Battery replacement method of humanoid robot and controller

Abstract

The invention provides a battery replacement method of a humanoid robot and a controller, and relates to the technical field of robots. The humanoid robot is provided with a main battery and a standby battery, the main battery is detachably installed in a battery bin of a humanoid robot body, the standby battery is installed in the humanoid robot body, and the method comprises the steps that when the main battery supplies power to the humanoid robot, whether the electric quantity of the main battery is smaller than a first electric quantity threshold value or not is judged; if the electric quantity of the main battery is smaller than a first electric quantity threshold, determining a target battery swap station; and the humanoid robot is controlled to move to the target battery replacing station so as to replace the main battery, and in the main battery replacing process, the standby battery supplies power to the humanoid robot. The battery replacement process can be simplified, and the endurance time of the robot is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a battery replacement method and controller of a humanoid robot. BACKGROUND

[0002] The existing robots with complete functions have limited battery capacity due to the space limitation of the whole machine, but the whole machine consumes a large amount of power. Generally, the robot with adult height can only support several hours of walking at normal speed, and after the power is consumed, the robot cannot stand and will fall to the ground. Therefore, the robot needs to be charged or the battery needs to be replaced before the power is consumed.

[0003] If the battery of the robot cannot be quickly replaced, the whole machine needs to be charged. During the charging process, the robot cannot stand and work. If the battery of the robot supports quick disassembly and quick replacement, the whole machine needs to be lifted by a crane, the battery needs to be powered off and taken out of the body, and then a full-power battery needs to be replaced for secondary power-on.

[0004] It can be seen that the existing robot has the problem of complicated charging or battery replacement process due to short endurance time. SUMMARY

[0005] The purpose of the present application is to provide a battery replacement method and controller of a humanoid robot in order to simplify the battery replacement process and prolong the endurance time of the robot.

[0006] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows: In a first aspect, the embodiments of the present application provide a battery replacement method of a humanoid robot, applied to a controller of the humanoid robot, the humanoid robot is provided with a main battery and a backup battery, the main battery is detachably installed in a battery compartment of a body of the humanoid robot, and the backup battery is installed in the body of the humanoid robot, and the method comprises: When the main battery supplies power to the humanoid robot, it is judged whether the power of the main battery is less than a first power threshold; If the power of the main battery is less than the first power threshold, a target battery replacement station is determined; The humanoid robot is controlled to move to the target battery replacement station for replacement of the main battery, and the backup battery supplies power to the humanoid robot during the replacement of the main battery.

[0007] Optionally, the determination of the target battery replacement station comprises: Based on the current task of the humanoid robot, the target battery replacement station is determined according to the current position of the humanoid robot and the positions of a plurality of battery replacement stations.

[0008] Optionally, the target battery swap station is determined according to the current position of the humanoid robot and positions of a plurality of battery swap stations based on a current task of the humanoid robot. A target moving direction of the humanoid robot is determined based on the current task of the humanoid robot. A preferred battery swap area is determined according to the current position of the humanoid robot and the target moving direction. If there is a battery swap station in the preferred battery swap area, a battery swap station in the preferred battery swap area is selected as the target battery swap station. If there is no battery swap station in the preferred battery swap area, a battery swap station closest to the current position of the humanoid robot is selected from a plurality of battery swap stations as the target battery swap station.

[0009] Optionally, the working area of the humanoid robot includes a plurality of sub-areas, and each sub-area has a corresponding battery swap station. The target battery swap station is determined by: A target sub-area in which the humanoid robot is located is determined according to the current position of the humanoid robot. A battery swap station corresponding to the target sub-area is determined as the target battery swap station according to a corresponding relationship between the sub-area and the battery swap station.

[0010] Optionally, the replacement process of the main battery includes: The humanoid robot is controlled to switch to a low-power-consumption mode to wait for manual battery swap, and when a preset battery swap mode switching condition is met, the humanoid robot is controlled to perform autonomous battery swap, or the humanoid robot is directly controlled to perform autonomous battery swap.

[0011] Optionally, after the target battery swap station is determined, the method further includes: Battery swap prompt information is sent according to the target battery swap station to prompt a corresponding maintenance personnel to perform manual battery swap on the humanoid robot. In the process of manual battery swap, the method further includes: The humanoid robot is controlled to be in a preset battery swap posture.

[0012] Optionally, the preset battery swap mode switching condition includes: The humanoid robot is in the low-power-consumption mode for a preset time length, or an electric quantity of the main battery is less than a second electric quantity threshold, and the second electric quantity threshold is less than the first electric quantity threshold.

[0013] Optionally, before the humanoid robot is controlled to perform autonomous battery swap, the method further includes: It is judged whether the electric quantity of the backup battery is greater than a third electric quantity threshold. If the power of the backup battery is greater than the third power threshold, the humanoid robot is controlled to perform autonomous battery replacement.

[0014] Optionally, the target battery swap station comprises a first battery area and a second battery area. The control of the humanoid robot to perform autonomous battery replacement comprises: The humanoid robot is controlled to move to the first battery area of the target battery swap station. The humanoid robot is controlled to move to the second battery area of the target battery swap station. The humanoid robot is controlled to move to the second battery area of the target battery swap station. According to the position marker, the placement position of the main battery in the second battery area is determined, and the mechanical arm of the humanoid robot is controlled to obtain the main battery from the second battery area and install the obtained main battery to the battery compartment.

[0015] In a second aspect, the embodiments of the present application provide a battery replacement device of a humanoid robot, applied to a controller of the humanoid robot, the humanoid robot being provided with a main battery and a backup battery, the main battery being detachably installed in a battery compartment of a body of the humanoid robot, and the backup battery being installed in the body of the humanoid robot, and the device comprising: A power judgment module is configured to judge whether the power of the main battery is less than a first power threshold when the main battery supplies power to the humanoid robot. A battery swap station determination module is configured to determine a target battery swap station if the power of the main battery is less than the first power threshold. A robot control module is configured to control the humanoid robot to move to the target battery swap station to replace the main battery, and to supply power to the humanoid robot by the backup battery during the replacement of the main battery.

[0016] Optionally, the battery swap station determination module is specifically configured to determine the target battery swap station based on a current task of the humanoid robot, and according to a current position of the humanoid robot and positions of a plurality of battery swap stations.

[0017] Optionally, the battery swap station determination module is specifically configured to determine a target moving direction of the humanoid robot based on a current task of the humanoid robot, to determine a preferred battery swap area according to a current position of the humanoid robot and the target moving direction, to select a battery swap station in the preferred battery swap area as the target battery swap station if there is a battery swap station in the preferred battery swap area, and to select a battery swap station closest to the current position of the humanoid robot from a plurality of battery swap stations as the target battery swap station if there is no battery swap station in the preferred battery swap area.

[0018] Optionally, the working area of the humanoid robot comprises a plurality of sub-areas, each sub-area having a corresponding battery swap station; the battery swap station determination module is further configured to determine, according to the current position of the humanoid robot, a target sub-area in which the humanoid robot is located; and determine, according to the correspondence between the sub-areas and the battery swap stations, the battery swap station corresponding to the target sub-area as the target battery swap station.

[0019] Optionally, the robot control module is further configured to control the humanoid robot to switch to a low-power-consumption mode to wait for manual battery swap, and control the humanoid robot to perform autonomous battery swap when a preset battery swap mode switching condition is met; or directly control the humanoid robot to perform autonomous battery swap.

[0020] Optionally, the apparatus further comprises: an information sending module configured to send a battery swap prompt information according to the target battery swap station, to prompt a corresponding maintenance personnel to perform manual battery swap on the humanoid robot; In the process of manual battery swap, the robot control module is further configured to control the humanoid robot to be in a preset battery swap posture.

[0021] Optionally, the preset battery swap mode switching condition comprises that the humanoid robot is in the low-power-consumption mode for a preset time length, or the power of the main battery is less than a second power threshold, the second power threshold being less than the first power threshold.

[0022] Optionally, the power determination module is further configured to determine whether the power of the backup battery is greater than a third power threshold. The robot control module is further configured to control the humanoid robot to perform autonomous battery swap if the power of the backup battery is greater than the third power threshold.

[0023] Optionally, the target battery swap station comprises a first battery area and a second battery area; the robot control module is further configured to control the humanoid robot to move to the first battery area of the target battery swap station; control the mechanical arm of the humanoid robot to detach the main battery from the battery compartment and place the detached main battery in the first battery area; control the humanoid robot to move to the second battery area of the target battery swap station; determine, according to a position marker, a placement position of the main battery in the second battery area, control the mechanical arm of the humanoid robot to obtain the main battery from the second battery area, and install the obtained main battery to the battery compartment.

[0024] In a third aspect, the embodiments of the present application further provide a controller, comprising a processor, a storage medium and a bus, the storage medium stores program instructions executable by the processor, when the controller is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of the battery replacement method of the humanoid robot according to any one of the first aspect.

[0025] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, the storage medium stores a computer program, when the computer program is run by a processor, the steps of the battery replacement method of the humanoid robot according to any one of the first aspect are performed.

[0026] The beneficial effects of the present application are: The battery replacement method and the controller of the humanoid robot provided by the present application, on the one hand, when the power of the main battery is less than the first power threshold, the humanoid robot is controlled to move to the target battery replacement station for battery replacement, avoiding the humanoid robot from being manually transported to the battery replacement station for battery replacement or charging due to power depletion during work, simplifying the battery replacement process of the humanoid robot; on the other hand, by setting the main battery and the backup battery, the backup battery supplies power to the humanoid robot during the replacement of the main battery, ensuring that the humanoid robot will not fall down due to lack of power during the replacement of the main battery, and the humanoid robot does not need to be lifted to avoid falling down, greatly simplifying the process of replacing the battery of the humanoid robot, simplifying the tools required for replacing the battery, shortening the time required for replacing the battery, and prolonging the working time of the humanoid robot. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0028] Figure 1 The architecture diagram of the humanoid robot provided by the embodiments of the present application; Figure 2 The flowchart of the battery replacement method of the humanoid robot provided by the embodiments of the present application Figure 1 ; Figure 3 The flowchart of the battery replacement method of the humanoid robot provided by the embodiments of the present application Figure 2 ; Figure 4 The flowchart of the battery replacement method of the humanoid robot provided by the embodiments of the present application Figure 3 ; Figure 5 A system architecture diagram of a robot power supply management system provided for an embodiment of the present application is provided. Figure 6 A structural schematic diagram of a power management module provided for an embodiment of the present application is provided. Figure 7 A structural schematic diagram of a main battery provided for an embodiment of the present application is provided. Figure 8 A schematic diagram of a mechanical arm self-replacing power provided for an embodiment of the present application Figure 1 ; Figure 9 A flowchart of a battery replacement method of a humanoid robot provided for an embodiment of the present application Figure 4 ; Figure 10 A schematic diagram of a mechanical arm self-replacing power provided for an embodiment of the present application Figure 2 ; Figure 11 A schematic diagram of a mechanical arm self-replacing power provided for an embodiment of the present application Figure 3 ; Figure 12 A schematic diagram of a mechanical arm self-replacing power provided for an embodiment of the present application Figure 4 ; Figure 13 A structural schematic diagram of a battery replacement device of a humanoid robot provided for an embodiment of the present application is provided. Figure 14 A schematic diagram of a controller provided for an embodiment of the present application is provided. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0031] Moreover, the terms "first", "second", and the like, in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of such terms is arbitrary and made solely for the sake of providing a distinct reference for the elements covered by those terms in the description and the claims. Furthermore, the terms "comprising", "having", "including", and the like, as well as any variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, system, article, device, or apparatus that comprises, has, includes, or the like any of the described elements, can include additional elements not listed explicitly herein.

[0032] It should be noted that the features of the embodiments of the present application can be combined with each other without conflict.

[0033] In order to facilitate the understanding of the battery replacement method of the humanoid robot provided by the present application, the humanoid robot to which the present application is directed is introduced first.

[0034] Figure 1 The architecture diagram of the humanoid robot provided by the embodiments of the present application is shown in Figure 1 As shown in the figure, the humanoid robot comprises a body 101, and the humanoid robot is provided with a main battery 102 and a backup battery 103. The main battery 102 is detachably installed in a battery compartment in the body 101 of the humanoid robot, and the backup battery 103 is installed in the body 101 of the humanoid robot.

[0035] In some embodiments, the body 101 of the humanoid robot is further provided with a controller, the controller is connected with the main battery 102, the controller executes the battery replacement method of the humanoid robot, and the controller controls the humanoid robot to replace the main battery.

[0036] In other embodiments, the controller can be a cloud controller, that is, the controller is separately provided from the body 101 of the humanoid robot. The body 101 of the humanoid robot is provided with a communication module, and the cloud controller is communicatively connected with various sensors and joint motors in the body 101 of the humanoid robot through the communication module, so as to obtain information of each sensor and each joint and control rotation of the joint motor.

[0037] In the process of working of the humanoid robot, the main battery 102 supplies power to each power-consuming module in the body 101 of the humanoid robot. When the main battery 102 needs to be replaced due to depletion of power, the backup battery 103 supplies power to each power-consuming module in the body 101 of the humanoid robot in the process of replacing the main battery 102.

[0038] In some embodiments, the body 101 of the humanoid robot is also provided with a power management module, and the main battery 102, the backup battery 103 and the power management module constitute a robot power supply management system, and the power management module controls the main battery 102 and the backup battery 103 to switch to power various power-consuming modules in the body 101 of the humanoid robot.

[0039] The specific implementation of the battery replacement method of the humanoid robot is described below in combination with embodiments.

[0040] In a possible implementation, Figure 2 The flowchart of the battery replacement method of the humanoid robot provided in the embodiments of the present application is shown in Figure 1 As Figure 2 shown, the method can include: S201, when the main battery is powering the humanoid robot, determining whether the power of the main battery is less than a first power threshold.

[0041] S202, if the power of the main battery is less than the first power threshold, determining a target battery replacement station, controlling the humanoid robot to move to the target battery replacement station for replacement of the main battery, and during the replacement of the main battery, the backup battery powers the humanoid robot.

[0042] In the present embodiment, the humanoid robot is powered by the main battery during the process of performing work in a preset work scenario, and the controller continuously monitors the power of the main battery and determines whether the power of the main battery is less than a first power threshold Q1.

[0043] In some embodiments, upon receiving a new action instruction of the humanoid robot, the first power threshold Q1 can be the power required to complete the new action instruction; it is determined whether the current remaining power of the main battery is sufficient to support the robot to complete the new action instruction, and if the current remaining power of the main battery is not sufficient to support the robot to complete the new action instruction, it is determined that the power of the main battery is less than the first power threshold Q1.

[0044] The preset work scenario includes a plurality of battery replacement stations, and a full-power main battery is placed in each battery replacement station; if the power of the main battery is less than the first power threshold Q1, it is determined that the humanoid robot needs to replace the main battery, and at this time, the controller determines a target battery replacement station from the plurality of battery replacement stations in the preset work scenario.

[0045] In some embodiments, the controller can determine the target battery replacement station from the plurality of battery replacement stations according to the position of the humanoid robot.

[0046] After the target battery swap station is determined, the controller controls the humanoid robot to move to the target battery swap station. After the humanoid robot reaches the target battery swap station, the battery swap process begins. The battery swap process is to take out the main battery with insufficient power from the battery compartment of the humanoid robot body, and put the full-power main battery of the target battery swap station into the battery compartment of the humanoid robot body. During the process of taking out the main battery with insufficient power from the battery compartment of the humanoid robot body to putting the full-power main battery into the battery compartment of the humanoid robot body, the standby battery in the humanoid robot body supplies power to the power-consuming modules in the robot body.

[0047] In some embodiments, the controller determines a walking route of the humanoid robot according to the current position of the humanoid robot and the position of the target battery swap station, and controls the robot to move to the target battery swap station along the walking route.

[0048] The above-mentioned embodiments provide a battery replacement method of a humanoid robot. On the one hand, when the power of the main battery is less than the first power threshold, the humanoid robot is controlled to move to the target battery swap station for battery replacement, avoiding the humanoid robot from running out of power during work and having to be manually transported to the battery swap station for battery replacement or charging, thereby simplifying the battery replacement process of the humanoid robot. On the other hand, by setting the main battery and the standby battery, the standby battery supplies power to the humanoid robot during the replacement of the main battery, ensuring that the humanoid robot will not fall down due to lack of power during the replacement of the main battery, and thus the humanoid robot does not need to be lifted to avoid falling down, greatly simplifying the process of replacing the battery of the humanoid robot, simplifying the tools required for replacing the battery, shortening the time required for replacing the battery, and prolonging the working time of the humanoid robot.

[0049] In a possible implementation, the process of S201 determining the target battery swap station can include: Based on the current task of the humanoid robot, the target battery swap station is determined according to the current position of the humanoid robot and the positions of the plurality of battery swap stations.

[0050] In the present embodiment, the current task of the humanoid robot is a work task being performed by the humanoid robot before the power of the main battery is less than the first power threshold. The work task performed by the humanoid robot includes a fixed-position work task and a mobile work task. The fixed-position work task is a task performed by the humanoid robot at a fixed position, and the mobile work task is a task performed by the humanoid robot while moving.

[0051] In some embodiments, if the current task of the humanoid robot is a fixed-position work task, the distance between the humanoid robot and the multiple battery swap stations can be determined according to the current position of the humanoid robot and the positions of the multiple battery swap stations, the movable distance of the humanoid robot can be determined according to the current remaining power of the main battery of the humanoid robot, and the target battery swap station can be determined from the multiple battery swap stations according to the movable distance and the distance between the humanoid robot and the multiple battery swap stations. For example, the battery swap station closest to the humanoid robot can be selected as the target battery swap station.

[0052] Further, if the humanoid robot supports autonomous battery swap, the power required for the autonomous battery swap of the humanoid robot needs to be subtracted when determining the movable distance of the humanoid robot according to the current remaining power of the main battery.

[0053] In other embodiments, if the current task of the humanoid robot is a mobile work task, the battery swap station located on the moving route of the humanoid robot from the current position can be determined as the target battery swap station according to the moving route of the humanoid robot and the positions of the multiple battery swap stations. If the battery swap stations located on the moving route include multiple battery swap stations, one of them can be selected as the target battery swap station, for example, the closest battery swap station on the moving route can be selected as the target battery swap station.

[0054] The above embodiments provide a battery swap method for a humanoid robot, which determines a target battery swap station according to the current position of the humanoid robot and the positions of multiple battery swap stations based on the current task of the humanoid robot, so that the optimal battery swap station can be selected for battery swap, the time for the humanoid robot to move to the battery swap station is reduced, and the humanoid robot is prevented from running out of power during the movement to the battery swap station.

[0055] In a possible implementation, Figure 3 The flowchart of the battery swap method for a humanoid robot provided by the embodiments of the present application is shown in Figure 2 As shown in Figure 3 The process of determining a target battery swap station according to the current position of the humanoid robot and the positions of multiple battery swap stations based on the current task of the humanoid robot can include: S301, determining the target moving direction of the humanoid robot based on the current task of the humanoid robot.

[0056] S302, determining the preferred battery swap area according to the current position of the humanoid robot and the target moving direction.

[0057] S303, if there is a battery swap station in the preferred battery swap area, selecting a battery swap station in the preferred battery swap area as the target battery swap station.

[0058] S304, if there is no battery swap station in the preferred battery swap region, selecting a battery swap station closest to the current position of the humanoid robot from the plurality of battery swap stations as the target battery swap station.

[0059] In the embodiment, if the current task of the humanoid robot is a mobile work task, the moving route of the humanoid robot is acquired, and the target moving direction of the humanoid robot is determined according to the current position of the humanoid robot and the moving route, the target moving direction being the direction in which the humanoid robot moves from the current position along the moving route.

[0060] A region of a preset range in the target moving direction is determined as the preferred battery swap region with the current position of the humanoid robot as the starting point or center, and it is determined whether there is a battery swap station in the preferred battery swap region.

[0061] In some embodiments, a sector region of a preset radius and a preset angle range is determined as the preferred battery swap region with the current position of the humanoid robot as the starting point and the target moving direction as the central axis or side.

[0062] In other embodiments, a square region of a preset side length is determined as the preferred battery swap region with the current position of the humanoid robot as one vertex and the target moving direction as one side.

[0063] If there is one battery swap station in the preferred battery swap region, the battery swap station is determined as the target battery swap station, if there are a plurality of battery swap stations in the preferred battery swap region, one battery swap station can be determined as the target battery swap station from the plurality of battery swap stations, for example, the battery swap station with the most full main batteries can be determined as the target battery swap station according to the number of full main batteries of the plurality of battery swap stations, if there is no battery swap station in the preferred battery swap region, one battery swap station closest to the humanoid robot can be selected as the target battery swap station according to the current position of the humanoid robot and the positions of the plurality of battery swap stations.

[0064] The battery replacement method of the humanoid robot provided in the above embodiments can avoid the humanoid robot making a large turn in moving to the target battery swap station, reduce the power consumption of the humanoid robot in the moving process, and ensure that the humanoid robot can move to the target battery swap station before the power is exhausted.

[0065] In a possible implementation manner, Figure 4 The flowchart of the battery replacement method of the humanoid robot provided in the embodiments of the present application is shown in Figure 3 As shown in Figure 4 The process of S201 of determining the target battery swap station can include: S401, determining a target sub-region in which the humanoid robot is located according to the current position of the humanoid robot.

[0066] S402, according to the correspondence between the sub-area and the battery swap station, the target battery swap station corresponding to the target sub-area is determined as the target battery swap station.

[0067] In the embodiment, the working area of the humanoid robot includes a plurality of sub-areas, each sub-area has a corresponding battery swap station, according to the position of the humanoid robot in the working area, the sub-area corresponding to the position is determined as the target sub-area where the humanoid robot is located, and the battery swap station located in the target sub-area is determined as the target battery swap station.

[0068] The battery replacement method of the humanoid robot provided in the above embodiment determines the battery swap station in the target sub-area where the humanoid robot is located as the target battery swap station based on the correspondence between the sub-area and the battery swap station, so that the humanoid robot can quickly go to the corresponding battery swap station for battery replacement.

[0069] In a possible implementation, the replacement process of the main battery can include: The humanoid robot is controlled to switch to a low-power-consumption mode to wait for manual battery replacement, and when a preset battery replacement mode switching condition is met, the humanoid robot is controlled to perform autonomous battery replacement; or the humanoid robot is directly controlled to perform autonomous battery replacement.

[0070] In the embodiment, the humanoid robot supports two battery replacement modes, namely a manual battery replacement mode and an autonomous battery replacement mode, wherein the manual battery replacement mode is that a maintenance personnel manually replaces the main battery for the humanoid robot, and the autonomous battery replacement mode is that the humanoid robot replaces the main battery by itself.

[0071] In some embodiments, the priority of the manual battery replacement mode is higher than that of the autonomous battery replacement mode, when the humanoid robot reaches the target battery swap station, it is first determined whether manual battery replacement can be performed, if manual battery replacement cannot be performed, autonomous battery replacement is performed.

[0072] Specifically, the humanoid robot switches to a low-power-consumption mode after reaching the target battery swap station, the low-power-consumption mode indicates that the humanoid robot is in a preset posture and stops executing a work instruction, further, the low-power-consumption mode also indicates that the humanoid robot turns off part of the functions.

[0073] After the humanoid robot switches to the low-power-consumption mode, it waits for a maintenance personnel to perform manual battery replacement, if it is determined that the humanoid robot meets a preset battery replacement mode switching condition in the process of waiting for the maintenance personnel, the humanoid robot switches from the manual battery replacement mode to the autonomous battery replacement mode, and in the autonomous battery replacement mode, the humanoid robot controls the mechanical arm to replace the main battery for the humanoid robot by itself.

[0074] In the process that the maintenance personnel manually replace the battery for the humanoid robot, the maintenance personnel takes out the main battery from the battery compartment of the humanoid robot, and in the process of taking out, the humanoid robot is powered by the backup battery. Subsequently, the maintenance personnel places the taken-out main battery in the target battery replacement station for charging, and takes the fully-charged main battery from the target battery replacement station and installs it into the battery compartment of the humanoid robot. After the main battery is installed into the battery compartment, the humanoid robot is powered by the main battery, and the backup battery is charged.

[0075] In some embodiments, Figure 5 The robot power supply management system provided in the embodiments of the present application has a system architecture diagram, the humanoid robot is provided with a robot power supply management system, and the robot power supply management system comprises a main battery 102, a backup battery 103 and a power management module 104. The main battery 102 is detachably installed in a battery compartment in the robot body, and the backup battery 103 is installed in the robot body.

[0076] Figure 6 The power management module provided in the embodiments of the present application has a structure diagram, as shown in Figure 6 The power management module 104 comprises a discharging module 141, and the discharging module 141 at least comprises a main battery main loop discharging unit 1411, a main battery backup loop discharging unit 1412 and a backup battery discharging unit 1413. The power input end of the main battery main loop discharging unit 1411 and the power input end of the main battery backup loop discharging unit 1412 are connected, serving as the first power input end of the power management module 104. The power input end of the backup battery discharging unit 1413 serves as the second power input end of the power management module 104. The power output end of the main battery main loop discharging unit 1411, the power output end of the main battery backup loop discharging unit 1412 and the power output end of the backup battery discharging unit 1413 are connected, serving as the power output end of the power management module 104. The main battery 102 is connected to the first power input end of the power management module 104, the backup battery 103 is connected to the second power input end of the power management module 104, and the power output end of the power management module 104 is connected to the power board in the robot body.

[0077] The main battery 102 can supply power to the robot body through the main battery main loop discharging unit 1411, and the backup battery 103 can supply power to the robot body through the backup battery discharging unit 1413. In the process of switching the power supply of the main battery 102 and the backup battery 103, the main battery 102 can supply power to the robot body through the main battery backup loop discharging unit 1412.

[0078] Specifically, the main battery 102 is connected to the power board in the robot body through the main battery main circuit discharging unit 1411, and is also connected to the power board in the robot body through the main battery backup circuit discharging unit 1412. When the main battery main circuit discharging unit 1411 is turned on, the main power supply circuit between the main battery 102 and the power board in the robot body is turned on. When the main battery backup circuit discharging unit 1412 is turned on, the backup power supply circuit between the main battery 102 and the power board in the robot body is turned on. The backup battery 103 is connected to the power board in the robot body through the backup battery discharging unit 1413. When the backup battery discharging unit 1413 is turned on, the auxiliary power supply circuit between the backup battery 103 and the power board in the robot body is turned on.

[0079] During the dismounting of the main battery 102, before the main battery 102 is disconnected from the first power input end of the power management module 104, the power supply management system of the humanoid robot switches the power supply of the main battery and the backup battery in the following order: first, the main battery backup circuit discharging unit 1412 is turned on, and the main battery 102 supplies power to the robot body through the backup power supply circuit; then, the main battery main circuit discharging unit 1411 is turned off, and the main power supply circuit is disconnected; then, the backup battery discharging unit 1413 is turned on, and the backup battery 103 supplies power to the robot body through the auxiliary power supply circuit; at this time, the main battery 102 no longer needs to supply power to the robot body, the main battery backup circuit discharging unit 1412 is turned off, and the main battery 102 stops supplying power to the robot body through the backup power supply circuit; and finally, the main battery is removed from the battery compartment. In this way, the power supply switching process from the main battery 102 to the backup battery 103 is realized.

[0080] During the reinstallation of the full main battery 102, after the main battery 102 is connected to the first power input end of the power management module 104, first, the main battery backup circuit discharging unit 1412 is turned on, and the main battery 102 supplies power to the robot body through the backup power supply circuit; then, the backup battery discharging unit 1413 is turned off, and the backup battery 103 stops supplying power to the robot body through the auxiliary power supply circuit; then, the main battery main circuit discharging unit 1411 is turned on, the main power supply circuit is turned on, and the main battery 102 supplies power to the robot body through the main power supply circuit; at this time, the backup power supply circuit no longer needs to supply power to the robot body, the main battery backup circuit discharging unit 1412 is turned off, and the main battery 102 stops supplying power to the robot body through the backup power supply circuit. In this way, the power supply switching process from the backup battery 103 to the main battery 102 is realized.

[0081] Further, as Figure 6As shown, the power management module 104 further comprises a detection mechanism 142 and a control unit 143; the detection mechanism 142 is arranged at a preset detection position of the battery compartment to detect the locking state of the main battery 102 in the battery compartment; the control unit 143 is electrically connected with the detection mechanism 142, acquires the locking state of the main battery 102 in the battery compartment detected by the detection mechanism 142, and controls the on-off of the main battery main loop discharging unit 1411, the main battery backup loop discharging unit 1412 and the backup battery discharging unit 1413 according to the locking state of the main battery 102 in the battery compartment.

[0082] In this embodiment, the locking state of the main battery 102 in the battery compartment includes a fully locked state, a semi-locked state, a fully unlocked state (only an electrical connection state), and a disconnected state. During the dismounting process of the main battery 102, the locking state of the main battery 102 in the battery compartment changes from the fully locked state to the semi-locked state, then to the fully unlocked state, and finally to the disconnected state. During the mounting process of the main battery 102, the locking state of the main battery 102 in the battery compartment changes from the fully unlocked state (only an electrical connection state) to the semi-locked state, and then to the fully locked state. The only electrical connection state and the disconnected state are the connection states between the main battery 102 and the first power input end of the power management module 104.

[0083] The control unit 143 is connected with the discharging module 141. During the dismounting process of the main battery 102, when the detection mechanism 142 detects that the locking state of the main battery 102 in the battery compartment changes from the fully locked state to the semi-locked state, the control unit 143 first controls the main battery backup loop discharging unit 1412 to be turned on, the main battery 102 supplies power to the robot body through the backup power supply loop, then the control unit 143 controls the main battery main loop discharging unit 1411 to be turned off, the main power supply loop is disconnected, and then the control unit 143 controls the backup battery discharging unit 1413 to be turned on, the backup battery 103 supplies power to the robot body through the auxiliary power supply loop. At this time, the main battery 102 is no longer needed to supply power to the robot body, the control unit 143 controls the main battery backup loop discharging unit 1412 to be turned off, and the main battery 102 stops supplying power to the robot body through the backup power supply loop. When the main battery 102 changes from the semi-locked state to the fully unlocked state, the main battery 102 can be disconnected from the first power input end of the power management module 104.

[0084] It should be noted that the switching of the on-off of the main battery main loop discharging unit 1411, the main battery backup loop discharging unit 1412 and the backup battery discharging unit 1413 is completed during the dismounting process of the main battery 102, and no pause is needed in the middle, i.e., the dismounting process of the main battery 102 is continuous.

[0085] In the installation process of the main battery 102, when the main battery 102 is placed into the battery compartment, the main battery 102 is electrically connected with the first power input end of the power management module 104, and the locking state of the main battery 102 in the battery compartment is a completely unlocked state (only an electrical connection state). When the detection mechanism 142 detects that the locking state of the main battery 102 in the battery compartment is a half-locked state, the control unit 143 first controls the main battery backup loop discharging unit 1412 to be turned on, and the main battery 102 supplies power to the robot body through the backup power supply loop. Then, the control unit 143 controls the backup battery discharging unit 1413 to be turned off, and the backup battery 103 stops supplying power to the robot body through the auxiliary power supply loop. Then, the control unit 143 controls the main battery main loop discharging unit 1411 to be turned on, and the main power supply loop is opened. The main battery 102 supplies power to the robot body through the main power supply loop. At this time, the robot body does not need to be supplied with power through the backup power supply loop, and the control unit 143 controls the main battery backup loop discharging unit 1412 to be turned off, and the main battery 102 stops supplying power to the robot body through the backup power supply loop.

[0086] In a possible implementation, Figure 7 A schematic structural diagram of the main battery provided in the embodiment of the application is shown in Figure 7 The housing of the main battery 102 is provided with a mounting mechanism, which can include a mounting portion 121 and an operating portion 122.

[0087] The preset installation position of the battery compartment in the robot body is provided with a clamping groove matched with the mounting portion 121, and the operating portion 122 is used to control the locking state of the mounting portion 121 and the clamping groove.

[0088] In the embodiment, the mounting mechanism on the housing of the main battery 102 serves as a detachable structure of the main battery 102, which is composed of the mounting portion 121 and the operating portion 122. The mounting portion 121 is matched with the clamping groove at the preset installation position of the battery compartment in the robot body in shape. The operating portion 122 can be an integrally formed mechanism or a spliced formed mechanism. The locking state of the mounting portion 121 and the clamping groove can be from a completely unlocked state to a half-locked state and then to a completely locked state, or from a completely locked state to a half-locked state and then to a completely unlocked state.

[0089] When the mounting portion 121 and the clamping groove are in a completely locked state, the main battery 102 cannot be detached from the battery compartment in the robot body. When the mounting portion 121 and the clamping groove are in a completely unlocked state, the main battery 102 can be detached from the battery compartment in the robot body.

[0090] The mounting mechanism composed of the mounting portion 121 and the operating portion 122 is detachable, the detection mechanism 142 detects the locking state of the mounting portion 121 and the card slot, when the detection mechanism 142 detects that the locking state of the mounting portion 121 and the card slot is from the fully locked state to the half locked state, it is determined that the main battery 102 is in the process of being pulled out from the battery compartment in the robot body, the control unit 143 controls the main battery standby loop discharge unit 1412 to be turned on, the main battery main loop discharge unit 1411 to be turned off, the standby battery discharge unit 1413 to be turned on, and the main battery standby loop discharge unit 1412 to be turned off in sequence, so as to switch from the main battery 102 to the standby battery 103, and the robot body is powered by the standby battery 103, when the locking state of the mounting portion 121 and the card slot reaches the fully unlocked state, the main battery 102 is pulled out from the battery compartment in the robot body, so as to complete the disassembly of the main battery 102.

[0091] After the full-power main battery 102 is installed into the battery compartment in the robot body, the full-power main battery 102 starts to power the power-consuming modules of the robot, the detection mechanism 142 detects the locking state of the mounting portion 121 and the card slot, when the detection mechanism 142 detects that the locking state of the mounting portion 121 and the card slot is from the fully unlocked state to the half locked state, it is determined that the main battery 102 is in the process of being installed into the battery compartment in the robot body, the control unit 143 controls the main battery standby loop discharge unit 1412 to be turned on, the standby battery discharge unit 1413 to be turned off, the main battery main loop discharge unit 1411 to be turned on, and the main battery standby loop discharge unit 1412 to be turned off in sequence, so as to switch from the standby battery 103 to the main battery 102, and the robot body is powered by the main battery 102.

[0092] In some embodiments, the mounting portion 121 is a telescopic component, and the operating portion 122 is a rotating handle, the telescopic component is locked or unlocked with the card slot by rotating the rotating handle.

[0093] In some embodiments, the telescopic component is a telescopic buckle.

[0094] In some embodiments, the way of the humanoid robot to autonomously change the battery is as follows: The mechanical arm of the humanoid robot is controlled to perform a disassembly operation on the depleted main battery in the battery compartment, and the power management module is configured to switch the standby battery in the robot body to power the humanoid robot according to the locking state of the depleted main battery in response to the disassembly operation; then, the mechanical arm is controlled to perform an installation operation on the full-power main battery of the target battery changing station, and the power management module is further configured to switch the full-power main battery to power the humanoid robot according to the locking state of the full-power main battery after detecting that the full-power main battery is installed into the battery compartment.

[0095] In this embodiment, Figure 8The schematic of the autonomous battery replacement of the mechanical arm provided in the embodiment of the present application Figure 1 As shown in Figure 8 The mechanical arm of the humanoid robot can be moved to the position of the battery compartment, and the main battery with insufficient power in the battery compartment is disassembled from the battery compartment. During the disassembly process, the power management module controls the main battery standby loop discharge unit to be turned on, the main battery main loop discharge unit to be turned off, the standby battery discharge unit to be turned on, and the main battery standby loop discharge unit to be turned off in sequence according to the locking state of the main battery with insufficient power and the battery compartment, so as to switch from the main battery to the standby battery, and the standby battery supplies power to the robot body. After that, the mechanical arm can take out the main battery with insufficient power from the battery compartment in the robot body and place the main battery with insufficient power in the target battery replacement station for charging.

[0096] Then, the mechanical arm grabs the main battery with sufficient power from the target battery replacement station. The mechanical arm can be moved to the position of the battery compartment, and the main battery with sufficient power is placed into the battery compartment for installation. During the installation process, the power management module controls the main battery standby loop discharge unit to be turned on, the standby battery discharge unit to be turned off, the main battery main loop discharge unit to be turned on, and the main battery standby loop discharge unit to be turned off in sequence according to the locking state of the main battery with sufficient power and the battery compartment, so as to switch from the standby battery to the main battery, and the main battery supplies power to the robot body.

[0097] The battery replacement method of the humanoid robot provided in the above embodiment provides two battery replacement modes, i.e., manual battery replacement and autonomous battery replacement, for the humanoid robot, so as to flexibly adapt to different situations and ensure that the humanoid robot can complete the battery replacement in time and avoid falling down due to power consumption.

[0098] In a possible implementation, after the target battery replacement station is determined in S201, the method can further include: According to the target battery replacement station, a battery replacement prompt information is sent to prompt a corresponding maintenance personnel to manually replace the battery for the humanoid robot.

[0099] During the manual battery replacement, the method can further include: The humanoid robot is controlled to be in a preset battery replacement posture.

[0100] In the embodiment, after the target battery replacement station is determined, a battery replacement prompt information is sent to the maintenance personnel, and the battery replacement station identifier of the target battery replacement station is included in the battery replacement prompt information. The maintenance personnel goes to the target battery replacement station corresponding to the battery replacement station identifier to manually replace the battery for the humanoid robot.

[0101] In some embodiments, the battery replacement station identifier of the target battery replacement station can be position information or number information of the target battery replacement station.

[0102] After the humanoid robot moves to the target battery swap station, the humanoid robot is controlled to be in a preset battery swap posture, and the humanoid robot waits for a maintenance personnel to manually swap the battery of the humanoid robot, wherein the preset battery swap posture is a low-power-consumption posture, for example, can be a vertical standing posture, or a posture convenient for the maintenance personnel to replace the main battery, and the embodiment does not limit this.

[0103] The battery replacement method of the humanoid robot provided in the above embodiment sends a battery swap prompt information to the maintenance personnel, so that the maintenance personnel can quickly go to the target battery swap station to replace the battery, controls the humanoid robot to be in a preset battery swap posture, and avoids power consumption before the maintenance personnel manually replaces the battery.

[0104] In a possible implementation, the switching condition of the preset battery swap mode can include: The humanoid robot is in a low-power-consumption mode for a preset time length, or the power of the main battery is less than a second power threshold, and the second power threshold is less than the first power threshold.

[0105] In some embodiments, in order to ensure that the humanoid robot can complete the battery replacement in time, the humanoid robot starts timing after moving to the target battery swap station and switching to the low-power-consumption mode, it is judged whether the waiting time length of the humanoid robot in the low-power-consumption mode waiting for the maintenance personnel to replace the battery exceeds a preset time length, if the waiting time length exceeds the preset time length, it is determined that the humanoid robot meets the preset battery swap mode switching condition, and the battery swap mode is switched to the autonomous battery swap mode.

[0106] In other embodiments, if the humanoid robot moves to the target battery swap station, there is no maintenance personnel at the target battery swap station to immediately replace the battery of the humanoid robot, and the power of the main battery is further lower than the second power threshold Q2, it is determined that the humanoid robot meets the preset battery swap mode switching condition, and the battery swap mode is switched to the autonomous battery swap mode.

[0107] The battery replacement method of the humanoid robot provided in the above embodiment controls the humanoid robot to switch the battery swap mode to the autonomous battery swap mode when the humanoid robot is in a low-power-consumption mode for a preset time length, or the power of the main battery is less than a second power threshold, thereby avoiding long waiting for battery replacement or power consumption before the battery is replaced.

[0108] In a possible implementation, before the humanoid robot is controlled to perform autonomous battery replacement, the method can further include: It is judged whether the power of the backup battery is greater than a third power threshold, and if the power of the backup battery is greater than the third power threshold, the humanoid robot is controlled to perform autonomous battery replacement.

[0109] In the embodiment, since the power consumption of the humanoid robot in the autonomous battery replacement process is greater than that in the manual battery replacement process, in order to avoid insufficient power of the standby battery in the autonomous battery replacement process, it is necessary to determine whether the power of the standby battery is greater than the third power threshold Q3 before the autonomous battery replacement is performed. If the power of the standby battery is greater than the third power threshold Q3, the humanoid robot is controlled to perform autonomous battery replacement.

[0110] In a possible implementation manner, Figure 9 The flowchart of the battery replacement method of the humanoid robot provided in the embodiment of the present application Figure 4 As shown in Figure 9 The process of controlling the humanoid robot to perform autonomous battery replacement can include: S501, control the humanoid robot to move to the first battery area of the target battery replacement station.

[0111] S502, control the mechanical arm of the humanoid robot to detach the main battery from the battery compartment and place the detached main battery in the first battery area.

[0112] S503, control the humanoid robot to move to the second battery area of the target battery replacement station.

[0113] S504, according to the position mark, determine the placement position of the main battery in the second battery area, control the mechanical arm of the humanoid robot to obtain the main battery from the second battery area, and install the obtained main battery to the battery compartment.

[0114] In the embodiment, the target battery replacement station includes the first battery area and the second battery area, the first battery area is the placement area of the depleted main battery, and the second battery area is the placement area of the full battery. After determining the target battery replacement station, the humanoid robot is first controlled to move to the first battery area of the target battery replacement station. After the humanoid robot reaches the first battery area, the mechanical arm of the humanoid robot is controlled to move to the position of the battery compartment, detach the depleted main battery in the battery compartment from the battery compartment, and place the detached main battery in the first battery area.

[0115] Then, control the humanoid robot to move to the second battery area of the target battery replacement station, control the mechanical arm of the humanoid robot to grab the full battery from the second battery area of the target battery replacement station. The mechanical arm can move to the position of the battery compartment, put the full battery into the battery compartment, and install the full battery.

[0116] The humanoid robot can determine the placement position of the main battery according to the position marker when the humanoid robot obtains the full main battery in the second battery area of the target battery swap station. The position marker can be arranged on the main battery or in a preset range of the main battery in the second battery area. The position marker can be a bar code or a two-dimensional code.

[0117] In an example, Figure 10 The schematic diagram of the autonomous battery swap of the mechanical arm Figure 2 As Figure 10 As shown in the figure, the position marker in the red circle position is used to identify the main battery dismounting position and the main battery placement position. The position marker is identified by the depth camera to control the humanoid robot to stand at the accurate position when dismounting and mounting the main battery.

[0118] Further, the first preset position of the main battery is provided with a retractable component, and a rotating handle connected with the retractable component. The second preset position of the battery compartment is provided with a battery clamping groove. The rotating handle controls the locking state of the retractable component and the battery clamping groove. The above control of the mechanical arm of the humanoid robot to dismount the main battery from the battery compartment comprises: controlling the mechanical arm of the humanoid robot to move, so that the end hand of the mechanical arm moves to the position where the battery compartment is located; controlling the end hand to pull up and rotate the rotating handle of the depleted main battery, so that the locking state of the retractable component of the depleted main battery and the battery clamping groove changes from a fully locked state to a half-locked state and then to a fully unlocked state; when the locking state of the rotating handle of the depleted main battery and the battery clamping groove is in the fully unlocked state, controlling the mechanical arm to pull out the depleted main battery from the battery compartment, thereby completing the dismounting of the depleted main battery.

[0119] In this embodiment, the rotating handle is in a state of adhering to the surface of the main battery in the normal state, that is, parallel to the surface of the main battery. When it is necessary to dismount the main battery, the end hand of the mechanical arm moves to the position where the battery compartment is located, grabs the rotating handle of the main battery and pulls it up, so that the rotating handle of the main battery is perpendicular to the surface of the main battery, and then the rotating handle of the main battery is rotated to change the locking state of the retractable component of the main battery and the battery clamping groove. When the locking state is in the half-locked state, the main battery standby loop discharge unit is sequentially controlled to be turned on, the standby battery discharge unit is turned off, the main battery main loop discharge unit is turned on, and the main battery standby loop discharge unit is turned off, so as to switch from the standby battery to the main battery, and the main battery supplies power to the robot body. Then, the rotating handle of the main battery is continuously rotated, so that the locking state changes to the fully unlocked state. Then, the mechanical arm pulls the rotating handle, so that the main battery moves outward from the battery compartment, the main battery is disconnected from the power management module, and the dismounting of the main battery is completed.

[0120] Furthermore, before controlling the end hand to pull up and rotate the rotary handle of the depleted main battery, the method may further include: The depth camera installed on the humanoid robot body determines that the end hand moves to the location of the battery compartment.

[0121] Before controlling the robotic arm to pull the depleted main battery out of the battery compartment, the method may further include: If a rotation resistance signal is received from the hand force sensor of the end hand, it is determined that the locking state of the retractable component of the low-power main battery and the battery slot is completely unlocked.

[0122] In some embodiments, the robotic arm recognizes information such as the position of the rotating handle of the main battery, and the end hand can use algorithms and hand sensors to complete actions such as grasping and rotating the rotating handle and removing the main battery.

[0123] In this embodiment, a depth camera is installed on the humanoid robot body, for example, Figure 11 Schematic diagram of autonomous battery replacement of the robotic arm provided in the embodiment of this application Figure 3 ,like Figure 11 As shown, the head of the humanoid robot can rotate 180° to look backward so as to use the depth camera to identify the position of the main battery at different distances. Figure 12 Schematic diagram of autonomous battery replacement of the robotic arm provided in the embodiment of this application Figure 4 ,like Figure 12 As shown, the humanoid robot has a three-degree-of-freedom head, which can raise and lower its head through the pitch degree of freedom to expand the field of view of the depth camera, so that it can see parts closer to the back shell of the body. In this way, during the process of removing or installing the main battery, it can be identified whether the end hand of the robotic arm has moved to the position where the battery compartment is located, and whether the fully charged main battery is completely installed in the battery compartment.

[0124] During the main battery removal process, the humanoid robot's head is controlled to rotate backward and lower its head so that the depth camera can see the end hand of the robotic arm. The depth camera can identify the distance between the end hand of the robotic arm and the battery compartment, and determine whether the end hand has moved to the location of the battery compartment. When it is determined that the end hand has moved to the location of the battery compartment, the end hand is controlled to grab the rotating handle of the main battery and pull it up.

[0125] The end hand of the humanoid robot's mechanical arm is equipped with a hand force sensor, which is used to detect whether the end hand has rotational resistance when rotating the rotating handle of the main battery. When the rotational resistance signal sent by the hand force sensor is received, it is determined that the rotating handle of the main battery is rotated into place, and the locking state of the retractable part of the main battery and the battery slot is completely unlocked.

[0126] Further, the above-mentioned control of the robot arm of the humanoid robot obtains the main battery from the second battery area, and installs the obtained main battery to the battery compartment, comprising: controlling the end hand to grab the rotating handle of the full-electricity main battery, and controlling the robot arm of the humanoid robot to move, so that the end hand moves the full-electricity main battery to the position where the battery compartment is located; controlling the end hand to pull up and rotate the rotating handle of the full-electricity main battery, so that the telescopic part of the full-electricity main battery is retracted; controlling the robot arm to push the full-electricity main battery into the battery compartment; and controlling the end hand to release the rotating handle, so that the locking state of the telescopic part of the full-electricity main battery and the battery clamping groove changes from the completely unlocked state to the half-locked state and then to the completely locked state, and the installation of the full-electricity main battery is completed.

[0127] In the embodiment, the humanoid robot determines the position of the full-electricity main battery in the target battery swap station, controls the end hand to grab the rotating handle of the full-electricity main battery, lifts up the full-electricity main battery from the target battery swap station, and then controls the robot arm to move, so that the full-electricity main battery is moved to the position where the battery compartment is located, and then the rotating handle of the full-electricity main battery is rotated, so that the telescopic part of the full-electricity main battery is retracted, and the full-electricity main battery is pushed into the battery compartment. The depth camera identifies whether the full-electricity main battery is completely pushed into the battery compartment. After determining that the full-electricity main battery is completely pushed into the battery compartment, the end hand is released, and the rotating handle is automatically rotated in the reverse direction, so that the telescopic part moves, the locking state of the telescopic part of the main battery and the battery clamping groove is changed, when the locking state is in the half-locked state, the main battery backup loop discharge unit is sequentially controlled to be turned on, the backup battery discharge unit is turned off, the main battery main loop discharge unit is turned on, and the main battery backup loop discharge unit is turned off, so as to switch from the backup battery to the main battery, and the main battery supplies power to the robot body. When the locking state is in the completely locked state, it is determined that the installation of the main battery is completed.

[0128] The above-mentioned embodiment provides a battery replacement method of a humanoid robot, controls the humanoid robot to disassemble the main battery in the first battery area, and installs the main battery in the second battery area, so as to realize the autonomous replacement of the main battery by the humanoid robot.

[0129] On the basis of the above-mentioned method embodiment, the embodiment of the present application provides a battery replacement device of a humanoid robot, which is applied to a controller of the humanoid robot. The humanoid robot is provided with a main battery and a backup battery. The main battery is detachably installed in a battery compartment of the robot body, and the backup battery is installed in the robot body. Figure 13 For the structure diagram of the battery replacement device of the humanoid robot provided by the embodiment of the present application, as shown in Figure 13 the device can include: The power judgment module 601 is configured to judge whether the power of the main battery is less than a first power threshold when the main battery supplies power to the humanoid robot. The battery swap station determination module 602 is configured to determine the target battery swap station if the power of the main battery is less than the first power threshold. The robot control module 603 is configured to control the humanoid robot to move to the target battery swap station to replace the main battery, and to power the humanoid robot by the backup battery during the replacement of the main battery.

[0130] Optionally, the battery swap station determination module 602 is specifically configured to determine the target battery swap station based on the current task of the humanoid robot and according to the current position of the humanoid robot and the positions of the plurality of battery swap stations.

[0131] Optionally, the battery swap station determination module 602 is specifically configured to determine a target moving direction of the humanoid robot based on the current task of the humanoid robot, to determine a preferred battery swap area according to the current position of the humanoid robot and the target moving direction, to select a battery swap station in the preferred battery swap area as the target battery swap station if there is a battery swap station in the preferred battery swap area, and to select a battery swap station closest to the current position of the humanoid robot from the plurality of battery swap stations as the target battery swap station if there is no battery swap station in the preferred battery swap area.

[0132] Optionally, the working area of the humanoid robot includes a plurality of sub-areas, and each sub-area has a corresponding battery swap station; the battery swap station determination module 602 is further configured to determine a target sub-area in which the humanoid robot is located according to the current position of the humanoid robot, and to determine a battery swap station corresponding to the target sub-area as the target battery swap station according to the correspondence between the sub-areas and the battery swap stations.

[0133] Optionally, the robot control module 603 is further configured to control the humanoid robot to switch to a low-power-consumption mode to wait for manual battery swap, and to control the humanoid robot to perform autonomous battery swap when a preset battery swap mode switching condition is met, or to directly control the humanoid robot to perform autonomous battery swap.

[0134] Optionally, the device can further include: The information sending module is configured to send a battery swap prompt information according to the target battery swap station to prompt a corresponding maintenance personnel to perform manual battery swap on the humanoid robot. During the manual battery swap, the robot control module 603 is further configured to control the humanoid robot to be in a preset battery swap posture.

[0135] Optionally, the preset battery swap mode switching condition includes that the humanoid robot is in a low-power-consumption mode for a preset time length, or the power of the main battery is less than a second power threshold, and the second power threshold is less than the first power threshold.

[0136] Optionally, the power judgment module 601 is further configured to judge whether the power of the backup battery is greater than a third power threshold. The robot control module 603 is also used to control the humanoid robot to perform autonomous battery replacement if the power level of the backup battery is greater than a third power threshold.

[0137] Optionally, the target battery swap station includes: a first battery area and a second battery area; the robot control module 603 is also used to control the humanoid robot to move to the first battery area of ​​the target battery swap station; control the humanoid robot's robotic arm to remove the main battery from the battery compartment, and place the removed main battery in the first battery area; control the humanoid robot to move to the second battery area of ​​the target battery swap station; determine the placement position of the main battery in the second battery area according to the position mark, control the humanoid robot's robotic arm to obtain the main battery from the second battery area, and install the obtained main battery into the battery compartment.

[0138] The above-mentioned device is used to execute the method provided in the above-mentioned embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0139] The above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more microprocessors, or one or more field programmable gate arrays (FPGAs). For example, when a module is implemented by scheduling program code through a processing element, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0140] Figure 14 A schematic diagram of a controller provided in an embodiment of the present application is shown in FIG. Figure 14 As shown, the controller 700 may include: a processor 701, a storage medium 702, and a bus. The storage medium 702 stores program instructions executable by the processor 701. When the controller 700 is running, the processor 701 and the storage medium 702 communicate via the bus, and the processor 701 executes the program instructions to perform the above-mentioned method embodiment. The specific implementation methods and technical effects are similar and will not be repeated here.

[0141] Optionally, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the above method embodiment is executed.

[0142] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or other forms.

[0143] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0144] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0145] The integrated unit realized in the form of software functional unit can be stored in a computer readable storage medium. The software functional unit stored in a storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated as: ROM), random access memory (English: Random Access Memory, abbreviated as: RAM), magnetic disk or optical disk and various program code storage media.

[0146] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for replacing a battery of a humanoid robot, characterized in that: A controller applied to a humanoid robot, wherein the humanoid robot is provided with a main battery and a backup battery, wherein the main battery is detachably mounted in a battery compartment of a body of the humanoid robot, and the backup battery is mounted in the body of the humanoid robot, and the method comprises: When the main battery is powering the humanoid robot, determining whether the power level of the main battery is less than a first power threshold; If the power level of the main battery is less than the first power threshold, determining a target battery swap station; The humanoid robot is controlled to move to the target battery swap station to replace the main battery. During the replacement of the main battery, the backup battery supplies power to the humanoid robot.

2. The method according to claim 1, wherein The determining of the target battery swap station includes: Based on the current task of the humanoid robot, the target battery swap station is determined according to the current position of the humanoid robot and the positions of multiple battery swap stations.

3. The method according to claim 2, wherein The determining the target battery swap station based on the current task of the humanoid robot and according to the current position of the humanoid robot and the positions of multiple battery swap stations includes: determining a target movement direction of the humanoid robot based on a current task of the humanoid robot; Determining a preferred battery swapping area according to the current position of the humanoid robot and the target moving direction; If there is a battery swap station in the preferred battery swap area, select a battery swap station from the preferred battery swap area as the target battery swap station; If there is no battery swap station in the preferred battery swap area, the battery swap station closest to the current position of the humanoid robot is selected from multiple battery swap stations as the target battery swap station.

4. The method according to claim 1, wherein The working area of ​​the humanoid robot includes a plurality of sub-areas, each sub-area having a corresponding battery swap station; The determining of the target battery swap station includes: determining a target sub-area where the humanoid robot is located according to the current position of the humanoid robot; According to the correspondence between the sub-areas and the battery swap stations, the battery swap station corresponding to the target sub-area is determined as the target battery swap station.

5. The method according to claim 1, wherein The main battery replacement process includes: Control the humanoid robot to switch to a low power consumption mode and wait for manual battery replacement, and when a preset battery replacement mode switching condition is met, control the humanoid robot to perform autonomous battery replacement; or Directly control the humanoid robot to perform autonomous battery replacement.

6. The method according to claim 5, wherein After determining the target battery swap station, the method further includes: According to the target battery swap station, a battery swap reminder message is sent to prompt the corresponding maintenance personnel to manually swap the battery of the humanoid robot; During manual battery replacement, the method further includes: Control the humanoid robot to be in a preset battery-changing posture.

7. The method according to claim 5, wherein The preset battery swap mode switching conditions include: The humanoid robot is in the low power consumption mode for a preset time period; or The power level of the main battery is less than a second power level threshold, and the second power level threshold is less than the first power level threshold.

8. The method according to claim 5, wherein Before controlling the humanoid robot to perform autonomous battery replacement, the method further includes: Determining whether the power level of the backup battery is greater than a third power threshold; If the power level of the backup battery is greater than the third power threshold, the humanoid robot is controlled to perform autonomous battery replacement.

9. The method according to claim 5, wherein The target battery swap station includes: a first battery area and a second battery area; The controlling the humanoid robot to perform autonomous battery replacement includes: Controlling the humanoid robot to move to the first battery area of ​​the target battery swap station; Controlling the robotic arm of the humanoid robot to remove the main battery from the battery compartment and place the removed main battery in the first battery area; Controlling the humanoid robot to move to the second battery area of ​​the target battery swap station; According to the position mark, the placement position of the main battery in the second battery area is determined, the robotic arm of the humanoid robot is controlled to obtain the main battery from the second battery area, and the obtained main battery is installed in the battery compartment.

10. A controller, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor. When the controller is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to perform the steps of the battery replacement method for a humanoid robot as described in any one of claims 1 to 9.

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