How to reduce the risk of battery explosion in mobile robots

Abstract

The present invention relates to a method for reducing the risk of explosion of a battery (1) of a mobile robot (2), comprising a battery housing (10), a first sensor adapted to measure a first environmental parameter of the battery housing (10), and a safety unit adapted to receive first sensor data, the first environmental parameter measured by the first sensor. The method comprises the steps of monitoring, by the safety unit, the first sensor data measured by the first sensor, and initiating execution of a safety measure by the safety unit, the safety measure comprising returning by the robot (2) to a safety area if the first sensor data is outside a predefined data range of the first sensor data.

Description

[Technical field]

[0001] The present invention relates to a method for reducing the risk of battery explosion in a mobile robot, a computer program product for controlling a mobile robot, a battery adapted to perform said method, a mobile robot comprising the battery, and uses of the battery. [Background technology]

[0002] Mobile robots, especially legged robots, are used to assist humans in a variety of tasks, especially in hazardous environments.

[0003] In order to use a mobile robot in an explosive environment, especially in explosive gases or dust, it is advantageous if the robot is constructed to take some precautions, for example, the robot should be constructed in such a way that it does not cause an explosion in such an environment.

[0004] One challenge in this regard is to configure the robot so that the battery does not explode if, for example, explosive gas enters the robot's body.

[0005] Wang, W. et al., "Robot Protection in the Hazardous Environments," Robot Protection in the Hazardous Environments, Chapter 4, INTECH Open Science, 2017, discloses prior art on explosion-resistant housing for batteries. According to Wang et al., the explosion-resistant housing for batteries cannot be completely sealed due to the drive shaft. Therefore, filling the battery housing with inert gas is not a viable solution to achieve an explosion-resistant housing. As Wang et al. mention, robots known in the prior art employ a rubber-filled explosion-resistant method in the battery housing. Because the rubber occupies the space in the battery housing, the amount of explosive gas is significantly reduced, thereby preventing explosion.

[0006] In any event, such methods using rubber-filled housings result in extremely heavy batteries, which can be a disadvantage for robots, especially legged robots. Summary of the Invention

[0007] Therefore, the problem to be solved by the present invention is to provide a method for preventing the ignition of a battery of a robot in an explosive environment, which overcomes the shortcomings of the prior art solutions.

[0008] This problem is solved by a first aspect of the invention relating to a method for reducing the risk of a battery of a mobile robot exploding, a second aspect of the invention relating to a computer program product for controlling a mobile robot, a battery adapted to perform the steps of the method according to the first aspect and the use of the battery in a mobile robot in an explosive environment.

[0009] A first aspect of the invention relates to a method for reducing the risk of battery explosion in a mobile robot, in particular a legged robot, comprising a battery with a battery housing, a first sensor and a safety unit. The first sensor is adapted to measure a first environmental parameter of the battery housing. As the battery housing is in fluid communication with a cavity of the robot torso, the first sensor may be located in the battery housing itself or anywhere within the cavity.

[0010] Advantageously, the torso is the main body of the robot, in which the power supply for the computer and most of the electronic components are located.

[0011] Advantageously, the cavity is an internal space of the robot body, in which the various components of the robot are arranged. In particular, the cavity is a place in the robot body that has the same absolute pressure. That means that all spaces in the robot that are fluidly connected are part of the cavity. The cavity is gas-sealed from the surroundings. Thus, the absolute pressure is the same in the cavity and in the battery housing. Advantageously, therefore, the term "environmental parameter of the battery housing" means a parameter related to the condition of the battery housing, which parameter can be measured anywhere in the cavity.

[0012] In particular, the term "environmental parameters" can refer to the environment within the battery housing or, respectively, the environment within the cavity, since the battery housing is in fluid communication with the cavity, for example with respect to pressure parameters.

[0013] The safety unit is adapted to receive first sensor data of a first environmental parameter measured by a first sensor.

[0014] The method is: monitoring, by the safety unit, first sensor data measured by the first sensor; initiating execution of a safety measure by the safety unit, the safety measure including returning the robot to a safety area if the first sensor data is outside a predetermined data range of the first sensor data; Includes.

[0015] Advantageously, the safe area is a predefined area where no explosion hazard exists, for example an area outside an explosive gas environment.

[0016] More advantageously, the safe area is an area free of explosion hazards that is defined by the user and dynamically adapted during the mobile robot's mission.

[0017] Advantageously, the safety unit comprises: d ≦500 Pa, especially p d If the pressure is less than or equal to 50 Pa, safety measures are initiated.

[0018] In an advantageous embodiment of the invention, the battery housing is in fluid communication with a cavity in the robot torso, in particular the torso being the main body of the robot in which the power supply for the computer and most of the electronic components are located.

[0019] Advantageously, the battery housing is arranged partly inside and partly outside the robot body, the interior space of the battery housing being in fluid communication with said cavity and sealed against the environment.

[0020] In a further advantageous embodiment of the method, the battery comprises a second sensor adapted to measure a second environmental parameter of the battery housing. Furthermore, the safety unit is further adapted to receive second sensor data of the second environmental parameter measured by the second sensor. The method comprises a step of additionally monitoring, by the safety unit, the second sensor data measured by the second sensor. Furthermore, the method comprises a step of initiating, by the safety unit, the execution of at least one further safety measure if the second sensor data falls outside a predefined data range for the second sensor data.

[0021] Advantageously, further safety measures include: Especially p d If ≦50 Pa, shut off the battery. Especially p d If ≦50 Pa, stop the robot, and / or Especially p d If ≦500 Pa, return the robot to the maintenance area located within the safety area. It could be.

[0022] Advantageously, the term "station" refers in particular to a charging station for robots where the robots can recharge their batteries.

[0023] In a further advantageous embodiment of the method of the invention, the battery comprises one or more further sensors adapted to measure one or more further environmental parameters of the battery housing. The safety unit is additionally adapted to receive one or more further sensor data of the one or more further environmental parameters measured by the respective one or more further sensors. The method comprises a step of additionally monitoring, by the safety unit, the respective one or more further sensor data measured by the respective one or more further sensors. Furthermore, the method comprises a step of initiating, by the safety unit, the execution of at least one further safety measure if the respective one or more further sensor data are outside a predetermined data range of the respective one or more further sensor data.

[0024] A further advantageous embodiment of the method comprises a step of initiating execution of further safety measures if the first and second and / or the one or more further sensor data are outside of a predetermined data range of the first and second and / or the one or more further sensor data.

[0025] In a further advantageous embodiment of the method of the invention, the first sensor, the second sensor and / or the one or more further sensors measure a differential pressure p d and providing one or more further sensor data of the first sensor, the second sensor, and / or each.

[0026] Differential pressure p d To measure the absolute pressure p inside the battery housing, b and the ambient pressure p outside the cavity or robot body a Measure each one and p d =p b -p a It is.

[0027] Advantageously, the safety unit comprises: d ≦500 Pa, especially pd If < 50 Pa, the implementation of the safety measure and / or at least one further safety measure is initiated.

[0028] Advantageously, the differential pressure sensor is therefore b and p a (e.g., the sensor membrane is exposed on one side to the battery housing and on the outer side to the cavity or the ambient environment of the fuselage).

[0029] More advantageously, the differential pressure sensor may also comprise two sensor units, the first sensor unit being arranged in the cavity or in the battery housing. b The second sensor unit is placed outside the cavity of the robot's body and measures p a Measure.

[0030] In a further advantageous embodiment of the invention, the first sensor measures the absolute pressure p b The second sensor is an absolute pressure sensor that measures the temperature of the battery housing, T B The robot or battery is exposed to the ambient pressure p outside the robot and battery housing. a Equipped with an environmental sensor that measures

[0031] In a further advantageous embodiment of the robot, the battery comprises a first sensor, in particular an environmental sensor arranged in a housing or cavity of the battery. In particular, the first sensor measures the absolute pressure p b Further advantageously, the battery is adapted to measure an ambient pressure p a The second sensor may be considered to be a separate sensor. d p d =p b -p a It is defined as:

[0032] In a further advantageous embodiment of the invention, the first sensor measures the environmental pressure p b and the ambient pressure outside the robot and battery housing p a Differential pressure p d For this embodiment, the first sensor is adapted to measure the housing's environmental pressure p b and a sensor component disposed within the battery housing or cavity for measuring an ambient pressure p outside the housing and the robot. a The sensor component further comprises a sensor component adapted to measure

[0033] In a further advantageous embodiment of the method, the first sensor, the second sensor and / or the one or more further sensors measure a temperature of the battery housing, and the first sensor, the second sensor and / or the one or more respective further sensor data T B a temperature sensor adapted to provide a temperature B If ≧80° C., the safety unit initiates the execution of the safety measure and / or at least one further safety measure.

[0034] Further advantageous embodiments are recited in the dependent claims as well as in the following description.

[0035] A second aspect of the invention relates to a computer program product for controlling a mobile robot, the computer program product comprising a computer readable storage medium having embedded therein program instructions executable by a control unit of the robot to cause the robot to perform the steps of the method according to the first aspect.

[0036] A third aspect of the invention relates to a battery adapted to carry out the steps of the method according to the first aspect.

[0037] In a further advantageous embodiment of the battery, the battery housing is in fluid communication with a cavity of the robot body.

[0038] In yet another advantageous embodiment of the invention, the battery comprises a port for connecting the battery to one or more electronic components of the robot.

[0039] In an advantageous embodiment of the invention, the battery comprises a lithium ion energy cell.

[0040] A fourth aspect of the invention relates to a mobile robot comprising a battery according to the third aspect.

[0041] Advantageously, the mobile robot is a four-legged autonomous robot.

[0042] A fifth aspect of the invention relates to the use of a battery according to the third aspect for a mobile robot in an explosive environment, in particular a gaseous and / or dusty environment.

[0043] The invention will be better understood and objects other than those mentioned above will become apparent from the following detailed description of the invention, the above description making reference to the accompanying drawings. [Brief description of the drawings]

[0044] [Figure 1] 1 is a schematic diagram of an embodiment of a battery adapted to carry out the method according to the invention; [Diagram 2] 1 is a schematic diagram of an embodiment of a battery adapted to carry out the method according to the invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0045] 1 shows a schematic of an embodiment of a battery 1 having a battery housing 10 according to a third aspect of the invention. The battery 1 comprises a battery housing 10 and a first sensor 12 adapted to measure a first environmental parameter within the battery housing. Furthermore, the battery 1 comprises a safety unit adapted to receive first sensor data of the first environmental parameter measured by the first sensor 12. Further arranged within the battery housing are one or more electrochemical cells for providing power to the robot.

[0046] In an advantageous embodiment of the battery 1, the battery housing 10 is in fluid communication with a cavity 200 of the robot body.

[0047] In a further advantageous embodiment of the battery 1 , the battery 1 comprises a port 11 for connecting the battery 1 to one or more electronic components 20 of the robot 2 .

[0048] In particular, the battery is adapted to implement a method for reducing the risk of the battery 1 of the mobile robot 2 exploding.

[0049] In particular, the battery 1 is adapted for use for a mobile robot 2 in an explosive environment.

[0050] The method includes monitoring, by the safety unit, first sensor data measured by the first sensor 12, and initiating execution of a safety measure by the safety unit. The safety measure includes returning the robot 2 to a safety area if the first sensor data is outside a predetermined data range for the first sensor data.

[0051] In a further advantageous embodiment of the method for reducing the risk of battery explosion, the battery 1 comprises a second sensor adapted to measure a second environmental parameter in the battery housing 10. The safety unit is additionally adapted to receive second sensor data of the second environmental parameter measured by the second sensor. For this embodiment of the method, in addition to the first sensor data, the second sensor data is further monitored by the safety unit via the second sensor. If the second sensor data falls outside a predefined data range of the second sensor data, at least one further safety measure is initiated by the safety unit.

[0052] In a further advantageous embodiment of the method of the invention, the battery 1 comprises one or more further sensors adapted to measure one or more further environmental parameters within the battery housing 10 .

[0053] In particular, the term "environmental parameters" relates to the environment within the battery housing.

[0054] The safety unit is additionally adapted to receive one or more further sensor data of one or more further environmental parameters measured by the respective one or more further sensors. In addition to the first and / or second sensor data, the respective one or more further sensor data are measured by the respective one or more further sensors by the safety unit. If the respective one or more further sensor data are outside a predefined data range of the respective one or more further sensor data, the safety unit initiates the execution of at least one further safety measure.

[0055] In an advantageous embodiment of the invention, a further safety method is to initiate a battery shutdown, a shutdown of the robot, and / or a return of the robot to a maintenance station located within a safety area.

[0056] In a further advantageous embodiment of the invention, further safety measures are initiated by the safety unit if the first and second and / or one or more further sensor data are outside of a predetermined data range of the first and second and / or one or more further sensor data.

[0057] In an advantageous embodiment of the invention, further safety measures include shutting down the battery, shutting down the robot, and / or returning the robot to a maintenance station located within a safety area.

[0058] In a further advantageous embodiment of the present invention, the first sensor, the second sensor and / or the one or more further sensors measure an absolute pressure p b A pressure sensor adapted to measure

[0059] In a further advantageous embodiment of the invention, the first sensor, the second sensor and / or the one or more further sensors measure a temperature T B A temperature sensor adapted to measure

[0060] Figure 2 shows a schematic of a robot 2 according to an embodiment of the invention. The robot comprises a battery 1 as shown in figures 1a and 1b.

[0061] In a particular embodiment of the robot, the battery comprises a first sensor 12, in particular an environmental sensor arranged in the housing 10 of the battery 1. In particular, the first sensor 12 detects the pressure p b and ambient pressure p a Differential pressure p d The differential pressure sensor may include only one sensor unit that measures the sensor data, or one sensor unit may be adapted to measure p a The second sensor unit measures p b. More advantageously, the battery comprises a second sensor 13, which may be considered as a separate sensor. In a further advantageous embodiment of the invention, the first sensor measures the environmental pressure p b and the ambient pressure p outside the robot 2 and the battery housing 10 a Differential pressure p d For this embodiment, the first sensor is adapted to measure the pressure p b a first sensor unit arranged in the battery housing 10 for measuring an ambient pressure p a The sensor further comprises a second sensor unit adapted to measure

[0062] In a further advantageous embodiment of the invention, the battery housing 10 is adapted to be cooled to a temperature within the housing T B The sensor may further include a second sensor that is a temperature sensor that measures

[0063] The advantageous embodiment of the robot 2 shown in FIG.

[0064] Advantageously, the battery 1 is connected to one or more electronic components 20 of the robot 1 . [Explanation of symbols]

[0065] 1 Battery 10 Battery Housing 11 Port 12 First Sensor / Sensor Component 2. Robot 20 One or more electronic components 200 Robot body cavity

Claims

1. A method for reducing the risk of explosion of a battery (1) of a mobile robot (2), comprising: A battery (1) having a battery housing (10); a first sensor (12) adapted to measure a first environmental parameter of the battery housing (10); a safety unit adapted to receive first sensor data of the first environmental parameter measured by the first sensor (12); Equipped with The method further comprising: monitoring, by the safety unit, the first sensor data measured by the first sensor (12); initiating execution of a safety measure by the safety unit, the safety measure comprising: returning the robot (2) to a safety area if the first sensor data is outside a predetermined data range of the first sensor data; A method comprising:

2. the robot (2) comprises a second sensor adapted to measure a second environmental parameter of the battery housing (10); the safety unit is additionally adapted to receive second sensor data of a second environmental parameter measured by the second sensor; The method further comprising: additionally monitoring, by the safety unit, the second sensor data measured by the second sensor; initiating, by the safety unit, the execution of at least one further safety measure if the second sensor data is outside a predetermined data range for the second sensor data. The method of claim 1 , comprising:

3. the robot (2) comprises one or more further sensors adapted to measure one or more further environmental parameters of the battery housing (10); the safety unit is additionally adapted to receive one or more further sensor data of one or more further environmental parameters measured by respective one or more further sensors, The method further comprising: additionally monitoring, by the safety unit, respective one or more further sensor data measured by respective one or more further sensors; initiating, by the safety unit, the execution of at least one further safety measure if each of the one or more further sensor data is outside a predetermined data range for each of the one or more further sensor data. The method of claim 1 or 2, comprising:

4. The first sensor (12), the second sensor, and / or the one or more further sensors detect an absolute pressure p ｂ and ambient pressure p ａ Differential pressure p ｄ and providing said one or more further sensor data of said first sensor, said second sensor, and / or each; In particular, the safety unit comprises: ｄ In the case of ≦500 Pa, especially p ｄ 4. The method according to claim 1, further comprising starting the implementation of the safety measure and / or the at least one further safety measure if ≦50 Pa.

5. The additional safety measures are: Especially p ｄ if ≦50 Pa, shutting down the battery (1); Especially p ｄ if ≦50 Pa, stopping said robot (2); and / or Especially p ｄ If ≦500 Pa, return the robot (2) to a maintenance station located within a safety area. The method according to any one of claims 1 to 4, wherein

6. 6. The method according to claim 2, comprising initiating execution of the further safety measure if the first and second and / or the one or more further sensor data are outside a predetermined data range of the first and second and / or the one or more further sensor data.

7. The first sensor, the second sensor, and / or the one or more further sensors are adapted to measure a temperature of the battery housing (10), and the first sensor, the second sensor, and / or the one or more respective further sensor data T Ｂ a temperature sensor providing In particular, the safety unit is Ｂ 7. The method according to claim 1, further comprising starting the implementation of the safety measure and / or the at least one further safety measure if > 80°C.

8. 8. A computer program product for controlling a mobile robot (2), comprising a computer-readable recording medium having program instructions embodied therein, the program instructions being executable by a control unit of the robot (2) to cause the robot (2) to perform the steps of the method according to any one of claims 1 to 7.

9. A battery (1) adapted to carry out the steps of the method according to any one of claims 1 to 7.

10. The battery (1) of claim 9, wherein the battery housing (10) is in fluid communication with a cavity (200) of a robot body.

11. A mobile robot (2) comprising a battery (1) according to claim 9 or 10.

12. Use of a battery (1) according to claim 9 or 10 for a mobile robot (2) in explosive, in particular gaseous and / or dusty, environments.

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