Method and system for replacing battery of mobile robot using battery replacement station

Abstract

The present invention relates to a method and a system for replacing a battery of a mobile robot using a battery replacement station. The system for replacing a battery of a mobile robot according to the present invention comprises: at least one mobile robot which receives power through a detachable main battery and recognizes the current position through a built-in sensor and a driver, transports goods to a destination, checks the remaining battery capacity of the main battery and generates a battery replacement request signal when the remaining battery capacity is less than a reference value, and maintains power using an auxiliary battery while the main battery is being replaced; and a battery replacement station which stores a plurality of detachable main batteries, receives batteries, separated from the mobile robot, while in contact with the mobile robot and stores the batteries, and ejects batteries that have finished charging and mounts same to the mobile robot.

Description

Method and system for replacing batteries of a mobile robot using a battery replacement station

[0001] The present invention relates to a method and system for replacing a battery of a mobile robot using a battery replacement station, and more particularly, to a method and system for automatically replacing a battery with a new battery that has been fully charged while maintaining power when the battery is exhausted due to the operation of a logistics robot.

[0002] A large number of logistics robots are being used in current logistics sorting and transportation operations.

[0003] Most logistics robots are powered by batteries built into their bodies, and when the batteries run out of power, they need to be recharged.

[0004] Therefore, workplaces where logistics robots are used have devices that automatically supply power. However, if logistics robots use conventional power supply devices, there is a limitation in that the logistics robot must be restarted after battery replacement because the power to the logistics robot must be cut off while the battery is being replaced.

[0005] When powering off and restarting a logistics robot, time and battery power of the logistics robot are unnecessarily consumed, so a technology that allows battery replacement without powering off is needed.

[0006] The technology underlying the present invention is disclosed in Korean Patent Publication No. 10-2022-0106826 (published on July 29, 2022).

[0007] The purpose of the present invention is to provide a method and system for automatically replacing a fully charged battery with a new battery while maintaining power when the battery is exhausted due to the operation of a logistics robot.

[0008] According to one embodiment of the present invention for achieving such a technical task, a battery replacement system for a mobile robot using a battery replacement station comprises: at least one mobile robot that receives power through a detachable main battery, recognizes a current location through a built-in sensor and actuator, transports logistics to a destination, checks the remaining battery amount of the main battery, generates a battery replacement request signal when the remaining amount is less than a reference value, and maintains power with an auxiliary battery while replacing the main battery; and a battery replacement station that stores a plurality of detachable main batteries, receives and stores batteries separated from the mobile robot while the mobile robot is in contact with the mobile robot, and discharges and mounts a fully charged battery on the mobile robot.

[0009] The above mobile robot may include a driving unit that recognizes the location of the mobile robot through a sensor and a driving unit, recognizes a person or an obstacle, and transports the logistics to a destination; a main battery that is detachable and supplies power to the driving unit of the mobile robot; a mobile robot control unit that identifies the location of the battery replacement station, transmits a battery replacement request signal to the replacement station when the remaining battery capacity of the main battery is less than a reference value, and controls the driving unit to move the mobile robot to the battery replacement station; and an auxiliary battery that supplies power to the mobile robot while the main battery is being replaced at the battery replacement station.

[0010] The battery replacement station may include a storage unit that stores a plurality of main batteries; a charging unit that charges the main batteries separated from the mobile robot; a communication unit that receives information on the current location and current remaining battery amount of the mobile robot from the mobile robot; and a station control unit that receives the main batteries separated from the mobile robot when the mobile robot comes into contact with them, stores them in the storage unit, and discharges the main batteries stored in the storage unit, which have completed charging, and mounts them on the mobile robot.

[0011] The above mobile robot may include at least one of an Automated Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), and a Mobile Manipulator.

[0012] The above mobile robot control unit can charge the auxiliary battery using the main battery while moving if the remaining amount of the auxiliary battery is less than a reference value.

[0013] The above mobile robot control unit can transmit information on the current location and current remaining battery amount of the mobile robot to the battery replacement station when the remaining battery amount of the main battery is below a preset reference value.

[0014] The above battery replacement station can be implemented in a movable form.

[0015] The above battery replacement station can move in response to the magnitude and direction of the force sensed by the force torque sensor mounted therein.

[0016] The above station control unit, when receiving a battery replacement request signal from a plurality of mobile robots within a certain period of time, can determine the order of the plurality of mobile robots in descending order of remaining battery capacity, generate waiting time information corresponding to the order, and transmit the information to the corresponding mobile robot.

[0017] The above station control unit, when receiving a battery replacement request signal from a plurality of mobile robots, can move the station replacement station to a position corresponding to an intermediate point using each current position received from the plurality of mobile robots.

[0018] The above station control unit, when the battery replacement station is located between the first mobile robot and the second mobile robot that requested the battery replacement, can move the battery replacement station to a point where the ratio of the distance from the first mobile robot to the distance from the second mobile robot corresponds to the ratio of the remaining battery amounts of the first mobile robot and the second mobile robot.

[0019] The above station control unit can move the battery replacement station to a point where the ratio of the distance between the first mobile robot and the second mobile robot becomes m:n when the ratio of the remaining battery levels of the first mobile robot and the second mobile robot becomes m:n.

[0020] According to another embodiment of the present invention, a method for replacing a battery of a mobile robot includes the steps of: comparing a remaining battery capacity of a main battery of the mobile robot with a reference value; generating a battery replacement request signal when the remaining battery capacity of the main battery is less than the reference value; receiving information on the current location and remaining battery capacity of the mobile robot from the mobile robot; moving the mobile robot to a battery replacement station; and replacing a main battery of the mobile robot whose remaining battery capacity is less than the reference value with a main battery whose charge is completed and stored in the battery replacement station.

[0021] According to the present invention, the power of a logistics robot is not turned off during battery replacement, thereby reducing unnecessary energy and time consumption, and the operating efficiency of the robot can be increased compared to existing rechargeable systems through battery replacement, thereby reducing the cost of introducing the logistics robot.

[0022] Additionally, it is easy to install as a mobile battery replacement station and its location can be freely changed.

[0023] FIG. 1 is a configuration diagram of a battery replacement system for a mobile robot according to one embodiment of the present invention.

[0024] Figure 2 is a block diagram of a mobile robot according to one embodiment of the present invention.

[0025] FIG. 3a is a block diagram of a battery replacement station according to one embodiment of the present invention.

[0026] Figure 3b is an example diagram of a person operating a mobile robot according to one embodiment of the present invention.

[0027] Figure 4 is a flowchart of a battery replacement method of a mobile robot according to one embodiment of the present invention.

[0028] FIG. 5 is an exemplary diagram of replacing the main battery of a mobile robot and a battery replacement station according to one embodiment of the present invention.

[0029] FIG. 6A and FIG. 6B are exemplary diagrams illustrating movement of a battery replacement station that has received a battery replacement request signal from a plurality of mobile robots according to one embodiment of the present invention.

[0030] FIG. 7A and FIG. 7B are exemplary diagrams illustrating movement of a battery replacement station between a first mobile robot and a second mobile robot that have requested a battery replacement according to one embodiment of the present invention.

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description have been omitted to clearly explain the present invention, and similar parts have been designated with similar reference numerals throughout the specification.

[0032] Throughout the specification, when a part is said to be "connected" to another part, this includes not only the cases where the parts are "directly connected" but also the cases where the parts are "electrically connected" with other elements intervening. Furthermore, when a part is said to "include" a component, this does not exclude other components, but rather includes other components, unless otherwise stated.

[0033] FIG. 1 is a configuration diagram of a battery replacement system for a mobile robot according to one embodiment of the present invention.

[0034] As illustrated in FIG. 1, a battery replacement system for a mobile robot according to one embodiment of the present invention includes a mobile robot (100) and a battery replacement station (200).

[0035] Here, the mobile robot (100) may include at least one of an automated guided vehicle (AGV), an autonomous mobile robot (AMR), and a mobile manipulator.

[0036] The mobile robot (100) can be implemented in one or more configurations, and is powered by a removable main battery (120), recognizes its current location through built-in sensors and actuators, and transports the goods to the destination.

[0037] In addition, the remaining battery capacity of the main battery (120) is checked, and if the remaining capacity is less than the reference value, a battery replacement request signal is generated, and power is maintained with the auxiliary battery (140) while the main battery (120) is replaced.

[0038] Next, the battery replacement station (200) stores a plurality of removable main batteries, receives and stores batteries separated from the mobile robot when the mobile robot is in contact with them, and discharges and mounts batteries that have completed charging onto the mobile robot.

[0039] Figure 2 is a block diagram of a mobile robot according to one embodiment of the present invention.

[0040] As shown in Fig. 2, the mobile robot (100) includes a driving unit (110), a main battery (120), a mobile robot control unit (130), and an auxiliary battery (140).

[0041] The driving unit (110) recognizes the location of the mobile robot through sensors and drivers, recognizes people or obstacles, and transports the goods to the destination.

[0042] Additionally, the main battery (120) is removable and supplies power to the driving unit (110).

[0043] The mobile robot control unit (130) determines the location of the battery replacement station (200), and when the remaining battery capacity of the main battery (120) is below a reference value, transmits a replacement request signal to the battery replacement station (200), and controls the driving unit (110) to move the mobile robot (100) to the battery replacement station (200).

[0044] In addition, the mobile robot control unit (130) can charge the auxiliary battery (140) using the main battery (120) while the mobile robot (100) is in operation if the remaining amount of the auxiliary battery (140) is less than a reference value.

[0045] In addition, the mobile robot control unit (130) can transmit information on the current location of the mobile robot (100) and the current remaining battery amount of the main battery (120) to the communication unit (130) of the battery replacement station (200) when the remaining battery amount of the main battery (120) is below a reference value.

[0046] Additionally, the auxiliary battery (140) supplies power to the mobile robot (100) while the mobile robot (100) is replacing the main battery (120) at the battery replacement station (200).

[0047] FIG. 3a is a block diagram of a battery replacement station according to one embodiment of the present invention, and FIG. 3b is an example diagram of a person operating a mobile robot according to one embodiment of the present invention.

[0048] As shown in FIG. 3a, the battery replacement station (200) includes a storage unit (210), a charging unit (220), a communication unit (230), and a station control unit (240).

[0049] The battery replacement station (200) can be implemented in a movable form.

[0050] First, the storage unit (210) stores multiple main batteries (120), and the charging unit (220) charges the main batteries (120) separated from the mobile robot (100).

[0051] Additionally, the communication unit (230) receives the current location and current remaining battery information of the mobile robot (100) transmitted by the mobile robot control unit (130) from the mobile robot (100).

[0052] When the mobile robot (100) comes into contact with the station control unit (240), the station control unit (240) receives the main battery (120) separated from the mobile robot (100), stores it in the storage unit (210), and discharges the fully charged main battery (120) stored in the storage unit (210) and mounts it on the mobile robot (100).

[0053] In addition, when the station control unit (240) receives a battery replacement request signal from a plurality of mobile robots (100) within a certain period of time, it can determine the order of the plurality of mobile robots (100) in descending order of remaining battery capacity, generate waiting time information corresponding to the order, and transmit it to the corresponding mobile robot (100).

[0054] Meanwhile, as illustrated in FIG. 3b, the battery replacement station (200) can move in response to the magnitude and direction of the force sensed by the force torque sensor mounted inside when a contact is input from a worker.

[0055] That is, the battery replacement station (200) may be implemented in a state where it is connected to a power supply unit via a power line, but it may also be moved wirelessly via an internal battery.

[0056] If the battery replacement station (200) is wireless, the worker must move the battery replacement station (200) by pushing or pulling it. In this case, since a number of main batteries are stored inside the battery replacement station (200), the weight may be considerable.

[0057] Accordingly, a force torque sensor (not shown) mounted inside the battery replacement station (200) can measure the applied force and torque when force is applied to the battery replacement station (200) and control the movement of the robot so that the sum of the measured force and torque follows the target force value and target torque value, and through this cooperative function, a worker can easily move the battery replacement station (200).

[0058] Hereinafter, a battery replacement method according to an embodiment of the present invention will be described with reference to FIG. 4.

[0059] FIG. 4 is a flowchart for explaining a battery replacement method of a mobile robot according to one embodiment of the present invention.

[0060] First, when the mobile robot (100) is started, the mobile robot control unit (130) compares the remaining battery capacity of the main battery (120) of the mobile robot (100) with a reference value in real time (S410).

[0061] As a result of the comparison, if the remaining battery capacity of the main battery (120) is less than the reference value, the mobile robot control unit (130) generates a battery replacement request signal and transmits it to the communication unit (S420).

[0062] At this time, the communication unit (230) that received the battery replacement request can additionally receive information on the current location and current remaining amount of the mobile robot (100) from the mobile robot control unit (130) (S430).

[0063] After the battery control station (200) additionally receives information on the current location and current remaining amount of the mobile robot (100) from the mobile robot control unit (130), the mobile robot control unit (130) moves the mobile robot (100) to the battery replacement station (S440).

[0064] In addition, when the battery control station (200) receives a battery replacement request signal from a plurality of mobile robots (100) within a certain period of time, the battery control station (200) can determine the order of the plurality of mobile robots (100) in descending order of remaining battery capacity, generate waiting time information corresponding to the order, and transmit the information to the corresponding mobile robot (100).

[0065] For example, if three mobile robots (100) located in different locations transmit replacement request signals within a certain period of time, the battery control station (200) determines the remaining battery capacity of the three mobile robots (100).

[0066] Next, the battery control station (200) gives priority to the mobile robots (100) in order of the lowest remaining battery level.

[0067] Next, the battery control station (200) generates waiting time information according to the priority of the mobile robot (100) and transmits it to the corresponding mobile robot (100).

[0068] Next, the battery replacement station (200) replaces the main battery (120) stored in the battery replacement station (200) with the main battery (120) whose remaining amount of the mobile robot (100) is less than the reference value (S450).

[0069] FIG. 5 is an exemplary diagram of replacing the main battery of a mobile robot and a battery replacement station according to one embodiment of the present invention.

[0070] At this time, (a) of FIG. 5 is an exemplary diagram showing a process of separating a main battery (120) mounted on a mobile robot (100), (b) of FIG. 5 is an exemplary diagram showing a process of separating a main battery (120) stored in a battery replacement station (200) and mounting it on a mobile robot (100), and (c) of FIG. 5 is an exemplary diagram showing a process of operating a battery replacement station (200).

[0071] As shown in (a) of Fig. 5, when the mobile robot (100) comes into contact with the battery replacement station (200), the main battery (120) mounted on the mobile robot (100) is separated and stored in the battery replacement station (200).

[0072] Next, as shown in (b) of Fig. 5, the main battery (120) that has been fully charged and stored in the battery replacement station (200) is separated and mounted on the mobile robot (100).

[0073] In addition, as shown in (c) of FIG. 5, when the main battery (120) separated from the mobile robot (100) enters the battery replacement station (200), the separated main battery (120) moves to the charging unit (220).

[0074] At this time, the auxiliary battery (140) supplies power to the driving unit (110) of the mobile robot (100) while the mobile robot (100) is replacing the main battery (120) through the battery replacement station (200), thereby preventing the power of the mobile robot (100) from turning off during the process of replacing the main battery (120).

[0075] Meanwhile, the mobile robot (100) requiring main battery replacement has been described as moving to the battery replacement station (200), but in some cases, the battery replacement station may move directly toward the mobile robot (100) to perform battery replacement more efficiently. Hereinafter, an embodiment in which the battery replacement station moves will be described with reference to FIGS. 6A to 7B.

[0076] First, when the battery replacement station (200) receives a battery replacement request signal from a plurality of mobile robots (100), it can move to a position corresponding to an intermediate point using the current positions received from each of the plurality of mobile robots (100).

[0077] FIG. 6A and FIG. 6B are exemplary diagrams illustrating movement of a battery replacement station that has received a battery replacement request signal from a plurality of mobile robots according to one embodiment of the present invention.

[0078] For example, as illustrated in FIG. 6a, it is assumed that the battery replacement station (200) receives a battery replacement request signal and current location information of each of the mobile robots (100a, 100b, 100c) from the mobile robot (100a), the mobile robot (100b), and the mobile robot (100c).

[0079] At this time, the battery replacement station (200) uses the current location information of each mobile robot (100a, 100b, 100c) that sent the battery replacement request signal to calculate an intermediate point where the distances between the mobile robot (100a), the mobile robot (100b), and the mobile robot (100c) are all the same.

[0080] After calculating the intermediate point where the distances between the mobile robot (100a), the mobile robot (100b), and the mobile robot (100c) are all the same, the station control unit (240) moves the battery replacement station (200) to the calculated intermediate point, as shown in FIG. 6b.

[0081] After the battery replacement station (200) moves to the middle point of the plurality of mobile robots (100), the battery replacement station (200) determines the order of the remaining battery power of each mobile robot (100) in descending order, generates waiting time information corresponding to the order, and transmits it to the corresponding mobile robot (100a, 100b, 100c).

[0082] Then, the mobile robot (100a, 100b, 100c) can move to the battery replacement station (200) according to the received waiting time.

[0083] Next, the battery replacement station (200) can move to a point where the ratio of the distance from the first mobile robot to the distance from the second mobile robot corresponds to the remaining battery level ratio of the first mobile robot and the second mobile robot when the battery replacement station is located between the first mobile robot and the second mobile robot that requested the battery replacement.

[0084] FIG. 7A and FIG. 7B are exemplary diagrams illustrating movement of a battery replacement station between a first mobile robot and a second mobile robot that have requested a battery replacement according to one embodiment of the present invention.

[0085] For example, as shown in FIGS. 7A and 7B, when a battery replacement station (200) is located between a mobile robot (100a) having a remaining battery capacity of 7% and a mobile robot (100b) having a remaining battery capacity of 13%, the battery replacement station (200) can move to a point where the ratio of the distance to the mobile robot (100a) and the distance to the mobile robot (100b) corresponds to the remaining battery capacity ratios of the mobile robots (100a) and (100b), i.e., a point where the ratio of the distance to the mobile robot (100a) and the distance to the mobile robot (100b) is 7:13.

[0086] According to an embodiment of the present invention, the power of a logistics robot is not turned off during battery replacement, thereby reducing unnecessary energy and time consumption, and the operating efficiency of the robot can be increased compared to existing rechargeable systems through battery replacement, thereby reducing the cost of introducing the logistics robot.

[0087] Additionally, it is easy to install as a mobile battery replacement station and its location can be freely changed.

[0088] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims.

Claims

1. In a battery replacement system for a mobile robot using a battery replacement station, One or more mobile robots that are powered by a removable main battery, recognize their current location through built-in sensors and actuators, transport logistics to their destinations, check the remaining battery capacity of the main battery, generate a battery replacement request signal when the remaining capacity is lower than a reference value, and maintain power with an auxiliary battery while replacing the main battery; and A battery replacement system comprising a battery replacement station storing a plurality of removable main batteries, receiving and storing batteries separated from a mobile robot when the mobile robot is in contact with the mobile robot, and discharging and installing the charged batteries on the mobile robot.

2. In paragraph 1, The above mobile robot, A driving unit that recognizes the location of the mobile robot through sensors and actuators, recognizes people or obstacles, and transports the logistics to the destination; A main battery that is removable and supplies power to the driving unit of the mobile robot; A mobile robot control unit that identifies the location of the battery replacement station, transmits a battery replacement request signal to the replacement station when the remaining battery capacity of the main battery is less than a reference value, and controls the driving unit to move the mobile robot to the battery replacement station; and A battery replacement system including an auxiliary battery for supplying power to the mobile robot while the main battery is being replaced at the battery replacement station.

3. In paragraph 1, The above battery replacement station is, A storage unit that stores multiple main batteries; A charging unit for charging a main battery separated from the above mobile robot; A communication unit that receives information on the current location and current remaining battery level of the mobile robot from the mobile robot; and A battery replacement system including a station control unit that receives a main battery separated from the mobile robot when the mobile robot comes into contact with it, stores the main battery in the storage unit, and discharges the main battery, which has been fully charged and stored in the storage unit, and installs it in the mobile robot.

4. In paragraph 1, The above mobile robot, A battery replacement system comprising at least one of an automated guided vehicle (AGV), an autonomous mobile robot (AMR), and a mobile manipulator.

5. In paragraph 2, The above mobile robot control unit, A battery replacement system that charges the auxiliary battery using the main battery while moving when the remaining amount of the auxiliary battery is less than a reference value.

6. In paragraph 2, The above mobile robot control unit, A battery replacement system that transmits information on the current location and current remaining battery amount of the mobile robot to the battery replacement station when the remaining battery amount of the main battery is below a preset reference value.

7. In paragraph 1, The above battery replacement station is, A battery replacement system implemented in a portable form.

8. In paragraph 7, The above battery replacement station is, A battery replacement system that moves in response to the magnitude and direction of force sensed by a force torque sensor mounted internally.

9. In paragraph 3, The above station control unit, A battery replacement system that, when a battery replacement request signal is received from a plurality of mobile robots within a certain period of time, determines the order of the remaining battery power of the plurality of mobile robots in descending order, generates waiting time information corresponding to the order, and transmits the information to the corresponding mobile robot.

10. In paragraph 7 or paragraph 9, The above station control unit, A battery replacement system that, when a battery replacement request signal is received from a plurality of mobile robots, moves the station replacement station to a position corresponding to an intermediate point using the current positions received from each of the plurality of mobile robots.

11. In paragraph 7 or paragraph 9, The above station control unit, A battery replacement system that moves the battery replacement station to a point where the ratio of the distance between the first mobile robot and the second mobile robot corresponds to the ratio of the remaining battery levels of the first mobile robot and the second mobile robot, when the battery replacement station is located between the first mobile robot and the second mobile robot that requested the battery replacement.

12. In paragraph 11, The above station control unit, A battery replacement system that moves the battery replacement station to a point where the ratio of the distance from the first mobile robot to the distance from the second mobile robot becomes m:n when the ratio of the remaining battery levels of the first mobile robot and the second mobile robot is m:n.

13. A method for replacing a battery of a mobile robot using a battery replacement station, A step of comparing the remaining battery capacity of the main battery of the mobile robot with a reference value; A step of generating a battery replacement request signal when the remaining battery capacity of the main battery is below a reference value; A step of moving the above mobile robot to a battery replacement station; A battery replacement method comprising a step of replacing a main battery whose charge is fully stored in the battery replacement station with a main battery whose remaining charge of the mobile robot is less than a reference value.

14. In paragraph 13, The above mobile robot, A battery replacement method comprising at least one of an automated guided vehicle (AGV), an autonomous mobile robot (AMR), and a mobile manipulator.

15. In paragraph 13, The above mobile robot, A battery replacement method for charging the auxiliary battery using the main battery while moving when the remaining capacity of the auxiliary battery is less than a reference value.

16. In paragraph 13, A battery replacement method further comprising a step of transmitting information on the current location and current remaining battery amount of the mobile robot to the battery replacement station when the remaining amount of the main battery is less than a preset reference value.

17. In paragraph 16, The above battery replacement station is, A battery replacement method in which, when a battery replacement request signal is received from multiple mobile robots within a certain period of time, the battery remaining capacity of the multiple mobile robots is determined in descending order, and waiting time information corresponding to the order is generated and transmitted to the corresponding mobile robot.

18. In paragraph 17, The above battery replacement station is, A battery replacement method in which, when a battery replacement request signal is received from a plurality of mobile robots, the method moves to a position corresponding to an intermediate point using the current positions received from each of the plurality of mobile robots.

19. In paragraph 17, The above battery replacement station is, A battery replacement method in which, when the battery replacement station is located between a first mobile robot and a second mobile robot that have requested a battery replacement, the battery replacement station moves to a point where the ratio of the distance from the first mobile robot and the distance from the second mobile robot corresponds to the remaining battery level ratio of the first mobile robot and the second mobile robot.

20. In paragraph 19, The above battery replacement station is, If the battery remaining ratio of the first mobile robot and the second mobile robot is m:n, A battery replacement method for controlling the battery replacement station to be positioned at a point where the ratio of the distance from the first mobile robot to the distance from the second mobile robot becomes m:n.

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