Battery replacing method, wheeled humanoid robot, readable storage medium and program product

Abstract

The application relates to a battery replacement method, a wheeled humanoid robot, a readable storage medium and a program product. The battery replacement method comprises the following steps: obtaining a battery replacement signal, controlling at least part of a first battery to be replaced in a battery compartment of the wheeled humanoid robot to push outwards, grabbing and transferring the first battery to be replaced after the at least part of the first battery to be replaced pushes outwards from the battery compartment, grabbing a second battery to be replaced provided by a battery replacement device, and loading the second battery to be replaced into the battery compartment. The battery replacement method, the wheeled humanoid robot, the readable storage medium and the program product can autonomously replace the battery, save time and labor, and do not need an additional large battery replacement device.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a battery swapping method, a wheeled humanoid robot, a readable storage medium, and a program product. Background Technology

[0002] With the development of robotics technology, robots with various specific functions are widely used in warehousing, logistics, security and other fields, reducing the labor intensity of workers while greatly improving work efficiency and reliability. Existing robots are typically powered by rechargeable batteries. When the robot's battery is depleted or about to be depleted, the robot moves to a charging station to replace the battery or recharge it online.

[0003] Wheeled humanoid robots, as a type of robot, combine the high efficiency and stability of traditional wheeled mobile platforms with the flexible maneuverability of a humanoid upper body. They exhibit significant advantages at the current stage of technological development and are particularly suitable for performing complex tasks in structured environments.

[0004] In wheeled humanoid robots of this technology, the batteries are mostly large-capacity, packaged batteries that are detachably housed in the robot's chassis. When the battery power is low, the wheeled humanoid robot moves to a charging station for online charging or to a battery swapping station for manual battery replacement. Manually changing the battery is inconvenient, time-consuming, and labor-intensive; while charging at a charging station requires waiting 1 to 2 hours, which is a relatively long wait. Summary of the Invention

[0005] Therefore, it is necessary to address the shortcomings of existing technologies by providing a battery swapping method, a wheeled humanoid robot, a readable storage medium, and a program product that can achieve autonomous battery replacement, saving time and effort.

[0006] Firstly, this application provides a battery swapping method applied to a wheeled humanoid robot, the battery swapping method comprising:

[0007] Obtain a battery swapping signal, and control at least a portion of the first battery to be replaced in the battery compartment of the wheeled humanoid robot to be pushed outward based on the battery swapping signal;

[0008] After at least a portion of the first battery to be replaced is pushed outward from the battery compartment, the first battery to be replaced is grasped and transferred; and

[0009] After the first battery to be replaced has been transferred, the second battery to be replaced provided by the battery swapping equipment is picked up and put into the battery compartment.

[0010] In one embodiment, the step of grasping and transferring the first battery to be replaced specifically includes:

[0011] Obtain the first actual length of the portion of the first battery to be replaced that has been pushed out of the battery compartment, and grab the first battery to be replaced according to the first actual length;

[0012] Once the first battery to be replaced is grabbed, the grabbed first battery to be replaced is transferred to the battery compartment of the battery swapping equipment or the waste collection device.

[0013] In one embodiment, the step of grasping the first battery to be replaced based on the first actual length specifically includes: obtaining a first preset length of the portion of the first battery to be replaced that has been pushed out of the battery compartment, calibrating the grasping position of the wheeled humanoid robot based on the difference between the first actual length and the first preset length, and grasping the first battery to be replaced based on the grasping position.

[0014] In one embodiment, the method for obtaining the first actual length includes the steps of: acquiring first image information after the first battery to be replaced is pushed out, and calculating the first actual length based on the first image information.

[0015] In one embodiment, the step of transferring the grasped first battery to be replaced to the battery compartment of the battery swapping device specifically includes:

[0016] Adjust the first battery to be replaced to face the side of the battery swapping device;

[0017] Acquire second image information of the battery swapping device and the first battery to be replaced, wherein the second image information includes image features of the battery swapping device and image features of the first battery to be replaced;

[0018] Adjust the position of the first battery to be replaced according to the image features of the battery swapping equipment and the image features of the first battery to be replaced, so that the first battery to be replaced is aligned with the battery compartment of the battery swapping equipment.

[0019] Once the first battery to be replaced is aligned with the battery compartment, the first battery to be replaced is inserted into the battery compartment.

[0020] In one embodiment, the step of adjusting the first battery to be replaced to face the side of the battery swapping device includes:

[0021] Acquire third image information of the surrounding environment of the wheeled humanoid robot, and calculate the relative orientation and relative height of the battery compartment and the first battery to be replaced based on the third image information;

[0022] The orientation of the first battery to be replaced is adjusted by rotating the battery compartment relative to the first battery to be replaced.

[0023] The height of the first battery to be replaced is adjusted according to the relative height between the battery compartment and the first battery to be replaced.

[0024] In one embodiment, the step of inserting the second battery to be replaced into the battery compartment specifically includes:

[0025] Align the second battery to be replaced with the battery compartment so that the second battery to be replaced is placed into the battery compartment;

[0026] Obtain the second actual length of the portion of the second battery to be replaced that protrudes outside the battery compartment, and press the second battery to be replaced into the battery compartment according to the second actual length.

[0027] In one embodiment, the step of pressing the second battery to be replaced into the battery compartment according to the second actual length includes: obtaining a second preset length of the portion of the second battery to be replaced protruding outside the battery compartment, calibrating the pressing position of the wheeled humanoid robot according to the difference between the second actual length and the second preset length, and pressing the second battery to be replaced based on the pressing position.

[0028] In one embodiment, the method for obtaining the second actual length includes the steps of: obtaining fourth image information of the second battery to be replaced after it has been placed in the battery compartment, and calculating the second actual length based on the fourth image information.

[0029] In one embodiment, the step of aligning the second battery to be replaced with the battery compartment includes:

[0030] Acquire fifth image information of the battery compartment and the second battery to be replaced, the fifth image information including image features of the battery compartment and image features of the second battery to be replaced;

[0031] Adjust the position of the second battery to be replaced according to the image features of the battery compartment and the image features of the second battery to be replaced, so that the second battery to be replaced is aligned with the battery compartment.

[0032] In one embodiment, prior to the step of controlling at least a portion of the first battery to be replaced in the battery compartment of the wheeled humanoid robot to be pushed outward according to the battery swapping signal, the method further includes:

[0033] Obtain the first position of the wheeled humanoid robot and the second position of the battery swapping device, and generate a movement route based on the first position and the second position;

[0034] The wheeled humanoid robot is controlled to move to the battery swapping area according to the mobile route.

[0035] In one embodiment, the step of controlling the wheeled humanoid robot to move to the battery swapping area specifically includes: acquiring sixth image information of the surrounding environment of the wheeled humanoid robot, and controlling the wheeled humanoid robot to move to the battery swapping area based on the sixth image information.

[0036] Secondly, this application also provides a wheeled humanoid robot, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described.

[0037] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described.

[0038] Fourthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described.

[0039] The aforementioned battery swapping method, wheeled humanoid robot, readable storage medium, and program product, when the wheeled humanoid robot needs to replace its battery, control the ejection of at least a portion of the first battery to be replaced from the battery compartment of the wheeled humanoid robot, enabling the wheeled humanoid robot to successfully grasp and transfer the first battery to be replaced. Then, control the wheeled humanoid robot to grasp a second battery to be replaced provided by the battery swapping device and install the second battery to be replaced into the battery compartment. Therefore, the wheeled humanoid robot can autonomously replace batteries, saving time and effort, and eliminating the need for additional large battery swapping equipment. Attached Figure Description

[0040] Figure 1 This is a structural diagram of the application environment for a battery swapping method according to an embodiment of this application.

[0041] Figure 2 This is a diagram showing the first working state of the wheeled humanoid robot according to the first embodiment of this application.

[0042] Figure 3 This is a diagram showing the second working state of the wheeled humanoid robot according to the first embodiment of this application.

[0043] Figure 4 This is a diagram showing the third working state of the wheeled humanoid robot according to the first embodiment of this application.

[0044] Figure 5 This is a diagram showing the fourth working state of the wheeled humanoid robot according to the first embodiment of this application.

[0045] Figure 6 This is a diagram showing the first working state of the wheeled humanoid robot according to the second embodiment of this application.

[0046] Figure 7 This is a diagram showing the second working state of the wheeled humanoid robot according to the second embodiment of this application.

[0047] Figure 8 This is a structural diagram of a wheeled humanoid robot according to the third embodiment of this application.

[0048] Figure 9 This is a flowchart of a battery swapping method according to an embodiment of this application.

[0049] Figure 10 This is a flowchart of the step of grabbing and transferring the first battery to be replaced according to an embodiment of this application.

[0050] Figure 11 This is a flowchart illustrating the step of transferring the first battery to be replaced to the battery compartment of the battery swapping device according to an embodiment of this application.

[0051] Figure 12 This is a flowchart illustrating the step of inserting the second battery to be replaced into the battery compartment according to an embodiment of this application.

[0052] Figure 13 This is a structural diagram of the movable chassis in a wheeled humanoid robot according to an embodiment of this application.

[0053] Figure 14 This is a structural diagram of a battery according to an embodiment of this application.

[0054] Figure 15 This is a structural diagram of the back side of a battery according to an embodiment of this application.

[0055] Figure 16 This is a structural diagram of the back of a battery according to another embodiment of this application.

[0056] Figure 17 This is a structural diagram of the locking mechanism in a wheeled humanoid robot according to an embodiment of this application.

[0057] Figure 18 for Figure 17 Side view of the locking mechanism shown.

[0058] Figure 19 This is a structural diagram of the ejection mechanism and adapter plate according to an embodiment of this application.

[0059] Figure 20 for Figure 19 The side view of the ejection mechanism and adapter plate shown.

[0060] Figure 21This is a structural diagram of the ejection mechanism and adapter plate according to another embodiment of this application.

[0061] Figure 22 for Figure 21 The side view of the ejection mechanism and adapter plate shown.

[0062] Figure 23 This is a structural diagram of the battery, ejection mechanism, and adapter plate according to another embodiment of this application.

[0063] Figure 24 for Figure 23 The diagram shows the structure of the adapter plate.

[0064] Figure 25 for Figure 23 The side view of the adapter plate shown.

[0065] Figure 26 This is a structural diagram of the battery, ejection mechanism, and adapter plate according to another embodiment of this application.

[0066] Figure 27 This is a structural diagram of a wheeled humanoid robot grasping a battery according to an embodiment of this application.

[0067] Explanation of reference numerals in the attached figures:

[0068] 10. Movable chassis; 11. Rollers; 12. Battery compartment; 121. Inlet / outlet; 20. Body; 30. Robotic arm; 31. Actuator; 40. Battery; 41. Function button; 42. Indicator light; 43. Handle; 44. Wear-resistant anti-slip plate; 45. Slide groove; 46. Locking mating part; 47. Output connector; 48. Input connector; 491. Positioning hole; 492. Abutment surface; 493. Second magnetic suction element; 50. Push-out mechanism; 51. Ejector pin; 52. Second elastic element; 53. Multi-link assembly; 54. Third elastic element; 55. Push plate; 551. First magnetic suction element; 56. Strong magnet; 57. Electric push rod; 60. Locking mechanism Structure; 61. Mounting base; 62. Locking component; 621. Locking pin; 622. Guide slope; 623. Connecting part; 63. First elastic element; 64. Electromagnetic coil; 71. Manual unlocking component; 72. Transmission component; 80. Adapter plate; 81. First connector; 82. Second connector; 83. Through hole; 91. Navigation system; 911. LiDAR; 92. Multi-degree-of-freedom adjustable joint; 921. Lifting joint; 922. First rotary joint; 923. Second rotary joint; 93. First camera; 94. Second camera; 95. Head; 96. Battery swapping equipment; 961. Battery compartment; 97. Sensor; 102. Terminal; 104. Server. Detailed Implementation

[0069] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0070] As described in the background section, the batteries in wheeled humanoid robots in the related art are mostly large-capacity, bulk batteries, which are heavy. As a result, manual replacement of these batteries is inconvenient, time-consuming, and labor-intensive.

[0071] Based on the above reasons, this application provides a battery swapping method, a wheeled humanoid robot, a readable storage medium, and a program product, which can realize autonomous battery replacement, saving time and effort.

[0072] The battery swapping method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104, or it can be located in the cloud or on another network server 104. Terminal 102 can be, but is not limited to, a wheeled humanoid robot. Server 104 can be a standalone physical server, a cluster of multiple physical servers 104, a distributed system, or a cloud server 104 providing cloud computing services.

[0073] It should be noted that, for ease of description and understanding, the terms "front," "rear," "up," "down," "left," and "right" in this embodiment refer to the normal operating state of the wheeled humanoid robot. The direction facing the user is "front," the direction away from the user is "rear," the vertical direction is "up and down," and the direction perpendicular to both the front-back and up-down directions is "left and right." For example... Figure 2 As shown.

[0074] For a better understanding of the battery swapping method described in this application, please refer to [link / reference]. Figures 2 to 8 , Figures 2 to 8 The illustrations depict specific application scenarios of the wheeled humanoid robot according to three different embodiments of this application, but are not intended to limit the scope of the application. Figures 2 to 5 The diagrams show four different working states of the wheeled humanoid robot corresponding to the first embodiment of this application. Figure 2The diagram illustrates the structure of a wheeled humanoid robot in which the first battery to be replaced is pushed outward from the battery compartment 12. The inlet and outlet 121 of the battery compartment 12 is located on the top surface of the movable chassis 10, and the first battery to be replaced is pushed upward from the top surface of the movable chassis 10. Figure 3 The diagram illustrates the structure of a wheeled humanoid robot whose robotic arm 30 grasps the first battery to be replaced, which is pushed outward from the battery compartment 12. Figure 4 The diagram illustrates the structure of a wheeled humanoid robot's robotic arm 30 grasping and transferring the first battery to be replaced. Figure 5 The diagram shows the structure of the wheeled humanoid robot after the first battery to be replaced has been transferred from its battery compartment 12. The battery compartment 12 is empty, so that the second battery to be replaced can be installed. Figure 6 and Figure 7 These correspond to two different working states of the wheeled humanoid robot in the second embodiment of this application. Compared to Figures 2 to 5 The main difference is that, Figure 6 The diagram illustrates that the entrance / exit 121 of the battery compartment 12 of the wheeled humanoid robot is located on the side of the movable chassis 10, that is... Figure 6 and Figure 7 The installation and removal direction of battery 40 is perpendicular to Figures 2 to 5 Battery 40 is shown in the installation and removal direction. Please refer to [link / reference]. Figure 6 The robotic arm 30 of the wheeled humanoid robot grasps the first battery to be replaced located on the side of the movable chassis 10. (See also...) Figure 7 The robotic arm 30 of the wheeled humanoid robot grasps the second battery to be replaced from the battery swapping device 96 and prepares to insert it into the battery compartment 12. (See also...) Figure 8 , Figure 8 The wheeled humanoid robot shown Figure 6 and Figure 7 The main difference between the wheeled humanoid robots shown is that... Figure 8 The number of battery compartments 12 in the wheeled humanoid robot shown is not limited to one, but can be multiple, specifically two, three, four or more. Figure 8 The wheeled humanoid robot shown has three battery compartments 12 on each side of its movable chassis 10. Because of the large number of battery compartments 12, the humanoid robot can be equipped with multiple batteries 40. As the number of batteries 40 increases, the total power capacity of the batteries 40 is guaranteed, and the wheeled humanoid robot's range meets the requirements. Furthermore, the capacity of a single battery 40 in this embodiment can be less than that of a single battery pack used in the prior art, meaning that batteries 40 with relatively smaller size and weight can be used. This allows the battery 40 to be easily lifted and moved by the robotic arm 30, making the battery loading and unloading operation stable and reliable.

[0075] like Figure 9 As shown, a battery swapping method is provided, applied to a wheeled humanoid robot, including the following steps S910 to S930. Wherein:

[0076] Step S910: Obtain a battery swapping signal, and control at least a portion of the first battery to be replaced in the battery compartment 12 of the wheeled humanoid robot to be pushed outward according to the battery swapping signal.

[0077] In step S910, when the battery power of the wheeled humanoid robot 40 decreases to a first threshold and / or the performance index of the battery 40 decreases to a second threshold, it indicates that the battery power and / or the performance index of the battery 40 do not meet the requirements, and a battery replacement signal is generated to push out the first battery to be replaced for replacement.

[0078] The first threshold includes, but is not limited to, less than 10%, or even less than 5%, or even less than 1%. The specific threshold can be flexibly adjusted and set according to actual needs, and no restrictions are imposed here.

[0079] Among them, the performance indicators of battery 40 include, but are not limited to, voltage, capacity, energy density, power density, internal resistance, cycle life, self-discharge rate, charge and discharge efficiency, temperature characteristics, safety, and charge and discharge rate (C-rate). The second threshold can be flexibly adjusted and set according to specific performance indicator requirements, and is not restricted here.

[0080] Optionally, step S910 specifically includes: controlling the locking mechanism 60 of the battery compartment 12 of the wheeled humanoid robot to unlock according to the battery swapping signal; the locking mechanism 60 releases the first battery to be replaced inside the battery compartment 12; and the first battery to be replaced is pushed out of the battery compartment 12 by the push-out mechanism 50. Thus, before the first battery to be replaced is pushed out of the battery compartment 12, the locking mechanism 60 is in a locked state, which locks the first battery to be replaced, ensuring that the first battery to be replaced is stably positioned inside the battery compartment 12 and is not easily detached from the battery compartment 12.

[0081] Step S920: After at least a portion of the first battery to be replaced is pushed out of the battery compartment 12, the first battery to be replaced is grasped and transferred.

[0082] In step S920, the first preset length of the portion of the first battery to be replaced extending out of the battery compartment 12 is D. The first preset length D can be flexibly adjusted and set according to actual needs, and is not limited here. The length of the first battery to be replaced is L. The ratio of D to L includes, but is not limited to, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%, etc., and can be flexibly adjusted and set according to actual needs. Specifically, 20% ≤ D / L ≤ 80%, and more specifically, 40% ≤ D / L ≤ 60%. When D / L > 80%, the first preset length D is large, which reduces stability and makes it easy for the wheeled humanoid robot to shift position or detach from the battery compartment 12 before grasping, leading to grasping failure. When D / L is less than 20%, the first preset length D is small, making it difficult for the wheeled humanoid robot's robotic arm 30 to grasp, reducing grasping stability, and even causing poor grasping performance. When 20%≤h / L≤80%, on the one hand, the first preset length D is not too large, so that the first battery to be replaced is stably placed in the battery compartment 12 before the wheeled humanoid robot grabs it, effectively reducing the defect of position displacement or detachment from the battery compartment 12 before grabbing; on the other hand, the first preset length D is not too small, so that the wheeled humanoid robot can easily grab the outward part of the first battery to be replaced, with a larger contact area, resulting in high grabbing stability and effectively avoiding the defect of empty grabbing.

[0083] Step S930: After the first battery to be replaced is transferred, grab the second battery to be replaced provided by the battery swapping device 96 and put the second battery to be replaced into the battery compartment 12.

[0084] In step S930, the first battery to be replaced is transferred, leaving the battery compartment 12 of the wheeled humanoid robot empty. The empty battery compartment 12 can be used to load the second battery to be replaced. It is worth noting that in some embodiments, the wheeled humanoid robot may also have a spare battery compartment 12; both the spare battery compartment 12 and the empty battery compartment 12 can be used to load the second battery to be replaced. The robotic arm 30 of the wheeled humanoid robot is freed from the first battery to be replaced, and can then grasp the second battery to be replaced and load it into the battery compartment 12.

[0085] Among them, the battery swapping equipment 96 includes, but is not limited to, battery swapping stations or battery swapping robots, as long as it can provide batteries 40 that meet the requirements of wheeled humanoid robots, and there are no restrictions here.

[0086] For example, the second battery to be replaced has the same type and dimensions as the first battery to be replaced, so that the second battery can replace the first battery. Of course, as some alternatives, the type and dimensions of the second battery to be replaced can also be different from those of the first battery, as long as the second battery to be replaced can be successfully installed in the battery compartment 12 of the wheeled humanoid robot and used by the wheeled humanoid robot.

[0087] In the aforementioned battery swapping method, when the wheeled humanoid robot needs to replace battery 40, at least a portion of the first battery to be replaced in the battery compartment 12 of the wheeled humanoid robot is pushed out, allowing the wheeled humanoid robot to successfully grasp and transfer the first battery to be replaced. Then, the wheeled humanoid robot grasps the second battery to be replaced provided by the battery swapping device 96 and inserts the second battery to be replaced into the battery compartment 12. Therefore, the wheeled humanoid robot can autonomously replace battery 40, saving time and effort, and eliminating the need for an additional large battery swapping device 96.

[0088] The battery compartment 12 is located in the movable chassis 10 of the wheeled humanoid robot. During the removal and installation of the battery 40, regardless of whether the battery 40 is pushed out from the side of the movable chassis 10 or from the top surface of the movable chassis 10, due to aging of the pushing mechanism 50 over time, there is a deviation between the actual position of the first battery to be replaced pushed outward and the first preset position. That is, there is a deviation between the first preset length D and the first actual length h. The first actual length h refers to the length of the part of the first battery to be replaced that is actually pushed outward. Figure 2 As shown in h in the figure. Subsequently, when the robotic arm 30 grasps the battery 40, it is prone to clamping position deviation. If the position of the first battery to be replaced is inaccurate, the position of the first battery to be replaced will also be inaccurate after the robotic arm 30 rotates and adjusts the orientation of the first battery to be replaced, making it impossible to accurately insert the first battery to be replaced into the battery swapping device 96. Even worse, when the position of the first battery to be replaced pushed outward is seriously incorrect, the robotic arm 30 will have the defect of grasping empty space. Based on this, on the basis of the aforementioned embodiment, in step S920, please refer to Figure 10 The step of grabbing and transferring the first battery to be replaced specifically includes steps S1010 and S1020.

[0089] Step S1010: Obtain the first actual length of the portion of the first battery to be replaced that has been pushed out of the battery compartment 12, and grab the first battery to be replaced according to the first actual length.

[0090] In step S1010, since the first actual length is obtained, the wheeled humanoid robot can be controlled to grasp the part of the first battery to be replaced that is pushed out of the battery compartment 12 according to the first actual length, instead of performing the grasping action based on the first preset length. The first actual length can accurately reflect the length of the part of the first battery to be replaced that is pushed out of the battery compartment 12, so that the clamping position of the first battery to be replaced is accurate and reliable, the grasping is stable, and the defects of empty grasping can be effectively reduced.

[0091] Specifically, in addition to obtaining the first actual length, a first preset length is also obtained for the portion of the first battery to be replaced that has been pushed out of the battery compartment 12. The first preset length is a parameter pre-stored in the memory and is set according to the specific external dimensions of the battery 40 and the depth of the battery compartment 12; no restrictions are imposed here. The gripping position of the wheeled humanoid robot is calibrated based on the difference between the first actual length and the first preset length, and the wheeled humanoid robot is controlled to grip the first battery to be replaced based on the gripping position.

[0092] Step S1020: After the first battery to be replaced is grabbed, the grabbed first battery to be replaced is transferred to the battery compartment 961 of the battery swapping device 96.

[0093] In step S1020, after the first battery to be replaced is accurately grasped by the wheeled humanoid robot, its position remains accurate even after being adjusted by the robot through flipping, moving, and rotating. This ensures that the first battery to be replaced can be precisely placed into the battery compartment 961 of the battery swapping device 96, effectively reducing collision damage caused by misalignment with the battery compartment 961. Once the first battery to be replaced is placed into the battery compartment 961 of the battery swapping device 96, its recycling is achieved, and the battery swapping device 96 can then charge it.

[0094] In step S1020, as an optional solution, if the performance indicators of the first battery to be replaced do not meet the requirements and need to be scrapped, then after the first battery to be replaced is grabbed, the control will transfer the first battery to be replaced to a waste collection device, including but not limited to a waste collection box.

[0095] Based on the aforementioned embodiments, in step S1010, the method for obtaining the first actual length includes: acquiring first image information after the first battery to be replaced is pushed out, and calculating the first actual length based on the first image information. Specifically, a first feature surface and a second feature surface can be identified from the first image information, and the first actual length h can be calculated based on the distance between the first feature surface and the second feature surface. Optionally, the first feature surface corresponds to the surface where the inlet / outlet 121 of the battery compartment 12 is located. Specifically, as shown... Figure 2As shown, the first feature surface is the top surface of the movable chassis 10. When the inlet / outlet 121 is located on the side of the movable chassis 10, the first feature surface is correspondingly the side surface of the movable chassis 10. The second feature surface corresponds to the end face of the first battery to be replaced that extends out of the battery compartment 12.

[0096] Based on the foregoing embodiments, please refer to Figure 11 In step S1020, the step of transferring the first battery to be replaced to the battery compartment 961 of the battery swapping device 96 specifically includes steps S1110 to S1140:

[0097] Step S1110: Adjust the first battery to be replaced to face the battery swapping device 96;

[0098] In step S1110, the position of the first battery to be replaced is adjusted by the wheeled humanoid robot so that the first battery to be replaced faces the battery compartment 961 of the battery swapping device 96 so that it can be installed into the battery compartment 961.

[0099] Step S1120: Obtain second image information of the battery swapping device 96 and the first battery to be replaced. The second image information includes image features of the battery swapping device 96 and image features of the first battery to be replaced.

[0100] In step S1120, since the first battery to be replaced is located on the side facing the battery swapping device 96, the battery swapping device 96 and the first battery to be replaced can be photographed so that the second image information can be obtained.

[0101] Step S1130: Adjust the position of the first battery to be replaced according to the image features of the battery swapping device 96 and the image features of the first battery to be replaced, so that the first battery to be replaced is aligned with the battery compartment 961 of the battery swapping device 96.

[0102] In step S1130, the image features include, but are not limited to, at least one of the following: color, brightness, and object outline shape. Specifically, the positional offset between the battery compartment 961 of the battery swapping device 96 and the first battery to be replaced can be calculated based on the image features of the battery swapping device 96 and the image features of the first battery to be replaced, and the position of the first battery to be replaced can be adjusted based on the positional offset.

[0103] Step S1140: After the first battery to be replaced is aligned with the battery compartment 961, insert the first battery to be replaced into the battery compartment 961.

[0104] Based on the foregoing embodiments, step S1110 specifically includes:

[0105] Acquire third image information of the surrounding environment of the wheeled humanoid robot, and calculate the relative orientation and relative height of the battery compartment 961 and the first battery to be replaced based on the third image information;

[0106] The position of the first battery to be replaced is adjusted by rotating the battery compartment 961 relative to the first battery to be replaced, and the height of the first battery to be replaced is adjusted by raising or lowering the battery compartment 961 relative to the first battery to be replaced.

[0107] In this embodiment, after the robotic arm 30 places the second battery to be replaced back into the battery compartment 12, part of the second battery to be replaced is inside the battery compartment 12, while the other part protrudes outside the battery compartment 12. Therefore, the robotic arm 30 needs to perform a pressing action to press the second battery to be replaced completely into the battery compartment 12. However, due to aging of the ejection mechanism 50 in the wheeled humanoid robot, the part of the second battery to be replaced protruding outside the battery compartment 12 deviates from the second preset position; that is, the second actual length of the part of the second battery to be replaced protruding outside the battery compartment 12 deviates from the second preset length. Consequently, when the robotic arm 30 presses the second battery to be replaced into the battery compartment 12, various defects such as the second battery to be replaced failing to be pressed in or interference causing it to jam are prone to occur, resulting in low reliability. Based on this, based on the aforementioned embodiment, please refer to... Figure 12 Step S930 specifically includes steps S1210 and S1220.

[0108] Step S1210: Align the second battery to be replaced with the battery compartment 12 so that the second battery to be replaced is placed into the battery compartment 12.

[0109] Step S1220: Obtain the second actual length of the portion of the second battery to be replaced that protrudes outside the battery compartment 12, and press the second battery to be replaced into the battery compartment 12 according to the second actual length.

[0110] In step S1220, since the second actual length is obtained, the pressing position of the second battery to be replaced can be controlled according to the second actual length, instead of the pressing action being based on the second preset length. The second actual length can accurately reflect the length of the part of the second battery to be replaced that protrudes outside the battery compartment 12, so that the pressing position of the second battery to be replaced is accurate and reliable, and the second battery to be replaced can be pressed into the battery compartment 12, and the collision damage defects can be effectively reduced.

[0111] In step S1220, the step of pressing the second battery to be replaced into the battery compartment 12 according to the second actual length specifically includes: obtaining the second preset length of the portion of the second battery to be replaced protruding from the battery compartment 12, wherein the second preset length is a parameter pre-stored in the memory, and is set according to the specific external dimensions of the battery 40 and the specific structure and dimensions of the ejection mechanism 50 in the battery compartment 12, and is not limited here. The pressing position of the wheeled humanoid robot is calibrated according to the difference between the second actual length and the second preset length, and the second battery to be replaced is pressed based on the pressing position.

[0112] Based on the aforementioned embodiments, the method for obtaining the second actual length includes the steps of: obtaining fourth image information after the second battery to be replaced is placed in the battery compartment 12, and calculating the second actual length based on the fourth image information.

[0113] Based on the aforementioned embodiments, step S1210, aligning the second battery to be replaced with the battery compartment 12, includes:

[0114] The fifth image information of the battery compartment 12 and the second battery to be replaced is obtained, wherein the fifth image information includes the image features of the battery compartment 12 and the image features of the second battery to be replaced.

[0115] Adjust the position of the second battery to be replaced according to the image features of the battery compartment 12 and the image features of the second battery to be replaced, so that the second battery to be replaced is aligned with the battery compartment 12.

[0116] In this step, the image features include, but are not limited to, at least one of the following: color, brightness, and object outline shape. Specifically, the positional offset between the battery compartment 12 and the second battery to be replaced can be calculated using the image features of the battery compartment 12 and the second battery to be replaced, and the position of the second battery to be replaced can be adjusted based on the positional offset.

[0117] Based on the aforementioned embodiment, step S910 further includes the following step before pushing the first battery to be replaced out of the battery compartment 12:

[0118] Step S911: Obtain the first position of the wheeled humanoid robot and the second position of the battery swapping device 96, and generate a movement route based on the first and second positions;

[0119] Step S912: Control the wheeled humanoid robot to move to the battery swapping area according to the moving route.

[0120] In step S912, the battery swapping area is the area where the battery swapping device 96 replaces the battery.

[0121] Specifically, step S912 includes: acquiring the sixth image information of the surrounding environment of the wheeled humanoid robot, and controlling the wheeled humanoid robot to move to the battery swapping area based on the sixth image information.

[0122] In this step, in one optional implementation, the wheeled humanoid robot acquires sixth image information during movement, extracts image features from the sixth image information, and the image features can be at least one of the following: color, brightness, object outline shape, characters, QR codes, etc. Based on the image features, it identifies whether there is an obstacle or a battery swapping area, and obtains the distance to the obstacle or battery swapping area, thereby enabling precise control of the wheeled humanoid robot's movement and position adjustment. Alternatively, in another optional implementation, the sixth image information can be panoramic image information. Coordinates are established based on the panoramic image information, and the current coordinates of the wheeled humanoid robot and the coordinates of the battery swapping area are found. Then, a movement route is planned based on the coordinates, and the wheeled humanoid robot is controlled to move according to the movement route.

[0123] Specifically, the sixth image information includes images of obstacles and the battery swapping area. The steps for controlling the movement of the wheeled humanoid robot based on the sixth image information specifically include steps S9121 and S9122:

[0124] Step S9121: Control the movement of the wheeled humanoid robot according to the obstacle, so that the wheeled humanoid robot has a safe distance from the obstacle.

[0125] In step S9121, the specific size of the safety distance can be flexibly adjusted and set according to actual needs, and is not limited here. By setting the safety distance, the wheeled humanoid robot can avoid obstacles during movement, effectively reducing the risk of collision damage.

[0126] Step S9122: Control the wheeled humanoid robot to stop moving based on the image of the battery swapping area, so that the wheeled humanoid robot stays in the battery swapping area.

[0127] In step S9122, when the image of the battery swapping area is identified from the sixth image information during the movement of the wheeled humanoid robot, it indicates that the wheeled humanoid robot has arrived at the battery swapping area, enabling the wheeled humanoid robot to move accurately to the battery swapping area.

[0128] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0129] In one exemplary embodiment, a wheeled humanoid robot is provided, which may be terminal 102, and its internal structure diagram may be as follows. Figure 13 As shown, the wheeled humanoid robot includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with an external terminal 102. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a battery swapping method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the wheeled humanoid robot can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the shell of the wheeled humanoid robot, or external keyboards, touchpads, or mice, etc.

[0130] In one embodiment, a wheeled humanoid robot is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0131] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0132] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0133] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0134] To make the wheeled humanoid robot of this application clearer, the following will combine... Figures 2 to 8 and Figures 14 to 27 To elaborate further.

[0135] See Figure 2 One embodiment of this application provides a wheeled humanoid robot, which includes a movable chassis 10, a body 20, and a robotic arm 30.

[0136] The movable chassis 10 serves as the mobile platform for the wheeled humanoid robot, enabling it to flexibly move to the target location as needed. Specifically, when the battery 40 has a low charge, it can actively move to the battery swapping device 96 for battery swapping; or, according to instructions, it can move to the target workstation to perform various tasks.

[0137] For example, the movable chassis 10 includes a main body, a power mechanism, and rollers 11. The power mechanism is located within the main body and includes, but is not limited to, a motor. The power mechanism is connected to the rollers 11 and drives them to rotate. The rollers 11 are located at the bottom of the main body, and the number of rollers 11 includes, but is not limited to, one, two, three, four, six, or more. To enhance mobility, the rollers 11 are omnidirectional wheels. When the movable chassis 10 moves in the forward and backward direction, it correspondingly drives the machine body 20 and the robotic arm 30 to move in the same direction.

[0138] For example, the movable chassis 10 is provided with a battery compartment 12 for housing a battery 40. The battery 40 provides power to various electrical components of the wheeled humanoid robot, such as the controller, power mechanism, and camera, enabling these components to operate normally.

[0139] For example, the fuselage 20 is connected to the movable chassis 10. The movable chassis 10 serves to support the fuselage 20 and can move the fuselage 20 synchronously to adjust its position.

[0140] For example, the robotic arm 30 is connected to the body 20. The robotic arm 30 can remove the battery 40 from the battery compartment 12 and insert the battery 40 into the battery compartment 12. The number of robotic arms 30 can be one, two, three, four, or more, and is not limited here. In this embodiment, there are two robotic arms 30, located on the left and right sides of the body 20 respectively. The two robotic arms 30 can work in coordination to easily perform the disassembly and assembly of the battery 40. Of course, the two robotic arms 30 can also perform other tasks according to actual needs, such as transporting parts, assembling parts, and processing parts.

[0141] In use, when the battery 40's charge level is lower than a target value, the movable chassis 10 can move to the battery swapping device 96. The robotic arm 30 then retrieves the battery 40 with the lower charge from the battery compartment 12 and picks up the fully charged battery 40, placing it into the battery compartment 12. Therefore, it can autonomously replace the battery 40, saving time and effort, and eliminating the need for an additional large battery swapping device 96.

[0142] Based on the aforementioned embodiments, the battery compartment 12 is provided with an inlet / outlet 121 for picking up and placing batteries 40. Through the inlet / outlet 121, the robotic arm 30 can remove batteries 40 from the battery compartment 12 and place batteries 40 into the battery compartment 12. Specifically, all the inlets / outlets 121 of the battery compartment 12 are located on at least one of the top surface and side surface of the movable chassis 10. That is, all the inlets / outlets 121 of the battery compartment 12 can be located on the top surface of the movable chassis 10, with the battery compartment 12 extending downwards from the top surface of the movable chassis 10. This allows the robotic arm 30 to grasp batteries 40 and move them vertically into or out of the battery compartment 12. Alternatively, all the inlets / outlets 121 of the battery compartment 12 can be located on the side surface of the movable chassis 10, with the battery compartment 12 extending laterally from the side surface into the movable chassis 10. This allows the robotic arm 30 to grasp batteries 40 and move them laterally into or out of the battery compartment 12. Of course, some of the inlet and outlet 121 of the battery compartment 12 can be located on the side of the movable chassis 10, while the remaining inlet and outlet 121 of the battery compartment 12 can be located on the top surface of the movable chassis 10.

[0143] For example, two battery compartments 12 can be configured, located on the left and right sides of the movable chassis 10, respectively. The two battery compartments 12 can be arranged overlapping, for example, along the left-right direction of the wheeled humanoid robot. The inlet and outlet 121 of both battery compartments 12 are formed on the top surface of the movable chassis 10. The battery compartments 12 extend downwards from the top surface of the movable chassis 10. When replacing the battery 40, the robotic arm 30 aligns with the battery 40 to be replaced, grasps the battery 40, moves upwards to remove it from the battery compartment 12, and then grasps a new battery 40 and moves downwards to insert it into the battery compartment 12 through the inlet and outlet 121.

[0144] The external shape of the battery 40 includes, but is not limited to, a cube, a cylinder, or other regular or irregular shapes; no restrictions are imposed here. To facilitate stable gripping and replacement of the battery 40, this example uses a cube as an example. The shape of the battery compartment 12 is adapted to the shape of the battery 40, allowing for stable mounting of the battery 40.

[0145] Please refer to the following: Figure 14For example, the battery 40 is provided with a function button 41. The function button 41 is located on the front of the battery 40, and the function button 41 may be, for example, a power switch for controlling the battery 40 to be turned on or off, or for other functions, which are not limited here.

[0146] For example, the battery 40 also includes an indicator light 42 to display the battery level. To facilitate user observation of the battery level, the indicator light 42 is specifically positioned on the front of the battery 40, which is exposed through the inlet / outlet 121 of the battery compartment 12 for user observation. The number of indicator lights 42 is not limited to one; it can be two, three, five, or other numbers. In this embodiment, for instance... Figure 14 The indicator lights 42 shown are five in total, but this is not a limitation; the number of indicator lights 42 can be more or less. Indicator lights 42 are, for example, LEDs, with five LEDs used to display the SOC of battery 40. One indicator light 42 displays two colors (e.g., red and green), while the remaining indicator lights 42 display one color (e.g., single-color green). The remaining power of battery 40 is proportional to the number of indicator lights 42 lit. After battery 40 is powered on, the remaining power of battery 40 can be determined by the number of lit indicator lights 42. When the battery is low, all single-color indicator lights 42 are off, and the two-color indicator lights 42 display red light. Indicator lights 42 can also support flashing (at a frequency of, for example, 1Hz) to indicate the charging status.

[0147] To enhance the flexibility of battery 40 retrieval, the battery 40 can be replaced not only by the robotic arm 30 of the wheeled humanoid robot itself, but also manually by a person. For example, the battery 40 is also equipped with a handle 43. The handle 43 is located on the front of the battery 40 and is exposed through the inlet / outlet 121 of the battery compartment 12. The handle 43 facilitates manual removal or placement of the battery 40 from or into the battery compartment 12 by a person.

[0148] Please continue reading. Figure 14 For example, the side of the battery 40 is provided with wear-resistant anti-slip plates 44. Specifically, there are two wear-resistant anti-slip plates 44, which are located on opposite sides of the battery 40. When the robotic arm 30 contacts the wear-resistant anti-slip plates 44, the friction is large, which can realize stable picking and placing of the battery 40 and effectively prevent the battery 40 from accidentally falling or shifting.

[0149] For example, the side of the battery 40 is also provided with a sliding groove 45, and the number of sliding grooves 45 is one, two or more. The inner wall of the battery compartment 12 is provided with a guide. The guide and the sliding groove 45 are slidably engaged along the infeed direction of the battery 40. The guide includes, but is not limited to, guide blocks, guide ribs, etc. The sliding groove 45 and the wear-resistant anti-slip plate 44 can be arranged on the same side of the battery 40 or on two adjacent sides of the battery 40, without limitation. During the process of entering and exiting the battery compartment 12, the guide and the sliding groove 45 are slidably engaged, so that the battery 40 can smoothly and quickly enter and exit along the sliding direction of the sliding groove 45, which can avoid jamming defects.

[0150] For example, the side of the battery 40 is also provided with a locking engagement portion 46, which includes, but is not limited to, a groove or locking hole formed on the side of the battery 40. The locking engagement portion 46 cooperates with the locking mechanism 60 of the wheeled humanoid robot to lock and position the battery 40, so that the battery 40 is stably placed in the battery compartment 12. In addition, the battery 40 is also provided with a sensing engagement portion, which is correspondingly arranged with the locking engagement portion 46 and is specifically located, for example, within the locking engagement portion 46. The wheeled humanoid robot also includes a sensor 97, which is connected to the locking mechanism 60. The sensor 97 includes, but is not limited to, a Hall sensor 97 or a photoelectric sensor 97. The sensing engagement portion is set according to the sensor 97. Taking the sensor 97 as a Hall sensor 97 as an example, the sensing engagement portion is a magnetic component, specifically a magnet. When the locking mechanism 60 and the locking engagement part 46 are locked together, the sensor 97 and the sensing engagement part are close to each other, and the sensor can then sense the sensing engagement part. Conversely, when the locking mechanism 60 and the locking engagement part 46 are separated, the sensor 97 and the sensing engagement part are separated, and the sensor cannot sense the sensing engagement part. Therefore, it is possible to determine whether the locking mechanism 60 has locked the battery 40 based on the sensing signal of the sensor 97.

[0151] Please see Figure 15 or Figure 16 The battery 40 is equipped with an output connector 47 and an input connector 48. The output connector 47 is the interface for the battery 40 to supply power to external devices, and the input connector 48 is the interface for charging the battery 40. Both the output connector 47 and the input connector 48 are located on the back of the battery 40. When the battery 40 is inserted into the battery compartment 12, the output connector 47 and the input connector 48 are successfully connected. The battery 40 can supply power to various electrical components of the wheeled humanoid robot through the output connector 47. Specifically, the output connector 47 has two positive and two negative terminals, and the two positive terminals are as follows: Figure 15 As shown in P1 and P2, the two negative electrodes are as follows: Figure 15 As shown in P3 and P4. The output connector 47 also has multiple signal input sections, such as... Figure 15The signals S1 to S6 are shown in the diagram. S1 and S2 correspond to the presence detection signals of battery 40, S3 and S4 correspond to the power-on trigger signals of battery 40, and S5 and S6 correspond to the communication signals of battery 40, which can be either RS485 or CAN communication signals. Furthermore, the input connector 48 provides a charging interface and a communication interface to battery 40, facilitating charging of battery 40.

[0152] Figure 15 and Figure 16 The specific differences mainly depend on the launch mechanism 50 of the wheeled humanoid robot. Specifically, Figure 16 The reverse side of the battery 40 shown is specifically the same as Figure 19 and Figure 20 The ejection mechanism 50 shown is adapted to the configuration. Figure 16 The reverse side of the battery 40 shown is specifically the same as Figure 21 and Figure 22 The ejection mechanism 50 shown is adapted to the configuration. Figure 15 and Figure 16 The cooperation between each entity and the issuing organization 50 will be described in detail later.

[0153] Please see Figure 13 For example, the wheeled humanoid robot also includes a push-out mechanism 50. The push-out mechanism 50 is disposed within the battery compartment 12 and is used to push at least a portion of the battery 40 out of the battery compartment 12. Thus, before the robotic arm 30 grasps the battery 40 within the battery compartment 12, at least a portion of the battery 40 is pushed out of the battery compartment 12 by the push-out mechanism 50. This allows the robotic arm 30 to easily grasp the portion of the battery 40 pushed out of the battery compartment 12 and continue to completely remove the battery 40 from the battery compartment 12. Furthermore, under the action of the push-out mechanism 50, the battery 40 can be quickly ejected from the battery compartment 12, effectively avoiding arcing defects caused by slow breaking speed of the battery 40, thereby improving safety and increasing service life.

[0154] Please continue reading. Figure 13 Based on the aforementioned embodiments, the wheeled humanoid robot also includes a locking mechanism 60. The locking mechanism 60 is disposed on the movable chassis 10. Furthermore, the locking mechanism 60 has a locked state and an unlocked state. When the locking mechanism 60 is in the locked state, it locks the battery 40 located in the battery compartment 12, thus stably positioning the battery 40 within the battery compartment 12 and preventing it from being pushed outward by the ejection mechanism 50. Conversely, when the locking mechanism 60 is in the unlocked state, it releases the battery 40 from the battery compartment 12, and the ejection mechanism 50 pushes at least a portion of the battery 40 out of the battery compartment 12.

[0155] In this embodiment, the ejection mechanism 50 can eject the battery 40 from the battery compartment 12 based on elastic restoring force, or based on electric thrust, or in other ways. There are no restrictions here, and it can be flexibly adjusted and set according to actual needs.

[0156] In this embodiment, the locking mechanism 60 can be electrically controlled, manually controlled, or a combination of both. There are no restrictions here, as long as it can work in coordination with the ejection mechanism 50 to enable the replacement of the battery 40 and to insert it into the battery compartment 12 and lock it stably to prevent it from being accidentally ejected. The specific design can be flexibly adjusted and set according to actual needs, and there are no restrictions here.

[0157] For example, the locking mechanism 60 is an electromagnetic lock. After receiving an unlocking command from the wheeled humanoid robot, the electromagnetic lock switches to the unlocking state, thereby releasing the battery 40 in the battery compartment 12; after receiving a locking command from the wheeled humanoid robot, the electromagnetic lock switches to the locking state, thereby locking the battery 40 in the battery compartment 12.

[0158] Based on the aforementioned embodiments, the locking mechanism 60 includes a mounting base 61, a locking member 62, a first elastic member 63, and an electromagnetic coil 64. The mounting base 61 is connected to the movable chassis 10. The locking member 62 is movably disposed on the mounting base 61. The first elastic member 63 is connected between the locking member 62 and the mounting base 61, and the first elastic member 63 may include, but is not limited to, a spring. The electromagnetic coil 64 is wound around the mounting base 61. After receiving an unlocking command, the locking mechanism 60 energizes the electromagnetic coil 64, and the mounting base 61 generates a magnetic force that causes the locking member 62 to move, switching to the unlocked state, and the locking member 62 causes the first elastic member 63 to elastically deform; conversely, after receiving an unlocking command, the locking mechanism 60 de-energizes the electromagnetic coil 64, the magnetic force of the mounting base 61 disappears, and the first elastic member 63, under its own restoring force, causes the locking member 62 to move in the opposite direction, switching to the locked state. For details, please refer to... Figure 17 When the electromagnetic coil 64 is energized, the mounting base 61 generates a magnetic attraction force that causes the locking member 62 to move closer. The locking member 62 moves upward and switches to the unlocked state, and the first elastic member 63 is compressed accordingly. Conversely, when the electromagnetic coil 64 is de-energized, the magnetic attraction force of the mounting base 61 disappears, and the elastic force of the first elastic member 63 causes the locking member 62 to move away from the mounting base 61. The locking member 62 moves downward and switches to the locked state.

[0159] Based on the aforementioned embodiment, the locking member 62 includes a locking pin 621. Furthermore, a locking engagement portion 46 is provided on the side of the battery 40. The locking pin 621 engages with the locking engagement portion 46, thereby stably locking the battery 40 in the locked state. Additionally, the sensor 97 is specifically connected to the locking pin 621. When the locking pin 621 extends into the locking engagement part 46, the locking pin 621 locks into the locking engagement part 46, the battery 40 is locked and positioned in the battery compartment 12, and the sensor 97 extends into the locking engagement part 46 and can then sense the sensing engagement part. The sensor 97 transmits the locking signal to the controller of the wheeled humanoid robot. Conversely, when the locking pin 621 disengages from the locking engagement part 46, the locking pin 621 releases the locking engagement part 46, the battery 40 is in an unlocked state, and the sensor 97 disengages from the locking engagement part 46 and can no longer sense the sensing engagement part. The sensor 97 transmits the unlocking signal to the controller of the wheeled humanoid robot.

[0160] Please see Figure 17 and Figure 18 Optionally, the end of the locking pin 621 is provided with a guide slope 622, which is set at an angle to the insertion direction of the battery 40. The guide slope 622 is located on the side of the locking pin 621 facing the inlet and outlet 121 of the battery compartment 12. When the battery 40 is inserted into the battery compartment 12, when the battery 40 contacts the locking pin 621, it can abut against the guide slope 622 and cause the locking pin 621 to gradually retract, thereby unlocking. Until the battery 40 is fully inserted, the locking pin 621 enters the locking engagement part 46 under the elastic force of the first elastic member 63.

[0161] In some embodiments, the wheeled humanoid robot also includes a manual unlocking component 71. The manual unlocking component 71 is connected to the locking mechanism 60 and extends at least partially beyond the movable chassis 10. The manual unlocking component 71 can move the locking mechanism 60 to the unlocked state. Thus, when it is necessary to remove the battery 40 from the battery compartment 12, the battery 40 can be automatically retrieved and placed by the wheeled humanoid robot's robotic arm 30, or manually by a person. Especially when the wheeled humanoid robot is in a powered-off or malfunctioning state, the locking mechanism 60 cannot be automatically unlocked, but the battery 40 can be manually replaced by unlocking the locking mechanism 60 using the manual unlocking component 71. Specifically, a person uses the manual unlocking component 71 to move the locking mechanism 60 to the unlocked state, and then pulls the handle 43 to remove the battery 40 from the battery compartment 12; conversely, after a person places a fully charged battery 40 into the battery compartment 12, the manual unlocking component 71 is released, and the locking mechanism 60 locks the battery 40.

[0162] Please refer to the following: Figure 17 and Figure 18 , Figure 18 for Figure 17The side view of the locking mechanism 60 shown indicates that the manual unlocking component 71 is specifically connected to the locking component 62 in a transmission manner. The manual unlocking component 71 can drive the locking component 62 to move upward, causing the locking component 62 to switch from the locked state to the unlocked state. Figure 18 The dashed line M represents the surface of the movable chassis 10. The left side of the dashed line M represents the interior of the movable chassis 10, and the right side represents the exterior of the movable chassis 10. The manual unlocking component 71 extends beyond the movable chassis 10 for easy manual unlocking. The wheeled humanoid robot also includes a transmission component 72, through which the manual unlocking component 71 is connected to the unlocking component. The manual unlocking component 71 drives the transmission component 72, which in turn drives the unlocking component to move, thus unlocking the component. Optionally, the transmission component 72 is a transmission link, and the locking component 62 also includes a connecting part 623 connected to one end of the transmission link. Pressing down on the manual unlocking component 71 causes one end of the transmission link to move downwards, and the other end of the transmission link correspondingly drives the connecting part 623 to move upwards, thus switching the locking component 62 to the unlocked state. Of course, it is understandable that the transmission component 72 and the manual unlocking component 71 can also adopt a gear combination or other structure. That is, by rotating the manual unlocking component 71, the manual unlocking component 71 drives the transmission component 72 to rotate. When the transmission component 72 rotates, it drives the locking component 62 to move accordingly, thereby unlocking the locking mechanism 60.

[0163] Based on the aforementioned embodiments, the wheeled humanoid robot also includes an adapter plate 80. The adapter plate 80 is disposed within the battery compartment 12, located on the side of the battery compartment 12 opposite to the inlet / outlet 121. With the assistance of the adapter plate 80, the inserted battery 40 can be quickly and accurately connected to the wheeled humanoid robot's electrical and communication systems. After the battery 40 is installed in the battery compartment 12 and connected to the adapter plate 80, an electrical and communication connection is established with the wheeled humanoid robot. Specifically, the adapter plate 80 is provided with a first connector 81 and a second connector 82. The first connector 81 is used for electrical connection with the output connector 47 of the battery 40, and the second connector 82 is used for electrical connection with the input connector 48 of the battery 40. The ejection mechanism 50 is specifically connected to the adapter plate 80. The adapter plate 80 supports the ejection mechanism 50, allowing the ejection mechanism 50 to act on the back of the battery 40 and eject the battery 40 out of the battery compartment 12. Furthermore, if the disconnection speed between the battery 40 and the adapter plate 80 is slow, and due to the large current between the battery 40 and the adapter plate 80, a sudden current change during the disconnection process can cause arcing defects, making the first connector 81 and the second connector 82 of the battery 40, as well as the output connector 47 and the input connector 48 of the adapter plate 80, prone to damage. However, in this embodiment, the pushing force of the pushing mechanism 50 applied to the battery 40 enables rapid disconnection between the battery 40 and the adapter plate 80, reducing the contact time between them, thereby reducing the sudden current change and arcing defects during the disconnection process, and extending the service life of the battery 40 and the adapter plate 80.

[0164] Please see Figure 19 and Figure 20 , Figure 19 This diagram illustrates the structure of the ejection mechanism 50 and the adapter plate 80 according to one embodiment. Figure 20 for Figure 19 The diagram shows a side view of the ejection mechanism 50 and the adapter plate 80. Specifically, the ejection mechanism 50 includes a ejector pin 51 and a second elastic element 52. The adapter plate 80 has a through hole 83, through which the ejector pin 51 is movably inserted. The ejector pin 51 is connected to at least one of the movable base 10 and the adapter plate 80 via the second elastic element 52. Specifically, the second elastic element 52 includes, but is not limited to, a spring, which is sleeved on the ejector pin 51. The spring can be connected between the ejector pin 51 and the movable base 10, or between the ejector pin 51 and the adapter plate 80; this is not limited here. One end of the ejector pin 51 that extends into the battery compartment 12 also abuts against the back of the battery 40. Thus, before the locking mechanism 60 is unlocked, the second elastic element 52 is in a stretched or compressed state, and the ejector pin 51 is not ejected by the second elastic element 52; after the locking mechanism 60 is unlocked, the second elastic element 52 can drive the ejector pin 51 to pop out through its own elastic restoring force, and the ejector pin 51 acts on the back of the battery 40, so that the battery 40 is quickly pushed out of the battery compartment 12.

[0165] Based on the aforementioned embodiments, there are multiple ejector pins 51, second elastic elements 52, and through holes 83. Each ejector pin 51 is correspondingly arranged with each through hole 83, and each ejector pin 51 is also correspondingly arranged with each second elastic element 52. Multiple through holes 83 are arranged at intervals on the adapter plate 80. Specifically, the number of through holes 83 is not less than three, for example, four, five, six, eight, or more. The more through holes 83 there are, the more ejector pins 51 there are. After the locking mechanism 60 is unlocked, all ejector pins 51 simultaneously abut against the back of the battery 40, allowing the battery 40 to quickly pop outwards.

[0166] Please refer to the following: Figure 15 , Figure 19 and Figure 20 The back of the battery 40 is provided with positioning holes 491, which are correspondingly set with ejector pins 51. The number of positioning holes 491 is the same as the number of ejector pins 51. When the battery 40 is inserted into the battery compartment 12, each ejector pin 51 extends into its corresponding positioning hole 491. The ejector pins 51 provide better positioning for the battery 40 and enable the battery 40 to be ejected quickly and stably.

[0167] The outward ejection distance of the battery 40 is adaptively adjusted according to the length of the ejector pin 51. Therefore, the outward ejection distance of the battery 40 can be adaptively adjusted by adjusting the length of the ejector pin 51. After the battery 40 ejects from the battery compartment 12, the robotic arm 30 grabs the ejected battery 40, removes the battery 40 from the battery compartment 12, and places the battery 40 in the battery swapping device 96 for charging.

[0168] Of course, the number of institutions launching the program is not limited to 50. Figure 19 and Figure 20 The structure shown can also be flexibly adjusted and set to various other structural forms according to actual needs, which will be introduced in detail below.

[0169] Please see Figure 21 and Figure 22 , Figure 21 A structural diagram of the ejection mechanism 50 and the adapter plate 80 according to another embodiment of this application is shown. Figure 22 It shows Figure 21The side view of the ejection mechanism 50 and the adapter plate 80 is shown. In another embodiment, the ejection mechanism 50 includes a multi-link assembly 53, a third elastic element 54, and a push plate 55. The multi-link assembly 53 and the third elastic element 54 are each connected between the push plate 55 and the adapter plate 80. The push plate 55 is used to abut against the back of the battery 40. The multi-link assembly 53 includes, but is not limited to, a scissor lift assembly. The third elastic element 54 includes, but is not limited to, a spring or elastic strip. When the locking mechanism 60 is unlocked, the third elastic element 54 acts on the push plate 55 through its own elastic force, and the push plate 55 acts accordingly on the back of the battery 40, causing the battery 40 to be ejected outwards. During the action of the push plate 55, the multi-link assembly 53 adaptably moves and supports the push plate 55, which facilitates the smooth ejection of the battery 40 by the push plate 55. Compared to... Figure 19 and Figure 20 Regarding the launching mechanism 50 shown, Figure 21 and Figure 22 In the ejection mechanism 50 shown, the push plate 55 makes surface contact with the back of the battery 40. (See also...) Figure 16 The back of the battery 40 has an abutment surface 492, which abuts against the push plate 55. Therefore, the push plate 55 makes the battery 40 more stable when pushed outward, and there is no need to set up a dense array of ejector pins 51.

[0170] Based on the foregoing embodiments, the number of ejection mechanisms 50 is not limited to one, but may include, for example, two, three, four or more, without limitation. In this embodiment, two ejection mechanisms 50 are used as an example, with the two ejection mechanisms 50 respectively arranged at opposite ends of the adapter plate 80. Thus, after the locking mechanism 60 is unlocked, the two ejection mechanisms 50 act synchronously on the back of the battery 40, allowing the battery 40 to be stably ejected outward.

[0171] Based on the aforementioned embodiment, the push plate 55 is provided with a first magnetic suction member 551, and the back of the battery 40 is provided with a second magnetic suction member 493. The first magnetic suction member 551 and the second magnetic suction member 493 are magnetically attracted to each other. Optionally, at least one of the first magnetic suction member 551 and the second magnetic suction member 493 is a permanent magnet, and the other is a magnetic component that cooperates with the permanent magnet. In this way, under the magnetic attraction of the first magnetic suction member 551 and the second magnetic suction member 493, the battery 40 and the push plate 55 are always attracted together. Then, when the push plate 55 pushes the battery 40 outward, it can prevent the pushing force from being too large and causing the battery 40 to fly out of the battery compartment 12. That is, it can ensure that the battery 40 is pushed out of the battery compartment 12 according to the preset requirements, for example, so that part of the battery 40 is pushed out of the battery compartment 12, while the other part of the battery 40 is still in the battery compartment 12. This makes it easier for the robotic arm 30 to smoothly grasp the battery 40 that has been pushed out of the battery compartment 12.

[0172] Please see Figures 23 to 24 , Figure 23 A structural diagram of the battery 40, the ejection mechanism 50, and the adapter plate 80 according to another embodiment of this application is shown. Figure 20 It shows Figure 23 The diagram shows the structure of the adapter plate 80. Figure 24 It shows Figure 23 The diagram shows a side view of the adapter plate 80. For example, the ejection mechanism 50 includes two strong magnets 56 with opposite polarities. One strong magnet 56 is disposed on the adapter plate 80, and the other strong magnet 56 is disposed on the back of the battery 40. Thus, when the locking mechanism 60 is unlocked, the repulsive force between the two strong magnets 56 allows the battery 40 to be ejected from the battery compartment 12. There are two ejection mechanisms 50, located at opposite ends of the adapter plate 80. This ensures that the battery 40 experiences balanced force during ejection, allowing it to be ejected stably.

[0173] Please see Figure 26 , Figure 26 A structural diagram of a battery 40, an ejection mechanism 50, and an adapter plate 80 according to another embodiment of this application is shown. For example, the ejection mechanism 50 includes an electric push rod 57. The electric push rod 57 is connected to the adapter plate 80 and also abuts against the back of the battery 40. Thus, when the locking mechanism 60 is unlocked, the electric push rod 57 actuates to eject the battery 40 out of the battery compartment 12. The outward ejection distance of the battery 40 can be adaptively adjusted by adjusting the length of the electric push rod 57. Furthermore, to improve the stability of the outward ejection of the battery 40, for example, two electric push rods 57 are used, with each electric push rod 57 connected to opposite ends of the adapter plate 80.

[0174] Please refer to the following: Figures 2 to 8 Based on the aforementioned embodiments, the wheeled humanoid robot also includes a navigation system 91. The navigation system 91 includes, but is not limited to, at least one of a lidar 911, an ultrasonic radar, etc. Taking the example where the navigation system 91 includes a lidar 911, the number of lidars 911 may be one, two, three, or more. The lidars 911 are connected to at least one of the movable chassis 10 and the body 20. In this embodiment, there are specifically two lidars 911, respectively arranged on opposite sides of the front and rear of the movable chassis 10. For example, the navigation system 91 is electrically connected to a controller. The navigation system 91 can obtain the nearest battery swapping device 96, and the controller controls the wheeled humanoid robot to move to the nearest battery swapping device 96 based on the navigation position information of the navigation system 91. Furthermore, under the navigation of the navigation system 91, it can perform obstacle avoidance.

[0175] Based on the aforementioned embodiments, safety contact mechanisms can be provided on the front and rear sides or around the perimeter of the movable chassis 10. When the safety contact mechanism touches an obstacle, it generates a sensing signal and transmits it to the controller. The controller then controls the movable chassis 10 to stop moving, thereby preventing collision damage.

[0176] Please refer to the following: Figures 2 to 8 In some embodiments, the wheeled humanoid robot further includes a multi-degree-of-freedom adjustable joint 92. The multi-degree-of-freedom adjustable joint 92 is connected between the body 20 and the movable chassis 10. Specifically, the multi-degree-of-freedom adjustable joint 92 includes at least one of a lifting joint 921, a first rotary joint 922, and a second rotary joint 923. The lifting joint 921 can raise and lower the body 20, allowing the body 20 to adjust its position relative to the movable chassis 10. The first rotary joint 922 can drive the body 20 to rotate around a first direction to adjust its position. The first direction includes, but is not limited to, the central axis of the wheeled humanoid robot, i.e., it allows the body 20 to rotate and adjust its position in the forward, backward, left, and right directions, which is beneficial for removing the battery 40 from the side of the movable chassis 10. The second rotary joint 923 can drive the body 20 to rotate around a second direction to adjust its position. The second direction is set at an angle to the first direction, specifically perpendicular to each other. When the first direction is vertical, the second direction is correspondingly a left-right direction or a forward-backward direction, etc. That is, the second rotary joint 923 allows the body 20 to bend and adjust its angle. Under the action of the multi-degree-of-freedom adjustable joint 92, the body 20 can drive the robotic arm 30 to flexibly adjust its position as needed, thereby enabling the removal of batteries 40 from battery compartments 12 at different positions on the movable chassis 10, and also facilitating the loading of the grabbed batteries 40 into the battery swapping device 96 in confined spaces.

[0177] Please refer to the following: Figures 2 to 8 In some embodiments, the end of the robotic arm 30 furthest from the body 20 is provided with an actuator 31. The actuator 31 is used to grasp the battery 40. The actuator 31 includes, but is not limited to, a robotic hand, etc., and can perform flexible grasping actions under the control of the controller. Thus, the robotic arm 30 can stably grasp the battery 40 under the action of the actuator 31.

[0178] To improve the gripping accuracy of battery 40 and the reliability of battery 40 installation, please refer to [further details]. Figure 2 For example, the wheeled humanoid robot also includes a first camera 93 and a controller. The first camera 93 is connected to the body 20 and is specifically located, for example, at the bottom of the body 20. The camera portion of the first camera 93 is positioned opposite to the movable chassis 10, and both the first camera 93 and the robotic arm 30 are electrically connected to the controller.

[0179] When the camera body 20 rotates to the left or right side of the movable chassis 10 via the multi-degree-of-freedom adjustment mechanism, the imaging part of the first camera 93 is aligned with the battery 40 to be removed. The first camera 93 performs image recognition to determine the pixel information of the reference surface of the movable chassis 10 corresponding to the inlet / outlet 121 of the battery 40. Figure 2 As shown, the reference surface is specifically the top surface of the movable chassis 10. The controller controls the locking mechanism 60 to switch to the unlocked state, and the first battery to be replaced in the battery compartment 12 is pushed outward by the ejection mechanism 50. The first actual length of the portion of the first battery to be replaced pushed outward is as shown... Figure 2 The value shown is h. The first camera 93 identifies the height of the first battery to be replaced protruding beyond the reference surface, i.e., it acquires the size of h. Once h is accurately acquired, the controller controls the robotic arm 30 to move according to h. The actuator 31 of the robotic arm 30 moves to a position opposite to the first battery to be replaced, approaches and clamps the first battery to be replaced, avoiding the defect of the battery 40 being missed. Furthermore, after the actuator 31 of the robotic arm 30 accurately clamps the first battery to be replaced, the robotic arm 30 moves the first battery to be replaced, causing the first battery to be replaced to be removed from the battery compartment 12. Because the position of the actuator 31 clamping the first battery to be replaced is highly accurate, the position of the first battery to be replaced can be accurately controlled and adjusted, so that the removed first battery to be replaced can be accurately placed into the battery swapping device 96.

[0180] Similarly, after the second battery to be replaced is placed into the battery compartment 12, the first camera 93 can identify the second actual length of the part of the battery 40 protruding outside the battery compartment 12. Then, the controller can accurately calculate the pressure value of the battery 40 based on the second actual length and the second preset length, and control the robotic arm 30 to move accurately to the position opposite to the second battery to be replaced. After the robotic arm 30 contacts the second battery to be replaced, it drives the second battery to be replaced to move into the battery compartment 12 according to the pressure value, so that the second battery to be replaced is completely inserted into the battery compartment 12. The installation of the second battery to be replaced has high reliability.

[0181] Based on the aforementioned embodiments, the wheeled humanoid robot also includes a second camera 94 and a head 95. The head 95 is connected to the top of the body 20, and the second camera 94 is connected to the head 95 and electrically connected to the controller. The second camera 94 can acquire image information of the battery swapping device 96 and accurately identify the location of the battery compartment 961 of the battery swapping device 96. Subsequently, the robotic arm 30 can accurately insert the first battery to be replaced into the battery compartment 961 of the battery swapping device 96. Furthermore, the robotic arm 30 can also accurately grasp the second battery to be replaced ejected from the battery swapping device 96 and place the second battery to be replaced back into the battery compartment 12.

[0182] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A battery swapping method, characterized in that, The battery swapping method, applied to wheeled humanoid robots, includes: Obtain a battery swapping signal, and control at least a portion of the first battery to be replaced in the battery compartment of the wheeled humanoid robot to be pushed outward based on the battery swapping signal; After at least a portion of the first battery to be replaced is pushed outward from the battery compartment, the first battery to be replaced is grasped and transferred; and After the first battery to be replaced has been transferred, the second battery to be replaced provided by the battery swapping equipment is picked up and put into the battery compartment.

2. The battery swapping method according to claim 1, characterized in that, The step of grabbing and transferring the first battery to be replaced specifically includes: Obtain the first actual length of the portion of the first battery to be replaced that has been pushed out of the battery compartment, and grab the first battery to be replaced according to the first actual length; Once the first battery to be replaced is grabbed, the grabbed first battery to be replaced is transferred to the battery compartment of the battery swapping equipment or the waste collection device.

3. The battery swapping method according to claim 2, characterized in that, The step of grasping the first battery to be replaced based on the first actual length specifically includes: obtaining a first preset length of the portion of the first battery to be replaced that has been pushed out of the battery compartment, calibrating the grasping position of the wheeled humanoid robot based on the difference between the first actual length and the first preset length, and grasping the first battery to be replaced based on the grasping position.

4. The battery swapping method according to claim 2, characterized in that, The method for obtaining the first actual length includes the steps of: obtaining first image information after the first battery to be replaced is pushed out, and calculating the first actual length based on the first image information.

5. The battery swapping method according to claim 2, characterized in that, The step of transferring the first battery to be replaced to the battery compartment of the battery swapping device specifically includes: Adjust the first battery to be replaced to face the side of the battery swapping device; Acquire second image information of the battery swapping device and the first battery to be replaced, wherein the second image information includes image features of the battery swapping device and image features of the first battery to be replaced; Adjust the position of the first battery to be replaced according to the image features of the battery swapping equipment and the image features of the first battery to be replaced, so that the first battery to be replaced is aligned with the battery compartment of the battery swapping equipment. Once the first battery to be replaced is aligned with the battery compartment, the first battery to be replaced is inserted into the battery compartment.

6. The battery swapping method according to claim 5, characterized in that, The step of adjusting the first battery to be replaced to face the side of the battery swapping device includes: Acquire third image information of the surrounding environment of the wheeled humanoid robot, and calculate the relative orientation and relative height of the battery compartment and the first battery to be replaced based on the third image information; The orientation of the first battery to be replaced is adjusted by rotating the battery compartment relative to the first battery to be replaced. The height of the first battery to be replaced is adjusted according to the relative height between the battery compartment and the first battery to be replaced.

7. The battery swapping method according to claim 1, characterized in that, The step of inserting the second battery to be replaced into the battery compartment specifically includes: Align the second battery to be replaced with the battery compartment so that the second battery to be replaced is placed into the battery compartment; Obtain the second actual length of the portion of the second battery to be replaced that protrudes outside the battery compartment, and press the second battery to be replaced into the battery compartment according to the second actual length.

8. The battery swapping method according to claim 7, characterized in that, The step of pressing the second battery to be replaced into the battery compartment according to the second actual length includes: obtaining a second preset length of the portion of the second battery to be replaced protruding outside the battery compartment, calibrating the pressing position of the wheeled humanoid robot according to the difference between the second actual length and the second preset length, and pressing the second battery to be replaced based on the pressing position.

9. The battery swapping method according to claim 7, characterized in that, The method for obtaining the second actual length includes the steps of: obtaining fourth image information of the second battery to be replaced after it has been placed in the battery compartment, and calculating the second actual length based on the fourth image information.

10. The battery swapping method according to claim 7, characterized in that, The step of aligning the second battery to be replaced with the battery compartment includes: Acquire fifth image information of the battery compartment and the second battery to be replaced, the fifth image information including image features of the battery compartment and image features of the second battery to be replaced; Adjust the position of the second battery to be replaced according to the image features of the battery compartment and the image features of the second battery to be replaced, so that the second battery to be replaced is aligned with the battery compartment.

11. The battery swapping method according to claim 1, characterized in that, Prior to the step of controlling at least a portion of the first battery to be replaced in the battery compartment of the wheeled humanoid robot to be pushed outward according to the battery swapping signal, the method further includes: Obtain the first position of the wheeled humanoid robot and the second position of the battery swapping device, and generate a movement route based on the first position and the second position; The wheeled humanoid robot is controlled to move to the battery swapping area according to the mobile route.

12. The battery swapping method according to claim 11, characterized in that, The step of controlling the wheeled humanoid robot to move to the battery swapping area specifically includes: acquiring sixth image information of the surrounding environment of the wheeled humanoid robot, and controlling the wheeled humanoid robot to move to the battery swapping area based on the sixth image information.

13. A wheeled humanoid robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 12.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 12.

15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 12.

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