Energy storage robot

Abstract

An energy storage robot configured to be used to power electric underground equipment, the energy storage robot including a propulsion system being arranged to move the energy storage robot, an energy storage unit, a control unit being connected to the propulsion system and the energy storage unit. The energy storage unit is connectable to the electric underground equipment for powering the electric underground equipment and the control unit is arranged to communicate a level of energy of the energy storage unit to a coordinating module or another energy storage robot.

Claims

1. An energy storage robot configured to be used to power electric underground equipment, the energy storage robot comprising: a propulsion system being arranged to move the energy storage robot; an energy storage unit, which is connectable to the electric underground equipment for powering the electric underground equipment; and a control unit being connected to the propulsion system and the energy storage unit, the control unit communicating a level of energy of the energy storage unit to a coordinating module or another energy storage robot; and a main body, wherein the propulsion system, the energy storage unit, and the control unit are attached to the main body; wherein the energy storage robot attaches the main body to the electric underground equipment when the energy storage unit is powering the electric underground equipment so that the main body forms a fixed part of the electric underground equipment and moves with the electric underground equipment as the electric underground equipment manoeuvres during operation.

2. The energy storage robot according to claim 1, wherein the control unit comprises a communication module, the communication module being arranged to communicate the level of energy of the energy storage unit to the coordinating module or the other energy storage robot.

3. The energy storage robot according to claim 2, wherein the control unit comprises a navigating device, the navigating device being arranged to navigate the energy storage robot when it is moving.

4. The energy storage robot according to claim 1, wherein the control unit comprises a navigating device, the navigating device being arranged to navigate the energy storage robot when it is moving.

5. The energy storage robot according to claim 1, comprising a robot battery module connected to the propulsion system and the control unit, the robot battery module being arranged to power the energy storage robot.

6. The energy storage robot according to claim 1, wherein the energy storage is used to power the energy storage robot.

7. The energy storage robot according to claim 1, comprising an attachment mechanism, wherein the attachment mechanism is arranged to mechanically connect the energy storage robot to the electric underground equipment.

8. The energy storage robot according to claim 7, wherein the attachment mechanism comprises means to lift and attach the energy storage robot to the electric underground equipment in a fixed manner.

9. The energy storage robot according to claim 1, comprising an interface, which is used to electrically connect the energy storage unit to the electric underground equipment.

10. The energy storage robot according to claim 9, wherein the interface comprises an inductive energy transfer system configured to supply energy from the energy storage unit to the electric underground equipment by induction.

11. The energy storage robot according to claim 9, wherein the interface comprises a plug or socket configured to be connected to a socket or plug of the electric underground equipment in order to supply energy from the energy storage unit to the electric underground equipment.

12. The energy storage robot according to claim 1 comprising a transport device configured to be used to transport material or goods.

13. The energy storage robot according to claim 1, wherein the energy storage robot is configured to attach to the electric underground equipment such that the energy storage robot is movable with the electric underground equipment during operation of the electric underground equipment.

14. A powering system comprising: at least one robot charging station; and at least two energy storage robots, each energy storage robot includes: a propulsion system being arranged to move the energy storage robot; an energy storage unit, which is connectable to the electric underground equipment for powering the electric underground equipment; a control unit being connected to the propulsion system and the energy storage unit, the control unit communicating a level of energy of the energy storage unit to a coordinating module or another energy storage robot; and a main body, wherein the propulsion system, the energy storage unit, and the control unit are attached to the main body; wherein each energy storage robot attaches the respective main body to the electric underground equipment when the energy storage unit is powering the electric underground equipment so that the respective main body forms a fixed part of the electric underground equipment and moves with the electric underground equipment as the electric underground equipment manoeuvres during operation.

15. A method of powering electric underground equipment comprising the steps of: connecting an energy storage unit of a first energy storage robot to the electric underground equipment for powering the electric underground equipment, wherein the energy storage unit is attached to a main body of the first energy storage robot, and wherein the first energy storage robot attaches the main body to the electric underground equipment when the energy storage unit is powering the electric underground equipment so that the main body forms a fixed part of the electric underground equipment and moves with the electric underground equipment as the electric underground equipment manoeuvres during operation; dispatching a second energy storage robot with a charged energy storage unit to the electric underground equipment when a level of energy of the energy storage unit of the first energy storage robot reaches a predetermined threshold, the level of energy being obtained by a control unit attached to the main body of the first energy storage robot; and replacing the first energy storage robot with the second energy storage robot so that the charged energy storage unit of the second energy storage robot is powering the electric underground equipment, wherein the charged energy storage unit remains attached to a main body of the second energy storage robot when powering the electric underground equipment.

16. The method according to claim 15, comprising the step of navigating the first energy storage robot to a robot charging station to charge the energy storage unit of the first energy storage robot.

17. The method according to claim 16, comprising the step of establishing an electric connection between the electric underground equipment and the energy storage unit of the second energy storage robot, prior to replacing the first energy storage robot.

18. The method according to claim 15, comprising the step of establishing an electric connection between the electric underground equipment and the energy storage unit of the second energy storage robot, prior to replacing the first energy storage robot.

19. The method according to claim 15, comprising the step of communicating the level of energy of the energy storage unit of the first energy storage robot to a coordinating module or to the second energy storage robot.

20. The method according to claim 15, comprising the steps of: dispatching a third energy storage robot with a charged energy storage unit to the electric underground equipment when a level of energy of the energy storage unit of the second energy storage robot reaches a predetermined threshold; replacing the second energy storage robot with the third energy storage robot so that the third energy storage robot is powering the electric underground equipment; and navigating the second energy storage robot to the robot charging station to charge the energy storage unit of the second energy storage robot.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention is now described, by way of example, with reference to the accompanying drawings, in which:

(2) FIG. 1 schematically illustrates a top down view onto an energy storage robot according to an embodiment of the invention with some parts being shown by illustrating a partially transparent main body;

(3) FIG. 2 schematically illustrates a side view of another embodiment of the energy storage robot according to the invention;

(4) FIG. 3 schematically illustrates electric underground equipment, a first energy storage robot, a second energy storage robot and a third energy storage robot and how the energy storage robots may be used to power electric underground equipment;

(5) FIG. 4 illustrates a similar view as FIG. 3, whereby the communication between the energy storage robots is shown;

(6) FIG. 5 illustrates a similar view as FIGS. 3 and 4, whereby a second energy storage robot is dispatched towards the electric underground equipment;

(7) FIG. 6 illustrates a similar view as FIGS. 3 to 5, whereby the second energy storage robot is replacing the first energy storage robot;

(8) FIG. 7 illustrates a similar view as FIGS. 3 to 6, whereby the first energy storage robot is moving back to a charging station after the replacement; and

(9) FIG. 8 illustrates a flowchart according to a method of the present invention.

DETAILED DESCRIPTION

(10) The invention will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout the description.

(11) FIG. 1 shows a top down view onto an example of an energy storage robot 1. The energy storage robot 1 comprises a main body 4, a propulsion system 6, a control unit 10 and an energy storage unit 12. In order to illustrate the various parts of the energy storage robot 1, the main body 4 is shown transparent. The various parts as described later herein, may however also be arranged on top of or around the main body 4.

(12) As mentioned the energy storage may be an electrical energy storage in the form of a battery or a rechargeable battery.

(13) Alternatively, the energy storage may be a fuel cell. The propulsion system 6 is arranged to drive the energy storage robot 1 via wheels 14, as shown in the illustrated example in FIG. 1. In another embodiment the energy storage robot may comprise another number of wheels 14. Some or all of the wheels 14 may be ground engaging means in the form of caterpillar tracks. The propulsion system 6 is connected to the control unit 10 and the wheels 14, as illustrated in FIG. 1. The propulsion system 6 may further comprise a robot battery module 18 that is used to power the energy storage robot 1. The robot battery module 18 is however optional since the power for the energy storage robot 1 itself may be drawn from the energy storage unit 12.

(14) The energy storage unit 12 is connected to the control unit 10, for example via the propulsion system 6, as illustrated in FIG. 1. The energy storage unit 12 is divided into two energy storage packs, as shown in FIG. 1, and it is used to power electric underground equipment (not shown in FIG. 1). The energy storage unit 12 may comprise more than two energy storage packs or only one energy storage pack. The control unit 10 is configured to communicate with the energy storage unit 12 in order to obtain a level of energy of the energy storage unit 12.

(15) The propulsion system 6 may be connected to the wheels 14 by way of a transmission or by an electric conductor. The connection between the propulsion system 6, the control unit 10, the energy storage unit 12 and the control unit 10 may be in the form of one or more electric conductors.

(16) The control unit 10 comprises a navigating device 8 and a communication module 20. The navigating device 8 and the communication module 20 may however be arranged separately from the control unit 10. The communication module 20 and the navigating device 8 are connected to each other for communication and control. In the embodiment shown in FIG. 1, the navigating device 8 may for example be a 3D camera system. Alternatively the navigating device 8 may be an ultrasound-, an infrared or a laser navigating system. The communication module 20 is arranged to communicate with other vehicles and especially with other energy storage robots directly or indirectly (c.f. FIGS. 3 to 7) in order to organize the powering of electric underground equipment 7. A direct communication means that the energy storage robots 1, 1′, 1″, 1′″ communicate with each other directly. An indirect communication means that the energy storage robots 1, 1′, 1″, 1′″ communicate via a coordinating module 3 (c.f. FIG. 4) or some sort of a central communication unit of the mine or tunnel. The control unit 10 is further arranged to control and steer the propulsion system 6 so that the energy storage robot 1 can drive and move autonomously. The control unit 10 may comprise a plurality (not shown) of navigating devices 8, in order to ensure that the energy storage robot 1 can navigate and move in a safe manner.

(17) FIG. 1 further illustrates an interface 24, which is used to electrically connect the energy storage robot 1 to the electric underground equipment 7, shown in FIG. 3, and to supply energy from the energy storage unit 12 to the electric underground equipment 7. The interface 24 is connected the energy storage unit 12. In order to actually transfer the energy from the energy storage unit 12 to the electric underground equipment, the interface 24 may comprise a plug or socket which plug or socket is configured to be connected to a socket or plug of the electric underground equipment 7, for example with an additional cable or the like. Alternatively or additionally, the interface 24 may comprise an inductive energy transfer system having a coil, which coil is configured to interact with a coil of the electric underground equipment 7.

(18) FIG. 2 schematically illustrates a side view of another embodiment of the battery robot 1′. The main body 4 is illustrated to carry the battery unit 12 and the navigating device 8. The navigating device 8 is mounted on a pole or the like, on the main body 4 for a good view. In order to provide for a good surround view around the battery robot 1′, the navigating device 8 may be mounted by way of a moveable universal joint (not shown). In addition to the embodiment of the battery robot 1 shown in FIG. 1, the battery robot 1′ illustrated in FIG. 2 comprises an attachment mechanism 32 and a transport device 36.

(19) The attachment mechanism 32 may be used to physically or mechanically connect the battery robot 1′ to the electric underground equipment 7, in order to avoid that the electric connection between the interface 24 and the electric underground equipment can break when the electric underground equipment 7 is operating. The attachment mechanism 32 may comprise means 34 to lift and attach the energy storage robot 1′ to the electric underground equipment 7. The energy storage robot 1′ may for instance be lifted and fixed onto a platform provided on the electric underground equipment 7. When the energy storage robot 1′ is connected to the electric underground equipment 7, the equipment is not restricted in its movement. This may be especially beneficial if the electric underground equipment is a vehicle or the like, such as a mining truck, a loader, an excavator, etc.

(20) The means 34 for lifting and attaching the energy storage robot 1′ may be embodied in the form of a crane, or a hydraulic mechanism comprising a holding member 35 and an arm member 37, as illustrated in FIG. 2. Alternatively the means 34 may be embodied in the form of an electric mechanism.

(21) Additionally, the battery robot 1′ according to FIG. 2 comprises a transport device 36, which is illustrated in the form of a container. The transport device 36 may additionally comprise a crane (not shown) or the like to lift tools or spare parts into the container. Alternatively the means 34 for lifting and attaching the battery robot 1′ to the electric underground equipment 7 may be used to lift tools and spare parts into and out of the container.

(22) The transport device 36 may also be embodied or installed in the example of the battery robot 1 according to FIG. 1.

(23) FIG. 3 illustrates a robotic powering system 5 in use in a mine or tunnel 9, the robotic powering system 5 comprising at least one robot charging station 2 and a plurality of energy storage robots 1, 1′, 1″, 1′″. An electric underground equipment 7 in the form of a drill rig is shown at a tunnel face drilling holes into the tunnel face. A first energy storage robot 1 is powering the electric underground equipment 7 via the interface 24. The level of energy of the energy storage unit 12 of the first energy storage robot 1 is at 73%, according to the example in FIG. 3. Additionally, FIG. 3 illustrates a second energy storage robot 1″ and a third energy storage robot 1′″ being charged at the robot charging stations 2. The second energy storage robot 1″ and the third energy storage robot 1′″ are connected to the charging stations via the respective interfaces 24. As illustrated, the energy storage unit 12 of the second energy storage robot 1″ is fully charged. The third energy storage robot 1′″ is charging.

(24) There may be more robot charging stations 2, more energy storage robots 1, 1′, 1″, 1′″ and more electric underground equipment 7 operating in the tunnel or mine. The number of energy storage robots 1, 1′, 1″, 1′″, robot charging stations 2 depends on the distances between the electric underground equipment 7 and the robot charging stations, on the amount of electric underground equipment or vehicles operating in the mine/tunnel and on the charging time necessary to fully charge an energy storage unit 12.

(25) When the energy storage unit 12 of the first energy storage robot 1 reaches a predetermined threshold, in the example in FIG. 4 illustrated with 25%, the first energy storage robot 1 communicates with the other energy storage robots 1″, 1′″. This may be done directly from energy storage robot to energy storage robot or via a coordinating module 3, for example in the form of a computer server, as shown in FIG. 4. The predetermined threshold may be lower or higher than 25% depending on the time a replacement energy storage robot 1″, 1′″, in FIG. 4 the second or third energy storage robot 1″, 1′″, needs to drive or move from the robot charging station 2 to the electric underground equipment 7. The coordinating module 3 will assign a fully charged energy storage robot 1″, in the illustrated situation the second energy storage robot 1″, with the task of replacing the first energy storage robot 1. Alternatively the energy storage robots 1, 1′, 1″, 1′″ may be configured to communicate directly among each other to organize a replacement energy storage robot 1″, 1′″ so that no coordinating module 3 is needed.

(26) As soon as the second energy storage robot 1″ receives the signal that it is needed as a replacement, it disconnects from the robot charging station 2 and moves to the electric underground equipment 7, which is powered by the first energy storage robot 1, as shown in FIG. 5. By the time the second energy storage robot 1″ reaches the first energy storage robot 1, the energy storage unit 12 of the first energy storage robot 1 has already a lower level of energy than the predetermined threshold, in the illustrated situation 15%.

(27) FIGS. 6 and 7 illustrate how the first energy storage robot 1 is replaced by the second energy storage robot 1″. The replacement may be done by switching off the electric underground equipment 7 for a short time. After switching off the equipment 7, the first energy storage robot 1 disconnects its interface 24 from the electric underground equipment 7 and moves away from the electric underground equipment to make space for the second energy storage robot 1″, which is waiting nearby. As soon as the first energy storage robot 1 is out of the way, the second energy storage robot 1″ connects its interface 24 with the electric underground equipment 7. The electric underground equipment 7 is then ready to operate again. The whole replacement procedure may take less than 5 minutes, preferably less than 3 minutes, in the ideal case less than 2 minutes.

(28) It is possible and falls within the scope of the invention to replace the first energy storage robot 1 with the second energy storage robot 1″ while the electric underground equipment 7 is operating. This may for example be achieved by an internal electrical energy storage in the electric underground equipment 7 that is configured to bridge the power supply while the first energy storage robot 1 is replaced by the second energy storage robot 1″.

(29) Alternatively to the above, an inductive energy transfer system (not shown) may be used so that while the energy storage unit 12 of the first energy storage robot 1 is still connected to the electric underground equipment 7, via a coil (not shown) in the interface 24 and a coil (not shown) in the electric underground equipment 7, the energy storage unit 12 of the second energy storage robot 1″ may be connected via its coil to the coil of the electric underground equipment 7 so that the energy storage unit 12 of the first energy storage robot 1 and the energy storage unit 12 of the second energy storage robot 1″ are powering the electric underground equipment 7 for a short time. As soon as the energy storage unit 12 of the second energy storage robot 1″ is connected to the electric underground equipment 7, the energy storage unit 12 of the first energy storage robot 1 may be disconnected from the electric underground equipment 7. Thus the electric underground equipment 7 is not switched off during the whole replacement process. The described inductive energy transfer system may require optimized space conditions at the energy storage robots 1, 1″, 1′″ and at the electric underground equipment 7, so that two energy storage robots 1, 1″ can be connected simultaneously to the electric underground equipment 7 for a short time.

(30) FIG. 7 illustrates how the second energy storage robot 1″ is now powering the electric underground equipment 7, while the first energy storage robot 1 is moving back to a free dock of the robot charging station 2.

(31) As soon as another energy storage robot (not shown), which is powering electric underground equipment, requires to be replaced, the third energy storage robot 1′″ will be dispatched.

(32) FIG. 8 illustrates method steps according to a method of powering electric underground equipment 7 via energy storage robots 1, 1′, 1″, 1′″.

(33) The method may also be performed with an energy storage robot 1, 1′, 1″, 1′″ according to any of the above described kind or any variation thereof.

(34) The method comprises the steps of:

(35) S01. A first energy storage robot 1 connects its energy storage unit 12 to the electric underground equipment 7 for powering the electric underground equipment.

(36) S02. The first energy storage robot 1 communicates the level of energy of the energy storage unit 12 of the first energy storage robot 1 to a coordinating module 3 or to the second energy storage robot 1″.

(37) This may be done directly or indirectly, as described above. The energy storage robots 1″, 1′″, which are charging their energy storage units 12 are thus aware of the current status of the first energy storage robot 1.

(38) S03. As soon as a replacement energy storage robot 1″, 1′″ is required, thus as soon as a level of energy of the energy storage unit 12 of the first energy storage robot reaches a predetermined threshold, a second energy storage robot 1″ with a charged energy storage unit 12 will be dispatched to the electric underground equipment 7.

(39) The energy storage robots 1, 1′, 1″, 1′″ communicate among each other so that an energy storage robot 1″, 1′″ with a fully charged energy storage unit 12 is dispatched.

(40) S04a. In an example of the invention the second energy storage robot 1″ may establish an electric connection between the electric underground equipment and the energy storage unit of the second energy storage robot 1″, prior to replacing the first energy storage robot 1.

(41) The electric underground equipment 7 may thus not need to be switched off during the replacement procedure.

(42) S04 The first energy storage robot may be replaced with the second energy storage robot so that the second energy storage robot is powering the electric underground equipment.

(43) This may done by switching the electric underground equipment 7 temporarily off for a short time. Alternatively the replacement may be done while the electric underground equipment is running, as described in the above step S04a.

(44) S05. After the second energy storage robot 1″ is connected to the electric underground equipment 7, the first energy storage robot may move back to a robot charging station 2 to charge its energy storage unit 12.

(45) In the above described method not each and every method step needs to be performed to provide a method of powering electric underground equipment 7 according to the example. The steps of communicating S02 the level of energy and or establishing S04a an electric connection prior to replacement of the first energy storage robot 1 with the second energy storage robot 1″ may not be necessary.

(46) When the energy storage unit 12 of the second energy storage robot 1″ reaches the predetermined threshold of for example 25%, 20%, 15% or 10%, the following steps may be performed:

(47) dispatching a third energy storage robot 1′″ with a charged energy storage unit 12 to the electric underground equipment when a level of energy of the energy storage unit 12 of the second energy storage robot reaches the predetermined threshold;

(48) replacing the second energy storage robot with the third energy storage robot so that the third energy storage robot is powering the electric underground equipment; and

(49) navigating the second energy storage robot to the robot charging station 2 to charge the energy storage unit of the second energy storage robot.

(50) The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.