is configured as a spring door.

26. The detection module for monitoring fastening failure of a fastening device according to claim 22 or 23, characterized in that: The friction coefficient of a partial section of the guide channel that is relatively close to the channel entrance is greater than the friction coefficient of a partial section of the guide channel that is relatively close to the channel exit.

27. The detection module for monitoring fastening failure of a fastening device according to claim 26, characterized in that: The friction coefficient of the guide channel decreases gradually from the channel entrance to the channel exit.

28. The detection module for monitoring fastening failure of a fastening device according to claim 22 or 23, characterized in that: A conveying device is arranged at the channel exit of the guide channel so as to convey the battery unit originally received in the chamber out of the guide channel.

29. The detection module for monitoring fastening failure of a fastening device according to claim 28, characterized in that: The conveying device comprises a conveying roller or a conveying belt.

30. The detection module for monitoring fastening failure of a fastening device according to any one of claims 20 to 23, characterized in that: An alignment feature is provided on the chamber for cooperating with an alignment feature on a storage warehouse accommodating the additional battery cells, so as to align the chamber with the storage warehouse.

31. The detection module for monitoring fastening failure of a fastening device according to claim 30, characterized in that: The alignment feature on the chamber is configured as a truncated cone-shaped structure, which tapers along the direction of the chamber toward the storage warehouse.

32. The detection module for monitoring fastening failure of a fastening device according to claim 22 or 23, characterized in that: The chamber is arranged such that the guide passage extends in a horizontal direction.

33. The detection module for monitoring fastening failure of a fastening device according to any one of claims 20 to 23, characterized in that: The detection module comprises: a detection unit for generating a signal indicating a failure state of the fastening device; A communication unit connected to the detection unit signal, used for sending and receiving signals; A control unit connected to the communication unit and the detection unit by signal, and used to control the communication unit and the detection unit; The control unit is configured to control the communication unit to obtain and send the signal indicating the failure state of the fastening device from the detection unit according to the signal received by the communication unit.

34. The detection module for monitoring fastening failure of a fastening device according to any one of claims 20 to 23, characterized in that: The detection module is equipped with: a signal output unit, configured to output an indication signal for indicating a failure state of a corresponding fastening device; and / or A wake-up unit, used to obtain a wake-up signal and activate the detection module according to the wake-up signal; and / or A beacon unit, used to provide a navigation signal marker to the detection module; and / or Visual recognition mark, so that the visual recognition module can recognize the detection module; and / or The power receiving module is used to obtain power for powering the detection module and / or for charging the battery unit.

35. The detection module for monitoring fastening failure of a fastening device according to any one of claims 20 to 23, characterized in that: The detection module is arranged on the free end of the fastening device.

36. A fastening system, characterized in that: The fastening system comprises a fastening device and a detection module for monitoring fastening failure of the fastening device according to any one of claims 20 to 35.

37. A system for a plurality of fastening devices, characterized in that: The system comprises: A plurality of detection modules for monitoring fastening failure of fastening devices according to any one of claims 20 to 35, each detection module being respectively assigned to one or more fastening devices; and An autonomous robot for replacing a battery cell for a detection module according to any one of claims 1 to 19.

38. A system for monitoring fastening failure of a plurality of fastening devices according to claim 37, characterized in that: The system comprises a central station configured to: - communicating with the autonomous robot, including: receiving data transmitted by the autonomous robot; and / or - communicating with a cloud server, including: transmitting data transmitted by the autonomous robot to the cloud server; and / or - charging the battery unit; - providing a storage depot with multiple fully charged battery cells for autonomous robots; and / or - Transporting autonomous robots to transportation infrastructure.

39. A method for replacing a battery cell for a detection module, the detection module comprising a battery cell for powering the detection module and comprising a cavity for receiving the battery cell, characterized in that: The method is used to move another battery cell outside the chamber into the chamber and to move a battery cell originally received in the chamber out of the chamber, thereby replacing the battery cell, wherein the method is implemented using an autonomous robot for replacing battery cells for a detection module according to any one of claims 1 to 19.

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