Robot, battery replacing system and control method of robot

Abstract

The present invention relates to a robot configured to receive power from a replaceably provided main battery, the robot comprising: a main body having an accommodation space in which the main battery is receivable in an extractable manner; a moving member configured to move the main body; and a lock member configured to move with respect to the main body between a withdrawal-permitted state in which the main battery accommodated in the accommodating space is permitted to be withdrawn from the accommodating space and a withdrawal-prohibited state in which the main battery accommodated in the accommodating space is prohibited from being withdrawn from the accommodating space.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0076565, filed on June 12, 2024, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a robot, a battery swapping system, and a control method for the robot. Background Technology

[0004] Typically, mobile robots are equipped with batteries to store the energy needed to operate the robot. When the battery's state of charge falls below a predetermined level, it is charged by an external charging station. However, when the battery is being charged by an external charging station, it takes a considerable amount of time to fully charge. Therefore, the robot cannot be used while the battery is charging.

[0005] Therefore, research on battery swapping technology has been growing recently, which allows existing batteries in a robot to be replaced with pre-prepared fully charged batteries when the state of charge of the robot's batteries falls below a predetermined level. Summary of the Invention

[0006] Embodiments of the present invention may provide a robot capable of efficiently replacing an existing battery with a fully charged battery by using the robot's movement.

[0007] To achieve the above advantages, embodiments of the present invention provide a robot that can be configured to receive power from a replaceably disposed main battery. The robot includes: a main body having a receiving space in which the main battery can be removably received; a moving part configured to move the main body; and a locking part configured to move relative to the main body between a removable state and a non-removable state, wherein the removable state is a state in which the main battery received in the receiving space is allowed to be removed from the receiving space, and the non-removable state is a state in which the main battery received in the receiving space is prohibited from being removed from the receiving space.

[0008] The robot also includes a controller configured to control a moving part and a locking part, wherein the direction in which the main battery is extracted from the receiving space is the extraction direction, and the locking part is configured such that the locking part in the allowed extraction state does not overlap with the receiving space relative to one side of the body viewed parallel to the extraction direction, and the locking part is configured such that at least a portion of the locking part in the prohibited extraction state overlaps with the receiving space, and wherein, in response to the state of charge of the main battery contained in the receiving space being below a predetermined level, the controller is configured to control the moving part such that the body moves along the extraction direction and is in a first posture, and then the controller controls the locking part such that the locking part is in the allowed extraction state.

[0009] The robot also includes an auxiliary battery configured to power the robot, wherein when the state of charge of the main battery housed in the housing is below a predetermined level, the controller switches the robot's power source from the main battery to the auxiliary battery and then controls the moving parts to bring the main body into a first posture.

[0010] The robot also includes a containment detection sensor configured to detect whether the main battery is contained in the containment space. When the containment detection sensor detects that the main battery is contained in the containment space while the main body is in a first posture, the controller controls the locking component to put the locking component in a state where it is prohibited from being pulled out.

[0011] The robot also includes a docking detection sensor configured to detect whether the robot docks with a first workstation area including a first battery compartment containing a first battery, the first battery being a main battery having a state of charge below a predetermined level. In response to the docking detection sensor detecting that the robot docks with the first workstation area, the controller is configured to control a locking component such that the locking component is in a removable state, allowing the first battery contained in the receiving space to be removed into the first battery compartment. Then, the controller controls a moving component such that the main body moves from a first posture along a second direction opposite to the removal direction and is in a second posture.

[0012] The robot also includes a containment detection sensor configured to detect whether a main battery is contained within a containment space. The docking detection sensor is further configured to detect whether the robot docks with a second workstation area including a second battery slot containing a second battery, which is another main battery having a state of charge exceeding a predetermined level. When the docking detection sensor detects that the robot is docked with the second workstation area, the controller controls a locking component to put the locking component in a removable state, allowing the second battery contained in the second battery slot to be contained within the containment space. Furthermore, when the containment detection sensor detects that the second battery is contained within the containment space, the controller controls the locking component to switch from a removable state to a prohibited state.

[0013] The present invention provides a method for controlling a robot, comprising the following steps: a state of charge determination step, determining whether the state of charge of the main battery is below a predetermined level; a first posture control step, controlling a moving part to be in a first posture; and an allow extraction step, controlling a locking part to be in an allow extraction state.

[0014] The method also includes a power supply change step, in which the power supply of the robot is changed from the main battery to a secondary battery installed in the robot when the state of charge determination step is determined to be below a predetermined level. After the power supply change step, a first attitude control step is performed.

[0015] The method further includes: a containment detection step, which detects whether the main battery is contained in the containment space; and a prohibition extraction step, which controls the locking component to be in a prohibition extraction state when the main battery is detected to be contained in the containment space during the containment detection step.

[0016] The method further includes: a first docking detection step, detecting whether the robot docks with a first workstation area having a first battery slot, the first battery slot containing a first battery, the first battery being a main battery having a state of charge below a predetermined level; and a second attitude control step, after performing the allow extraction step, when the robot docks with the first workstation area in the first docking detection step, the control body moves from the first attitude along a second direction opposite to the extraction direction and is in the second attitude, wherein the direction in which the main battery is extracted from the receiving space is the extraction direction.

[0017] The method further includes: a containment detection step, detecting whether the main battery is contained in the containment space; a second docking detection step, detecting whether the robot docks with a second workstation area having a second battery slot containing a second battery, the second battery being another main battery having a state of charge exceeding a predetermined level; and a prohibition extraction step, after the robot docks with the second workstation area in the second docking detection step and the allow extraction step is executed, when the second battery is detected to be contained in the containment space in the containment detection step, the locking component is switched from the allow extraction state to the prohibition extraction state.

[0018] One embodiment of the present invention provides a battery swapping system, including: a robot, a charging station configured to charge a main battery, wherein the charging station includes: a battery compartment configured to accommodate the main battery, a lifting platform configured to raise or lower the main battery accommodated in the battery compartment, and a docking area configured to dock with the robot, wherein the lifting platform is configured to raise or lower the main battery depending on whether the robot and the docking area are docked with each other.

[0019] The lifting platform includes a mounting surface for housing the main battery, which is configured to rise when the robot and the docking area are docked together, and to lower when the robot and the docking area are not docked.

[0020] According to embodiments of the present invention, a robot can effectively replace existing batteries with fully charged batteries. Attached Figure Description

[0021] Figure 1 This is a view showing the robot in a standing posture according to an embodiment of the present invention;

[0022] Figure 2 This is a view showing the robot in a seated posture according to an embodiment of the present invention;

[0023] Figure 3 This is a view showing the state of the workstation area when the robot docks with the docking area according to an embodiment of the present invention;

[0024] Figure 4 This is a view showing the state of the workstation area when the robot is not docked from the docking area according to an embodiment of the present invention;

[0025] Figure 5 This is a view showing the state in which the motor of the example lifting platform moves the main battery upward when the robot according to an embodiment of the present invention docks with the docking area;

[0026] Figure 6 This is a conceptual view illustrating a battery swapping system according to an embodiment of the present invention. Detailed Implementation

[0027] In the following description, some exemplary embodiments of the invention will be described in detail with reference to the illustrative drawings. When assigning reference numerals to the constituent elements of the corresponding drawings, it will be noted that, if possible, the same constituent elements may be represented by the same reference numerals, even if the constituent elements are shown in different drawings. In the following description of exemplary embodiments of the invention, a detailed description may be omitted when it is determined that a detailed description of a related, publicly known configuration or function might obscure the understanding of embodiments of the invention.

[0028] In the following description, a robot 10 and a battery swapping system including the robot 10 according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

[0029] Figure 1 This is a view showing the robot in a standing posture according to an embodiment of the present invention. Figure 2 This is a view showing the robot in a seated posture according to an embodiment of the present invention. Figure 3This is a view showing the state of the workstation area when the robot docks with the docking area according to an embodiment of the present invention. Figure 4 This is a view showing the state of the workstation area when the robot disengages from the docking area according to an embodiment of the present invention. Figure 5 This is a view showing the state in which the motor of the example lifting platform moves the main battery upward when the robot according to an embodiment of the present invention docks with the docking area. Figure 6 This is a conceptual view illustrating a battery swapping system according to an embodiment of the present invention. (Reference) Figures 1 to 6 The battery swapping system may include robot 10, charging station CS, and task manager TM.

[0030] Robot 10 can be configured as a mobile robot that moves on the ground or as a drone that flies in the air. Robot 10 can be configured to replace an existing main battery MB with a fully charged main battery MB. For example, Robot 10 can replace the main battery MB by docking with a charging station CS.

[0031] Robot 10 and charging station CS can communicate with each other via Task Manager TM in a wired and / or wireless manner. For example, Task Manager TM can be configured to receive signals from or transmit signals to Robot 10 and charging station CS.

[0032] refer to Figure 6 The charging station CS can have a workstation area for docking with the robot 10. The workstation area can include a docking area DR, a lifting platform LP, and a battery tank BS.

[0033] Return to reference Figure 3 and Figure 4 The docking area DR can refer to the area that can dock with the robot 10. For example, when the robot 10 docks with the docking area DR, the receiving space 101 and the battery slot BS can remain aligned with each other. With the receiving space 101 and the battery slot BS aligned with each other, the main battery MB can move between the receiving space 101 and the battery slot BS without interference.

[0034] The lifting platform LP can be configured with a mounting surface on which the main battery MB is placed. The lifting platform LP can raise or lower the main battery MB mounted on the mounting surface. For example, the mounting surface of the lifting platform LP can move upwards or downwards, corresponding to the movement of the docking area DR. In a detailed example, when the robot 10 presses down on the docking area DR and moves the docking area DR downwards relative to the ground, the mounting surface of the lifting platform LP can move upwards relative to the ground. When the docking area DR is released and moves upwards relative to the ground, the mounting surface of the lifting platform LP can move downwards relative to the ground.

[0035] For example, the lifting platform LP can have a lever structure including a docking section, a lifting section, and a support member. The docking section can move upwards / downwards, causing it to protrude upwards from the docking area DR or retract into the ground G. When the docking section is pressed downwards and retracted into the ground G, the lifting section can move its mounting surface upwards. The support member can support a point located between the docking section and the lifting section. Assuming the point supported by the support member is a support point, the docking section and the lifting section can move upwards or downwards in opposite directions based on the support point.

[0036] refer to Figure 5 As another example, the lifting platform LP may include a docking section and a motor M. For instance, when the docking section is moved downward by the robot 10, the motor M may move the mounting surface upward. The docking section and the motor M may be electrically connected. The motor M may be an actuator capable of moving the mounting surface upward or downward.

[0037] The workstation area can be set as multiple workstation areas. These multiple workstation areas may include a first workstation area SR1 and a second workstation area SR2. The first workstation area SR1 and the second workstation area SR2 can be located in different positions. A fully charged main battery MB can be located in the first workstation area SR1, and an existing main battery MB already installed in and used in the robot 10 can be accommodated in the second workstation area SR2.

[0038] The docking area, lifting platform, and battery tank of the first workstation area SR1 can be referred to as the first docking area DR1, the first lifting platform LP1, and the first battery tank BS1, respectively. The docking area, lifting platform, and battery tank of the second workstation area SR2 can be referred to as the second docking area DR2, the second lifting platform LP2, and the second battery tank BS2, respectively.

[0039] Return to reference Figure 1 and Figure 2 The robot 10 may include any one, any combination or all of the following: a main body 100, a moving part 200, a locking part 300, a secondary battery 400, a housing detection sensor 500, a docking detection sensor 600 and a controller 700. It may include multiple components or multiple parts thereof.

[0040] The main body 100 can be supported by the movable part 200. The main body 100 can support the locking part 300, the auxiliary battery 400, and accommodate the detection sensor 500 and the docking detection sensor 600. The accommodating space 101 can be formed in the main body 100.

[0041] The main battery MB is detachably housed in the receiving space 101. The receiving space 101 may be formed on the lower side of the body 100. For example, the receiving space 101 may have a downward opening shape. In other words, the receiving space 101 may have a shape that is concave upward from the lower end of the body 100.

[0042] The movable component 200 can move the main body 100. For example, the movable component 200 can be configured as multiple legs. Furthermore, each of the multiple legs can have one or more joints. The movable component 200 can be connected to the lower part of the main body 100. The movable component 200 can move the main body 100 in both the horizontal and vertical directions.

[0043] The movable component 200 can determine the posture of the body 100. For example, the body 100 can be in a seated posture by using the movable component 200 (see...). Figure 2 ) or standing posture (see Figure 1 In this instruction manual, the seated posture may be referred to as the first posture, and the standing posture may be referred to as the second posture.

[0044] For example, when the moving part 200 lowers the main body 100, which is in the second posture, the main body 100 can switch from the second posture to the first posture. When the main body 100 is in the first posture, the receiving space 101 can be tightly attached to the ground G in the vertical direction.

[0045] When the movable component 200 raises the main body 100 in a seated position, the main body 100 can switch from a first position to a second position. When the main body 100 is in the second position, the accommodating space 101 can be spaced apart from the ground G in the vertical direction. The movable component 200 can be controlled by the controller 700.

[0046] The locking member 300 can allow or prevent the main battery MB from being removed from the receiving space 101. The locking member 300 can move relative to the main body 100 between a state that allows removal and a state that prevents removal.

[0047] When the locking member 300 is in the withdrawable state, the main battery MB housed in the receiving space 101 can be withdrawn from the receiving space 101. For example, when the locking member 300 is in the withdrawable state, the receiving space 101 can open downwards. In a detailed example, when viewing one side of the body 100 along the withdrawal direction parallel to the withdrawal direction, the locking member 300 in the withdrawable state may not overlap with the receiving space 101. The withdrawal direction can refer to the direction in which the main battery MB housed in the receiving space 101 is withdrawn from the receiving space 101. For example, the withdrawal direction can be downwards.

[0048] When the locking member 300 is in the prohibited withdrawal state, the main battery MB housed in the receiving space 101 can be prevented from being withdrawn from the receiving space 101. For example, when the locking member 300 is in the prohibited withdrawal state, at least a portion of the lower side of the receiving space 101 can be closed. In a detailed example, when the body 100 is viewed from one side along the withdrawal direction parallel to the withdrawal direction, at least a portion of the locking member 300 in the prohibited withdrawal state can overlap with the receiving space 101.

[0049] Locking member 300 may be disposed on the lower part of body 100. Locking member 300 may be movable relative to body 100 to block the lower side of receiving space 101 from the outside. For example, locking member 300 may be configured to slide horizontally relative to body 100. Locking member 300 may be controlled by controller 700. Multiple locking members 300 may be provided.

[0050] Multiple locking members 300 may be arranged to be spaced apart from each other in a horizontal direction, with the center of the receiving space 101 located between them. The multiple locking members 300 may be movable toward or away from each other relative to the body 100. For example, the multiple locking members 300 may each have a baffle shape that blocks or allows the lower side of the receiving space 101 from the outside.

[0051] The auxiliary battery 400 can supply power to the robot 10. For example, when the robot 10 cannot receive power from the main battery MB, the auxiliary battery 400 can supply power to the robot 10. In a detailed example, when the state of charge of the main battery MB is below a predetermined level, the power supply to the robot 10 can be changed from the main battery MB to the auxiliary battery 400. In other words, the robot 10 can receive power from either the auxiliary battery 400 or the main battery MB. The predetermined level can be a level pre-input into the controller 700 or a variable level input from an external source.

[0052] The auxiliary battery 400 can supply power to the robot 10 while the main battery MB is being replaced, which prevents temporary power cuts to the robot 10. Therefore, hot swap is enabled because the robot 10 remains operational during battery replacement. The auxiliary battery 400 can be installed within the main body 100. The auxiliary battery 400 can be positioned above the receiving space 101.

[0053] The containment detection sensor 500 can detect whether the main battery MB is contained in the containment space 101. For example, when the main battery MB is contained in the containment space 101, the containment detection sensor 500 can transmit a containment signal to the controller 700. When the main battery MB is removed from the containment space 101, the containment detection sensor 500 can transmit a removal signal to the controller 700. The containment detection sensor 500 can be connected to the upper side of the containment space 101.

[0054] The docking detection sensor 600 can detect whether the robot 10 docks with the docking area DR of the workstation area. For example, the docking detection sensor 600 can detect whether the robot 10 docks with the first docking area DR1 of the first workstation area SR1 or with the second docking area DR2 of the second workstation area SR2. The docking detection sensor 600 can be disposed at the lower end of the main body 100. The present invention is not limited to this example. The docking detection sensor 600 can also be disposed in the docking area DR.

[0055] When the docking detection sensor 600 detects that the robot 10 is docked with the docking area DR, the robot 10 and the battery tank BS can remain aligned with each other. When the robot 10 and the battery tank BS are aligned, the horizontal edge of the receiving space 101 can correspond to the horizontal edge of the battery tank BS.

[0056] The controller 700 can control the moving part 200 and the locking part 300. When the state of charge of the main battery housed in the housing space 101 is below a predetermined level, the controller 700 can control the moving part 200 to move the robot 10 to the charging station CS. The main battery with a state of charge below the predetermined level can be referred to as the first battery.

[0057] The process of removing the first battery from the housing 101 will be described below.

[0058] The controller 700 can control the moving part 200 so that the receiving space 101 and the first battery slot BS1 are aligned with each other.

[0059] Subsequently, the controller 700 can switch the power supply of the robot 10 from the first battery to the auxiliary battery 400.

[0060] Subsequently, the controller 700 can control the moving part 200 so that the main body 100 moves in the extraction direction and is in the first posture (sitting posture).

[0061] Subsequently, Task Manager™ can control the first lifting platform LP1, causing the mounting surface to move upwards and approach the accommodating space 101.

[0062] Subsequently, when the docking detection sensor 600 detects that the robot 10 is docked with the first docking area DR1, the controller 700 can control the locking component 300 to put the locking component 300 in a removable state. In this case, the first battery housed in the receiving space 101 of the main body 100 can be placed on the raised mounting surface.

[0063] Subsequently, the controller 700 can control the moving part 200, causing the main body 100 to move from the first posture in the opposite direction (upward direction) to the extraction direction and into the second posture (standing posture). In this case, the task manager TM can control the first lifting platform LP1, causing the first battery placed on the mounting surface to be lowered and accommodated in the first battery slot BS1. Afterward, information indicating that the first battery is accommodated in the first battery slot BS1 can be updated in the task manager TM.

[0064] The process of inserting the second battery into the receiving space 101 will be described below.

[0065] The controller 700 can control the moving part 200 so that the receiving space 101 and the second battery slot BS2 are aligned with each other.

[0066] Subsequently, the controller 700 can control the moving part 200, causing the main body 100 to move in the extraction direction and be in the first posture.

[0067] Subsequently, when the docking detection sensor 600 detects that the robot 10 docks with the second docking area DR2, the controller 700 can control the locking component 300 to put the locking component 300 in the allowable withdrawal state.

[0068] Subsequently, Task Manager™ can control the second lifting platform LP2, causing the mounting surface to move upwards and approach the receiving space 101. In this case, the main battery MB, which is located in the second battery slot BS2 and has a state of charge exceeding a predetermined level, can be received in the receiving space 101. The main battery MB, which can have a state of charge exceeding a predetermined level, can be referred to as the second battery.

[0069] Furthermore, when the housing detection sensor 500 detects that the second battery is housed in the housing space 101, the controller 700 can control the locking member 300 to switch the locking member 300 from the allowable extraction state to the prohibition extraction state.

[0070] Subsequently, the controller 700 can switch the power supply of the robot 10 from the auxiliary battery 400 to a second battery. In this case, the auxiliary battery 400 can be charged by the second battery.

[0071] Subsequently, the controller 700 can control the moving parts, causing the main body 100 to switch from a first posture to a second posture. In this case, the task manager TM can control the second lifting platform LP2, causing the mounting surface to lower and be accommodated in the second battery slot BS2. Afterward, information indicating that the main battery MB is accommodated in the second battery slot BS2 can be updated in the task manager TM.

[0072] The controller 700 can be electrically connected to the moving part 200, the locking part 300, the auxiliary battery 400 and the task manager TM, and is implemented as a processor for decoding input-based information and executing instructions.

[0073] Hereinafter, a method for controlling a robot 10 according to an embodiment of the present invention will be described.

[0074] The method for controlling the robot may include: a state of charge determination step, a power supply change step, a first posture control step, a first docking detection step, an allow extraction step, a second posture control step, a second docking detection step, an containment detection step, and an prohibit extraction step.

[0075] In the state of charge determination step, it can be determined whether the state of charge of the main battery MB housed in the housing space 101 is at a predetermined level or lower. When it is determined in the state of charge determination step that the state of charge of the main battery MB is below the predetermined level, the robot 10 can move to the first workstation area SR1.

[0076] During the power supply change step, the power supply of robot 10 can be switched from either the main battery MB or the auxiliary battery 400 to the other. For example, when it is determined in the state of charge determination step that the state of charge of the main battery MB is below a predetermined level, the power supply of robot 10 can be switched from the main battery MB to the auxiliary battery 400.

[0077] As another example, when the state of charge (SBC) of the main battery MB is determined to exceed a predetermined level in the SBC determination step, the power supply of robot 10 can be changed from the auxiliary battery 400 to the main battery MB. For example, the power supply change step can be performed after the SBC determination step. The first attitude control step can be performed when the power supply of robot 10 changes from the auxiliary battery 400 to the main battery MB in the power supply change step.

[0078] In the first attitude control step, the main body 100 can switch from the second attitude to the first attitude. The first docking detection step can be executed in the first attitude control step when the main body 100 switches to the first attitude.

[0079] In the first docking detection step, it can be detected whether robot 10 is docked with the first docking area DR1. When robot 10 is detected to be docked with the first docking area DR1 in the first docking detection step, the allow extraction step can be executed.

[0080] During the extraction permission step, the locking component 300 can switch from an extraction permission state to an extraction permission state. When the extraction permission step is executed, the first battery can be extracted from the receiving space 101, so that the first battery is received in the first battery slot BS1. The second attitude control step can be performed after the extraction permission step is executed.

[0081] In the second attitude control step, the main body 100 can switch from the first attitude to the second attitude. After executing the second attitude control step, the robot 10 can be controlled to move to the second workstation area SR2. Then, the first attitude control step can be executed, causing the robot 10 to dock with the second docking area DR2. Afterwards, the second docking detection step can be executed.

[0082] In the second docking detection step, it can be detected whether robot 10 has docked with the second docking area DR2. When robot 10 is detected to have docked with the second docking area DR2 in the second docking detection step, an allow-extraction step can be performed. Afterwards, an accommodate detection step can be performed.

[0083] In the containment detection step, it can be detected whether the second battery is contained in the containment space 101. When the second battery is detected to be contained in the containment space 101 in the containment detection step, the extraction prohibition step can be performed.

[0084] During the prohibited extraction step, the locking component 300 can switch from the allowed extraction state to the prohibited extraction state.

[0085] All constituent elements constituting embodiments of the present invention may be integrally coupled or operated, but the present invention is not necessarily limited to exemplary embodiments. That is, one or more constituent elements may be selectively combined and operated in embodiments of the present invention. Unless expressly stated to the contrary, the words “comprising,” “including,” or “having,” and variations thereof, may be understood to imply inclusion of the stated elements but not exclusion of any other elements. Unless otherwise defined, terms including technical or scientific terms may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms such as those defined in common dictionaries may be interpreted as having a meaning consistent with their meaning in the relevant technical context.

[0086] The above description is merely illustrative of the technical spirit of the invention, and those skilled in the art will understand that various changes and modifications are possible without departing from the essential characteristics of the invention. Therefore, the exemplary embodiments disclosed herein are provided for illustrative purposes and are not intended to necessarily limit the technical spirit of the invention. The scope of the technical spirit of the invention is not limited thereto. The scope of protection of the invention can be understood based on the following claims, and all technical spirit within the equivalent scope of these claims can be understood to fall within the scope of the invention.

Claims

1. A robot, wherein, The robot is configured to receive power from a replaceable main battery, and the robot includes: The main body has a receiving space, in which the main battery can be removably housed; A movable component is configured to move the main body; and A locking component is configured to move relative to the body between a permitted extraction state and a prohibited extraction state, wherein the permitted extraction state is a state in which the main battery housed in the receiving space is allowed to be extracted from the receiving space, and the prohibited extraction state is a state in which the main battery housed in the receiving space is prohibited from being extracted from the receiving space.

2. The robot of claim 1, further comprising a controller configured to control the moving part and the locking part. in, The direction in which the main battery is extracted from the receiving space is the extraction direction. Relative to one side of the main body viewed parallel to the extraction direction, the locking member is configured such that the locking member in the extraction-allowed state does not overlap with the receiving space, and the locking member is configured such that at least a portion of the locking member in the extraction-prohibited state overlaps with the receiving space. In response to the main battery housed in the housing space having a state of charge below a predetermined level, the controller is configured to control the moving component, causing the main body to move along the extraction direction and be in a first posture, and then the controller controls the locking component to put the locking component in an extraction-allowed state.

3. The robot of claim 2, further comprising an auxiliary battery configured to supply power to the robot, wherein, In response to the state of charge of the main battery housed in the housing space being below a predetermined level, the controller is configured to switch the robot's power source from the main battery to the auxiliary battery, and then control the moving parts to position the main body in the first posture.

4. The robot of claim 2, further comprising a containment detection sensor configured to detect whether the main battery is contained within the containment space, wherein, In response to the containment detection sensor detecting that the main battery is contained in the containment space while the main body is in a first posture, the controller is configured to control the locking component to put the locking component in a state where it is prohibited from being pulled out.

5. The robot of claim 2, further comprising a docking detection sensor configured to detect whether the robot docks with a first workstation area including a first battery compartment, the first battery compartment housing a first battery, the first battery being the main battery having a state of charge below a predetermined level, wherein, In response to the docking detection sensor detecting that the robot docks with the first workstation area, the controller is configured to control the locking component so that the locking component is in a removable state, allowing the first battery contained in the receiving space to be removed into the first battery slot. Then the controller controls the moving component so that the main body moves from the first posture along a second direction opposite to the removal direction and is in the second posture.

6. The robot of claim 5, further comprising a containment detection sensor configured to detect whether the main battery is contained within the containment space. in, The docking detection sensor is also configured to detect whether the robot docks with a second workstation area including a second battery compartment, the second battery compartment accommodating a second battery, which is another main battery having a state of charge exceeding the predetermined level. In response to the docking detection sensor detecting that the robot is docking with the second workstation area, the controller is configured to control the locking component, causing the locking component to be in a removable state, thereby allowing the second battery, housed in the second battery slot, to be accommodated in the accommodating space. In response to the containment detection sensor detecting that the second battery is contained in the containment space, the controller is configured to control the locking component, causing the locking component to switch from a state that allows extraction to a state that prohibits extraction.

7. The robot of claim 1, further comprising a controller configured to control the moving part and the locking part, wherein, The controller is also configured to: Determine whether the state of charge of the main battery is below a predetermined level; Control the moving component so that the moving component is in a first posture; as well as Control the locking component so that it is in a retractable state.

8. The robot according to claim 7, wherein, The controller is also configured to: In response to determining that the state of charge of the main battery is below a predetermined level, the power supply for the robot is changed from the main battery to a secondary battery installed in the robot. Specifically, after the power source is changed to the auxiliary battery, control is performed to put the moving part into a first posture.

9. The robot according to claim 7, wherein, The controller is also configured to: Detecting whether the main battery is housed in the housing space; and In response to detecting that the main battery is housed in the housing space, the locking component is controlled to be in a state where the locking component is prohibited from being pulled out.

10. The robot according to claim 7, wherein, The controller is also configured to: After controlling the locking component to put it in the allowable withdrawal state, it is detected whether the robot docks with a first workstation area having a first battery slot, the first battery slot containing a first battery, the first battery being the main battery having a state of charge below a predetermined level; as well as In response to detecting that the robot docks with the first workstation area, the moving component is controlled to move the main body from the first posture along a second direction opposite to the extraction direction and to the second posture, wherein the direction in which the main battery is extracted from the receiving space is the extraction direction.

11. The robot according to claim 10, wherein, The controller is also configured to: Detect whether the main battery is housed in the housing space; Detect whether the robot docks with a second workstation area having a second battery slot, the second battery slot containing a second battery, which is another main battery having a state of charge exceeding the predetermined level; as well as After controlling the locking component to put it in the allowable withdrawal state, and after detecting that the robot is docked with the second workstation area, in response to detecting that the second battery is housed in the housing space, the locking component is switched from the allowable withdrawal state to the prohibitive withdrawal state.

12. A battery swapping system, comprising: A robot, configured to receive power from a replaceable main battery, wherein the robot comprises: The main body has a receiving space, in which the main battery can be removably housed. A movable component is configured to move the main body, and A locking component is configured to move relative to the body between a permitted extraction state and a prohibited extraction state, wherein the permitted extraction state is a state in which the main battery housed in the receiving space is allowed to be extracted from the receiving space, and the prohibited extraction state is a state in which the main battery housed in the receiving space is prohibited from being extracted from the receiving space. A charging station configured to charge the main battery, wherein the charging station includes: The battery compartment is configured to accommodate the main battery. A lifting platform is configured to raise or lower the main battery housed in the battery compartment, and A docking area is configured to dock with the robot, wherein the lifting platform is configured to raise or lower the main battery depending on whether the robot and the docking area are docked with each other.

13. The battery swapping system according to claim 12, wherein, The lifting platform includes a mounting surface for accommodating the main battery, wherein the mounting surface is configured to rise in response to the robot and the docking area docking with each other, and the mounting surface is configured to lower in response to the robot and the docking area not docking.

14. A method for controlling a robot, comprising the following steps: Determine whether the state of charge of the robot's main battery is below a predetermined level, wherein the robot is configured to receive power from the main battery, and wherein the main battery is alternatively disposed in a receiving space of the robot's body, and the main battery can be removably housed in the receiving space. In response to the main battery's state of charge being below a predetermined level, the robot's moving component is controlled to assume a first posture, wherein the moving component is configured to move the robot's main body; and In response to controlling the moving part to the first posture, the locking part is controlled to be in a withdrawable state, wherein the locking part is configured to move relative to the body between a withdrawable state and a withdrawable state, wherein the withdrawable state is a state in which the main battery housed in the receiving space is allowed to be withdrawn from the receiving space, and the withdrawable state is a state in which the main battery housed in the receiving space is prohibited from being withdrawn from the receiving space.

15. The method of claim 14, further comprising the step of: In response to determining that the state of charge of the main battery is below a predetermined level, the power supply of the robot is changed from the main battery to a secondary battery disposed in the robot, and wherein, after the power supply of the robot is changed from the main battery to the secondary battery, control is performed to make the moving part of the robot in the first posture.

16. The method of claim 14, further comprising the step of: Detect whether the main battery is housed in the housing space; as well as In response to detecting that the main battery is housed in the housing space, the locking component is controlled to be in a state where it is prohibited from being pulled out.

17. The method of claim 14, further comprising the step of: Detect whether the robot docks with a first workstation area having a first battery compartment containing a first battery, the first battery being the main battery having a state of charge below a predetermined level; as well as After controlling the locking component to put it in the allowable withdrawal state, in response to detecting that the robot is docked with the first workstation area, the main body is controlled to move from the first posture along a second direction opposite to the withdrawal direction and to the second posture, wherein the direction in which the main battery is withdrawn from the receiving space is the withdrawal direction.

18. The method of claim 17, further comprising the step of: Detect whether the main battery is housed in the housing space; Detect whether the robot docks with a second workstation area having a second battery slot, the second battery slot containing a second battery, which is another main battery having a state of charge exceeding a predetermined level; as well as After controlling the locking component to put it in a removable state in response to detecting that the robot is docked with the second workstation area, the locking component is switched from a removable state to a non-removable state in response to detecting that the second battery is housed in the housing space.

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