Battery swapping devices for self-moving equipment

Abstract

This application relates to the field of battery swapping technology and discloses a battery swapping device for a self-moving device. The battery swapping device includes a base, a battery swapping compartment, a door, and at least two detection components. The base is used for parking the self-moving device; the battery swapping compartment is connected to the base and has an inlet and outlet; the door is located in the battery swapping compartment and at the inlet and outlet, and is used to open or close the inlet and outlet; at least two detection components are spaced apart on the base, and each detection component can cooperate with the self-moving device to generate a detection signal. When both detection components generate detection signals, the door is controlled to open the inlet and outlet. The battery swapping device of this application aims to solve the technical problem of not being able to detect whether the robot has successfully returned to its position, resulting in the inability to quickly replace the battery.

Description

Technical Field

[0001] This application relates to the field of battery swapping technology, and more particularly to a battery swapping device for a self-moving device. Background Technology

[0002] Existing intelligent mobile robots, such as lawnmowers, household robot vacuums, and industrial AGVs, use rechargeable batteries as their power source. When the battery level drops below a preset threshold, the robot replaces the battery using a battery swapping device, shortening its recharging time.

[0003] In related technologies, the battery swapping device cannot accurately detect whether the robot has successfully returned to its designated position, resulting in the inability to quickly replace the battery. If the battery is forcibly replaced before the robot has returned to its designated position, it can easily damage the battery or the battery swapping device; if the battery cannot be replaced in time, the robot may stop due to depletion of power, affecting normal use. Utility Model Content

[0004] The purpose of this application is to provide a battery swapping device for self-moving equipment to solve the technical problem of not being able to accurately detect whether the robot has successfully returned to its original position and thus not being able to quickly replace the battery.

[0005] To achieve the above objectives, this application provides a battery swapping device for a self-operated mobile device, comprising: A base for parking self-moving equipment; The battery swapping compartment is connected to the base, and the battery swapping compartment is provided with an inlet and outlet. A door, located at the entrance / exit, is used to open or close the entrance / exit; At least two detection components are spaced apart on the base. Each detection component can cooperate with the self-moving device to generate a detection signal. When at least two detection components generate detection signals, the door is controlled to open the entrance / exit.

[0006] In the battery swapping device of this application, the detection component includes: A trigger element is movably mounted on the base for linkage with the self-moving device; A detection unit is located on the movement path of the trigger to generate a detection signal when the trigger is displaced. An elastic reset element is disposed between the trigger element and the base, for causing the trigger element to return to its initial position when the self-moving device leaves the base.

[0007] In the battery swapping device of this application, the detection unit includes a micro switch, and the trigger moves toward the micro switch under the action of the self-moving device until it contacts the micro switch, so that the micro switch generates a detection signal.

[0008] In the battery swapping device of this application, the detection unit includes a Hall sensor and a magnetic component. One of the Hall sensor and the magnetic component is disposed on the trigger, and the other of the Hall sensor and the magnetic component is disposed on the base. The trigger moves toward the Hall sensor or the magnetic component under the action of the self-moving device, so that the Hall sensor generates a detection signal.

[0009] In the battery swapping device of this application, the detection component further includes a rotating shaft, the trigger is rotatably connected to the base through the rotating shaft, the elastic reset member is disposed on the rotating shaft, one end of the elastic reset member abuts against the base, and the other end abuts against the trigger.

[0010] In the battery swapping device of this application, the elastic reset element is a torsion spring.

[0011] In the battery swapping device of this application, the base is provided with a receiving groove, and the detection component is installed in the receiving groove.

[0012] In the battery swapping device of this application, the base includes a main body and an extension connected to the main body and inclined thereon. The extension is located on the side of the main body near the battery swapping compartment, and the receiving groove is formed on the extension.

[0013] In the battery swapping device of this application, the battery swapping device further includes a gripping mechanism, which is movably disposed in the battery swapping compartment for gripping and moving the battery.

[0014] In the battery swapping device of this application, the battery swapping device further includes at least two battery compartments, each of which can hold one battery.

[0015] This application provides a battery swapping device for self-moving equipment, which has the following advantages: The battery swapping device of this application includes a base, a battery swapping compartment, a door, and at least two detection components. After the self-moving device completes its task, it automatically moves to the base and parks. Different positions of the self-moving device abut against at least two detection components, and both detection components generate detection signals. Based on the detection signals, it is determined that the self-moving device has returned to its designated position. The door is then opened to open the entrance and exit of the battery swapping compartment, and the battery carried by the self-moving device is swapped with a new battery in the battery swapping compartment through the entrance and exit, completing the battery swapping operation of the self-moving device. This embodiment uses detection components in conjunction with the self-moving device to generate detection signals. By using at least two detection components to detect whether the self-moving device has returned to its designated position, the accuracy of return-to-station detection can be improved. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the battery swapping device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the base provided in an embodiment of this application; Figure 3 Another structural schematic diagram of the base provided in the embodiments of this application; Figure 4 for Figure 3 A magnified view of a section at point A in the middle; Figure 5 Another structural schematic diagram of the base provided in the embodiments of this application; Figure 6 for Figure 5 A magnified view of a section at point B.

[0018] The markings in the image are as follows: 10. Base; 11. Receiving slot; 12. Main body; 13. Extension; 20. Battery swapping compartment; 30. Door; 40. Detection assembly; 41. Trigger; 42. Detection unit; 421. Micro switch; 422. Hall sensor; 423. Magnetic component; 43. Elastic reset component; 44. Rotating shaft; 100. Self-moving device. Detailed Implementation

[0019] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0020] In the description of this application, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer", etc. used in this application to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device and element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] In the description of this application, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but these terms are not limited to them and are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0022] like Figure 1 and Figure 2 As shown, this application embodiment provides a battery swapping device for a self-moving device. The battery swapping device includes a base 10, a battery swapping compartment 20, a door 30, and at least two detection components 40. The base 10 is used for parking the self-moving device 100. The battery swapping compartment 20 is connected to the base 10 and has an entrance and exit. The door 30 is located in the battery swapping compartment 20 and at the entrance and exit, and is used to open or close the entrance and exit. At least two detection components 40 are spaced apart on the base 10. Each detection component 40 can cooperate with the self-moving device 100 to generate a detection signal. When at least two detection components 40 generate detection signals, the door 30 is controlled to open the entrance and exit.

[0023] In this embodiment, the self-moving device 100 can be a lawnmower robot, a sweeping robot, or a cleaning robot, etc. The battery swapping device is a battery swapping station, and the self-moving device 100 has the ability to automatically return to the battery swapping station, so that it can move to the battery swapping station to replace the battery when the power is low.

[0024] The battery swapping device includes a base 10, a battery swapping compartment 20, a door 30, and a detection component 40. The base 10 is used to park the self-moving device 100 to ensure that the self-moving device 100 will not move when the battery is replaced. The battery swapping compartment 20 contains a new battery for replacement, and the self-moving device 100 carries an old battery to be replaced. The new and old batteries are swapped through the inlet and outlet of the battery swapping compartment 20.

[0025] Based on the above technical solution, when the self-moving device 100 completes its work and automatically moves to the base 10, at least two detection components 40 abut at different positions of the self-moving device 100. Both detection components 40 generate detection signals. Based on these signals, it is determined that the self-moving device 100 has returned to its designated position. The control door 30 then opens the entrance / exit of the battery swapping compartment 20, allowing the battery on the self-moving device 100 to be swapped with a new battery in the battery swapping compartment 20, thus completing the battery swapping operation of the self-moving device 100. In this embodiment, the detection components 40 work in conjunction with the self-moving device 100 to generate detection signals. By using at least two detection components 40 to detect whether the self-moving device 100 has returned to its designated position, the accuracy of the return-to-station detection can be improved.

[0026] In some embodiments, the self-moving device 100 includes a device body and wheels mounted on the device body, the wheels being used to drive the robot body to move, thereby realizing its self-movement function.

[0027] For example, when the self-moving device 100 returns to the station, it approaches the battery swapping compartment 20 on the base 10. When the two wheels abut against the two detection components 40 respectively, both detection components 40 generate detection signals. Based on the detection signals of the two detection components 40, it is determined that the self-moving device 100 has returned to the station.

[0028] In some embodiments, three (or more) detection components 40 are coupled with three (or more) wheels in the self-moving device 100 to generate detection signals, thereby further improving detection accuracy.

[0029] For example, the self-moving device 100 has four wheels, front and rear, and four detection components 40 are spaced apart on the base 10. Each of the four detection components 40 corresponds to one of the four wheels of the self-moving device 100. When all four detection components 40 generate detection signals, it is determined that the self-moving device 100 has returned to its original position. Of course, in this example, it is also possible to determine that the self-moving device 100 has returned to its original position based on the detection signals generated by any three of the detection components 40.

[0030] In some embodiments, such as Figure 3 and Figure 4 As shown, the detection component 40 includes a trigger 41, a detection unit 42, and an elastic reset member 43. The trigger 41 is movably disposed on the base 10 and is used to link with the self-moving device 100. The detection unit 42 is disposed on the movement path of the trigger 41 to generate a detection signal when the trigger 41 is displaced. The elastic reset member 43 is disposed between the trigger 41 and the base 10 and is used to restore the trigger 41 to its initial position when the self-moving device 100 leaves the base 10.

[0031] Specifically, the trigger 41 is movably mounted on the base 10. "Movable" includes actions such as rotation, sliding, or movement, which are not specifically limited here.

[0032] In this embodiment, in the initial state, the trigger 41 and the elastic reset member 43 are in their initial positions. When the mobile device 100 moves to contact the trigger 41, it abuts against the trigger 41 and applies an external force to the trigger 41, causing the trigger 41 to displace on the base 10. For example, the wheel of the mobile device 100 abuts against the trigger 41, pushing the trigger 41 to move. At the same time, since the elastic reset member 43 is located between the trigger 41 and the base 10, the trigger 41 also applies a force to the elastic reset member 43, causing it to store elastic potential energy.

[0033] When the trigger 41 is displaced, the detection unit 42 generates a corresponding detection signal. For example, the detection unit 42 is a photoelectric sensor. When the trigger 41 blocks or reflects the light signal emitted by the photoelectric sensor, the photoelectric sensor generates a corresponding electrical signal. The detection signal generated by the detection unit 42 is transmitted to the control system. After receiving the detection signal, the control system analyzes and processes the signal to determine the position or status information of the self-moving device 100, thereby determining whether the self-moving device 100 has reached the set position on the base 10. When the self-moving device 100 moves and leaves the base 10, the external force applied to the trigger 41 disappears, the elastic reset member 43 releases its elastic potential energy, and the trigger 41 returns to its initial position under the elastic action of the elastic reset member 43.

[0034] In some embodiments, such as Figure 4 As shown, the detection unit 42 includes a micro switch 421. The trigger 41 moves toward the micro switch 421 under the action of the self-moving device 100 until it contacts the micro switch 421, so that the micro switch 421 generates a detection signal.

[0035] In the initial state, the contacts inside the micro switch 421 are in the normal open or closed position. When the mobile device 100 moves to contact the trigger 41, the trigger 41 moves toward the micro switch 421 until it contacts the trigger part (such as a button) of the micro switch 421, causing the micro switch 421 to generate a detection signal.

[0036] The micro switch 421 can be either normally open or normally closed. For a normally open micro switch 421, when the trigger 41 contacts the micro switch 421, the internal contacts of the micro switch 421 close, thereby connecting the circuit and generating a corresponding electrical signal. For a normally closed micro switch 421, when the trigger 41 contacts the micro switch 421, the originally closed contacts open, disconnecting the circuit and generating a corresponding electrical signal.

[0037] In some embodiments, such as Figure 5 and Figure 6 As shown, the detection unit 42 includes a Hall sensor 422 and a magnetic element 423. One of the Hall sensor 422 and the magnetic element 423 is disposed on the trigger 41, and the other of the Hall sensor 422 and the magnetic element 423 is disposed on the base 10. The trigger 41 moves toward the Hall sensor 422 or the magnetic element 423 under the action of the self-moving device 100, so that the Hall sensor 422 generates a detection signal.

[0038] Initially, the Hall sensor 422 and the magnetic element 423 maintain a relatively fixed initial distance. The Hall sensor 422 contains a Hall element; in the absence of an external magnetic field, no potential difference is generated across the Hall element, and the Hall sensor 422 outputs a stable reference signal. According to the distribution of magnetic fields, the closer the Hall sensor 422 is to the magnetic element 423, the stronger the magnetic field at the location of the Hall sensor 422. When the magnetic field strength reaches the sensitivity threshold of the Hall sensor, a potential difference is generated across the Hall element. This potential difference is amplified and shaped by the internal signal processing circuit, ultimately outputting a detection signal corresponding to the change in magnetic field strength.

[0039] For example, the Hall sensor 422 is disposed on the trigger 41 and the magnetic element 423 is disposed on the base 10. When the mobile device 100 moves to contact the trigger 41, the trigger 41 is displaced relative to the base 10, the distance between the Hall sensor 422 and the magnetic element 423 changes, and a potential difference is generated on both sides of the Hall element, so that the Hall sensor 422 generates a detection signal.

[0040] In some embodiments, such as Figure 4 and Figure 6 As shown, the detection component 40 also includes a rotating shaft 44. The trigger 41 is rotatably connected to the base 10 through the rotating shaft 44. The elastic reset component 43 is disposed on the rotating shaft 44. One end of the elastic reset component 43 abuts against the base 10, and the other end abuts against the trigger 41.

[0041] For example, the rotating shaft 44 extends horizontally, with its two ends passing through the end of the trigger 41 and the corresponding connection portion of the base 10, forming a stable rotational support structure. The trigger 41 is rotatably connected to the base 10 via the rotating shaft 44 and can rotate relative to the base 10 within a certain angle range around the rotating shaft 44, enabling the trigger 41 to switch between different position states. This pivotal connection not only ensures the structural stability of the detection component 40 but also ensures the smoothness and reliability of the trigger 41 during rotation.

[0042] In some embodiments, the elastic reset member 43 is a torsion spring, the helical coil of the torsion spring is sleeved on the rotating shaft 44, one end of its support arm abuts against the base 10, and the other end of its support arm abuts against the trigger member 41. Through the torsional action generated by the torsion spring, elastic energy is stored inside the torsion spring.

[0043] In some embodiments, such as Figure 2 , Figure 4 and Figure 6 As shown, the base 10 is provided with a receiving groove 11, and the detection component 40 is installed in the receiving groove 11.

[0044] Specifically, the receiving slot 11 is the installation space for the detection component 40. The base 10 is provided with at least two receiving slots 11, and each detection component 40 is installed in the corresponding receiving slot 11. Among them, a part of the trigger 41 is received in the receiving slot 11 and can rotate toward the receiving slot 11, while another part of the trigger 41 protrudes outside the receiving slot 11 so as to be able to abut and cooperate with the self-moving device 100, thereby rotating toward the receiving slot 11.

[0045] In this embodiment, the receiving groove 11 provides a certain degree of protection for the detection component 40. The semi-enclosed structure of the receiving groove 11 prevents external dust, debris, moisture, etc. from entering the interior of the detection component 40, thus extending the service life of the detection component 40. In addition, the receiving groove 11 also buffers impact forces to a certain extent. When the self-moving device 100 abuts against the detection component 40, the trigger 41 rotates towards the receiving groove 11, reducing the impact on the trigger 41 and preventing damage to the trigger 41.

[0046] In some embodiments, such as Figure 2 As shown, the base 10 includes a main body 12 and an extension 13 connected to the main body 12 and inclined. The extension 13 is located on the side of the main body 12 near the battery swapping compartment 20, and the receiving groove 11 is constructed on the extension 13.

[0047] Specifically, the main body 12 is arranged horizontally, and the extension 13 is inclined upward relative to the main body 12. The main body 12 is used to hold the self-moving device 100, and the extension 13 is used to abut against the wheels of the self-moving device 100 to stably park the self-moving device 100 on the base 10. A receiving groove 11 is formed in the extension 13, and the detection component 40 is installed in the receiving groove 11. When the self-moving device 100 moves to the extension 13, its wheels contact the trigger 41 in the receiving groove 11, causing the detection unit 42 to generate a detection signal. Simultaneously, the extension 13 can restrict further movement of the self-moving device 100.

[0048] In some embodiments, the battery swapping device further includes a gripping mechanism (not shown in the figures), which is movably disposed within the battery swapping compartment 20 for gripping and moving the battery.

[0049] Specifically, when the battery power of the self-moving device 100 is lower than a preset value, the self-moving device 100 returns to the battery swapping station, docks with the inlet and outlet of the battery swapping compartment 20 on the base 10, and uses a gripping mechanism to grab the old battery from the self-moving device 100 from the inlet and outlet, then grabs the new battery from the battery swapping compartment 20 and places it on the self-moving device 100, thus completing the battery replacement operation. The gripping mechanism, within the battery swapping compartment 20, can move horizontally, vertically, and rotate at a certain angle, thereby enabling it to reach the battery location and complete the gripping action.

[0050] In some embodiments, the battery swapping device further includes at least two battery compartments (not shown in the figures), each of which can hold one battery. By placing a new battery in each battery compartment, the battery swapping needs of multiple self-moving devices 100 can be met simultaneously.

[0051] For example, the battery swapping device includes two battery compartments, one for holding the old battery that has been replaced, and the other for holding a fully charged new battery that is ready to be replaced.

[0052] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0053] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A battery replacing device of a self-moving device, characterized by, The battery swapping device includes: A base for parking self-moving equipment; The battery swapping compartment is connected to the base, and the battery swapping compartment is provided with an inlet and outlet. A door, located at the entrance / exit, is used to open or close the entrance / exit; At least two detection components are spaced apart on the base. Each detection component can cooperate with the self-moving device to generate a detection signal. When at least two detection components generate detection signals, the door is controlled to open the entrance / exit.

2. The battery replacing device according to claim 1, characterized in that, The detection component includes: A trigger element is movably mounted on the base for linkage with the self-moving device; A detection unit is located on the movement path of the trigger to generate a detection signal when the trigger is displaced. An elastic reset element is disposed between the trigger element and the base, for causing the trigger element to return to its initial position when the self-moving device leaves the base.

3. The battery replacing device according to claim 2, characterized in that, The detection unit includes a micro switch, and the trigger moves toward the micro switch under the action of the self-moving device until it contacts the micro switch, so that the micro switch generates a detection signal.

4. The battery replacing device according to claim 2, characterized in that, The detection unit includes a Hall sensor and a magnetic component. One of the Hall sensor and the magnetic component is disposed on the trigger, and the other of the Hall sensor and the magnetic component is disposed on the base. The trigger moves toward the Hall sensor or the magnetic component under the action of the self-moving device, so that the Hall sensor generates a detection signal.

5. The battery swapping device according to claim 2, characterized in that, The detection assembly also includes a rotating shaft, the trigger is rotatably connected to the base via the rotating shaft, the elastic reset member is disposed on the rotating shaft, one end of the elastic reset member abuts against the base, and the other end abuts against the trigger.

6. The battery swapping device according to claim 5, characterized in that, The elastic reset element is a torsion spring.

7. The battery swapping device according to any one of claims 1 to 6, characterized in that, The base is provided with a receiving groove, and the detection component is installed in the receiving groove.

8. The battery swapping device according to claim 7, characterized in that, The base includes a main body and an extension connected to the main body and inclined thereon. The extension is located on the side of the main body near the battery swapping compartment, and the receiving slot is formed on the extension.

9. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes a gripping mechanism, which is movably disposed within the battery swapping compartment for gripping and moving the battery.

10. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes at least two battery compartments, each of which can hold one battery.

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