JP2016163418A - Electrode unit and travel device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the number of retrial times when disposed with large inclination to a charger.SOLUTION: An electrode unit (1) includes: an electrode (10) and a plurality of first sensors (12) disposed mutually apart, for detecting that the charger contacts to or approaches the electrode unit (1). Further, the electrode unit includes: a slidable protection member (11) which, at non-charging of the battery, internally houses a tip of the electrode (10), whereas at battery charging, exposes the internally housed tip of the electrode (10); and a second sensor (13) which detects that the protection member (11) slides by a certain amount or greater.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electrode unit for charging a battery mounted on the device and a traveling device (mobile robot) including the electrode unit. More particularly, the present invention relates to an electrode unit and a traveling device that can detect the inclination and displacement of the arrangement state of the traveling device and the charging device when docked with the traveling device including the electrode unit and the charging device. is there.

  In recent years, for example, traveling devices that can move autonomously (autonomous traveling devices) are not only used for transportation in factories, but are also sold in the market with additional functions. Such a traveling device includes a battery for driving each device inside the device, and a charging device for supplying power to the battery has been developed.

  The traveling device is equipped with an electrode unit for charging, and the charging device is equipped with an electrode unit for feeding. At the time of charging, after the traveling devices approach while grasping the position of the charging device, they contact each other and dock. At this time, if the electrodes are exposed from each electrode unit, safety cannot be ensured if an abnormality occurs in the internal circuit. Therefore, Patent Document 1 discloses a technique related to a safe charging system in which the electrode portions of both the traveling device and the charging device are protected by a cover member.

  Specifically, Patent Document 1 discloses a charging electrode structure for connecting a charger of a mobile robot to a power source on the fixed equipment side. In this charging electrode structure, the stationary electrode terminal connected to the power source of the stationary facility is provided in the stationary facility, and the stationary electrode terminal is covered with the housing. Yes. On the other hand, the mobile robot is provided with a movable electrode portion connected to a charger. The movable electrode portion protrudes from the side wall portion of the mobile robot, and the distal end portion of the movable electrode portion is fitted into the concave portion of the fixed electrode portion, whereby the movable electrode terminal and the fixed electrode terminal are connected. An electrode cover is provided that covers the periphery of the recess when the movable electrode portion and the fixed electrode portion are fitted. Accordingly, since the connection portion between the fixed electrode terminal and the movable electrode terminal is covered with the electrode cover in the fitted state between the movable electrode portion and the fixed electrode portion, the connection portion is not exposed to the outside. For this reason, even if a high voltage is applied to the connecting portion, it is possible to prevent a person or the like from touching, and as a result, high safety can be ensured. Therefore, it is possible to realize a charging electrode structure that can supply power safely.

Japanese Patent Laid-Open No. 2001-079792 (published March 27, 2001)

  However, the technique described in Patent Document 1 has a problem in that when the mobile robot is arranged with a large inclination with respect to the power source of the fixed equipment, the number of retries (retry) for appropriately charging increases.

  Specifically, in the technique described in Patent Document 1, the mobile robot is provided with a floating unit that constitutes a self-alignment mechanism. For this reason, if there is a slight displacement in the stop position of the mobile robot or the installation position of the fixed electrode portion, the displacement can be corrected mechanically.

  However, Patent Document 1 does not discuss any countermeasure when the mobile robot is arranged with a large inclination with respect to the power supply to the extent that self-alignment cannot cope. For this reason, even if the mobile robot remains largely inclined with respect to the power source, the movable electrode portion is pushed into the concave portion of the fixed electrode portion. However, when the inclination is large, the movable electrode portion does not reach the chargeable position. That is, the movable electrode terminal and the fixed electrode terminal are not connected and are not charged. Therefore, it is necessary to repeatedly correct the position of the mobile robot until charging becomes possible, and the number of retries increases.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an electrode unit and an electrode unit that can reduce the number of retries when the device is arranged with a large inclination with respect to the charging device. It is to provide a traveling device.

  In order to solve the above-described problem, an electrode unit according to an aspect of the present invention includes an electrode unit for charging a battery mounted on a device, and an electrode and a tip portion of the electrode when the battery is not charged. While housed inside, when charging the battery, a protective member that is slidable to expose the tip of the electrode housed inside, and detecting that an object has approached the tip surface of the protective member, A plurality of first sensors provided apart from each other and a second sensor for detecting that the protective member has slid a certain amount or more are provided.

  According to one aspect of the present invention, there is an effect that it is possible to reduce the number of retries when the device is arranged with a large inclination with respect to the charging device.

It is the schematic of the electrode unit which concerns on Embodiment 1 of this invention. It is a top view which shows the example of installation of the electrode and the 1st sensor in the electrode unit which concerns on Embodiment 1 of this invention. It is a figure which shows the support structure of the electrode in the electrode unit which concerns on Embodiment 1 of this invention, (a) is a figure which shows the state by which the electrode is not pressed, (b) is the state by which the electrode was pressed. FIG. It is sectional drawing which shows the charging device charged through the electrode unit which concerns on Embodiment 1 of this invention, (a) is a figure which shows the state at the time of non-power feeding, (b) shows the state at the time of electric power feeding FIG. It is a top view which shows the structure of the electrode for charging devices with which the charging device of FIG. 4 is provided. It is a flowchart explaining the flow of docking with the electrode unit and charging device which concern on Embodiment 1 of this invention. It is the figure seen from the horizontal viewpoint which shows the docking state of the mobile robot provided with the electrode unit which concerns on Embodiment 1 of this invention, and a charging device. It is the figure which looked at the docking state of the electrode unit and charging device which concern on Embodiment 1 of this invention from the upper viewpoint. It is a figure which shows the initial state which the mobile robot of Embodiment 1 of this invention inclined about 2 degree | times with respect to the charging device, and was docked. FIG. 10 is a diagram showing a state in which the mobile robot according to the first embodiment of the present invention is docked by tilting about 2 degrees with respect to the charging device, and the protection member of the electrode unit is further pushed in from the state of FIG. 9. The figure which showed an example when the mobile robot of Embodiment 1 of this invention inclined greatly with respect to a charging device and docked It is the schematic of the electrode unit which concerns on Embodiment 2 of this invention. It is the schematic of the electrode unit which concerns on Embodiment 3 of this invention. It is the schematic of the electrode unit which concerns on Embodiment 4 of this invention. It is the schematic of the electrode unit which concerns on Embodiment 5 of this invention. It is a top view which shows the example of installation of the electrode and the 1st sensor in the electrode unit which concerns on Embodiment 5 of this invention.

[Embodiment 1]
Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS.

(Configuration of electrode unit 1 and mobile robot 100)
First, the structure of the electrode unit of this embodiment is demonstrated based on FIG. 1 and FIG. FIG. 1 is a schematic diagram of an electrode unit 1 according to Embodiment 1 of the present invention. FIG. 7 is a side view showing a docking state between mobile robot 100 provided with electrode unit 1 according to Embodiment 1 of the present invention and charging device 200. FIG. 1 shows the electrode unit 1 in a steady state that is not charged and in which no external load is applied to the electrode unit 1.

  As shown in FIG. 7, the electrode unit 1 is mounted on the side surface of the mobile robot (traveling device) 100 and is used for charging the battery (rechargeable power source) 110 of the mobile robot 100. When charging the battery 110, the electrode unit 1 is connected to the charging device 200, and the battery 110 is charged via the electrode unit 1.

  As shown in FIG. 1, the electrode unit 1 includes an electrode 10 (positive electrode 10a / negative electrode 10b), a protective member 11, a first sensor 12, a second sensor 13, a fixed substrate 14, an electrode unit housing. A body 15, a protective member fixing jig 16, a support substrate 17, and an elastic body 18 are provided. In the electrode unit 1 of FIG. 1, the fixed substrate 14 side is the inner side (back side / rear side) of the mobile robot 100, and the protective member 11 side is the outer side (front side / front side) of the mobile robot 100. That is, the front surface (exposed surface 11 a) side of the protection member 11 is the side exposed from the mobile robot 100.

  The electrode 10 supplies power to the battery of the mobile robot 100 on which the electrode unit 1 is mounted. As will be described later, the electrode unit 1 is provided with a plurality of pairs of positive electrodes 10 a and negative electrodes 10 b as the electrodes 10. In the following description, when the positive electrode 10a and the negative electrode 10b are not distinguished, they are simply referred to as electrodes 10. The material of the electrode 10 is not particularly limited, but is preferably a material having high conductivity and high rigidity. For example, the material of the electrode 10 can include gold, silver, copper, iron, lead, or an alloy containing a plurality of these metals.

  The protective member 11 is a component that constitutes a part (front surface) of the outer periphery of the electrode unit 1. A cavity (through hole) H corresponding to each electrode 10 is formed inside the protective member 11. As shown in FIG. 1, at least the tip of the electrode 10 is accommodated in the cavity H when the battery is not charged. From this state, the protection member 11 can slide in one direction toward the back side of the electrode unit 1. That is, the protection member 11 is a slide cover that can slide to the back side of the electrode unit 1 according to the pressing force when the exposed surface 11 a exposed from the mobile robot 100 is pressed. As a result, when the protective member 11 slides a certain amount, the tip of the electrode 10 accommodated in the cavity of the protective member 11 is exposed.

  The size (width W) of the cavity H formed in the protective member 11 may be slightly larger than the width of the electrode 10, but is preferably a size that does not allow human fingers to enter from the viewpoint of safety. The protection member 11 can be formed from a material having low conductivity such as a resin material, for example. A clearance is provided between the side surface of the protection member 11 and the side surface of the electrode unit housing 15.

  The first sensor 12 detects that an external object has contacted or approached the electrode unit 1. The first sensor 12 outputs the detection result as a signal. In the electrode unit 1, the first sensor 12 detects that an external object has come into contact with the electrode unit 1 by detecting that the protective member 11 has slid.

  In the electrode unit 1, the two first sensors 12 are disposed on the inner surface of the electrode unit housing 15 so as to face each other. That is, the first sensor 12 is provided at a position separated in the normal direction with respect to the sliding direction of the protection member 11. The number of installed first sensors 12 is not limited to two, and may be three or more as long as they are provided apart from each other.

  In the present embodiment, the first sensor 12 is a contact-type switch sensor that reacts (detects an object) when the distal end surface 12a is pressed. The distal end surface 12 a is inclined in a direction away from the inner side surface of the electrode unit housing 15 (inner direction of the electrode unit 1) as it goes toward the back side of the electrode unit 1. The first sensor 12 is switched on when the protective member 11 contacts the entire area of the front end surface 12a. Since the distal end surface 12a has a spring property, the movement (slide) of the protection member 11 is not restricted.

  Note that the first sensor 12 may be a non-contact sensor that detects a distance to an object that approaches the first sensor 12 using, for example, laser light or ultrasonic waves. That is, the first sensor 12 may be a non-contact sensor such as an infrared sensor, an ultrasonic sensor, or an image sensor.

  The second sensor 13 detects that the protective member 11 has slid a certain amount toward the back side of the electrode unit 1. The second sensor 13 outputs the detection result as a signal. One second sensor 13 is installed inside the electrode unit 1. Specifically, the second sensor 13 detects that the protective member 11 slid to the back side of the electrode unit 1 has approached the fixed substrate 14. For this reason, the 2nd sensor 13 should just be installed in the position which reacts when reaching the limit position where protection member 11 slides. In the present embodiment, the second sensor 13 is installed on the fixed substrate 14 so as to face the surface of the protective member 11 closest to the fixed substrate 14. The second sensor 13 is a contact-type switch sensor (contact-type sensor) that reacts when the tip portion 13a is pressed (detects the protection member 11). However, the second sensor 13 may be a non-contact sensor that detects the distance to the protection member 11 that approaches the second sensor 13 by, for example, laser light or ultrasonic waves. That is, the second sensor 13 may be a non-contact sensor such as an infrared sensor, an ultrasonic sensor, or an image sensor.

  The fixed substrate 14 is a substrate (electrode unit fixing sheet metal) for fixing the electrode unit 1 to the mobile robot 100. The fixed substrate 14 is disposed on the innermost side of the mobile robot 100. That is, the fixed substrate 14 constitutes the back surface of the electrode unit 1. A second sensor 13, an electrode unit housing 15, and a support substrate 17 are provided on the fixed substrate.

  The electrode unit housing 15 constitutes the outer peripheral portion (outer surface) of the electrode unit 1. The electrode unit housing 15 can be formed of a material having low conductivity such as a resin material, for example.

  The protective member fixing jig 16 is a component that supports the protective member 11. Specifically, the protective member fixing jig 16 is formed outside the electrodes 10 disposed at both ends. The protective member fixing jig 16 is a rod-shaped member extending from the support substrate 17 substantially in parallel with the length direction of the electrode 10. The width of the distal end portion of the protective member fixing jig 16 is slightly wider than the width of the shaft portion extending from the support substrate 17. A part of the shaft portion and the tip portion of the protective member fixing jig 16 are inserted into the protective member 11. As shown in FIG. 1, when the battery is not charged, the distal end portion of the protective member fixing jig 16 is locked in the protective member 11, so that the protective member 11 does not fall off. On the other hand, when the protective member 11 is pressed, it can slide until the front end surface of the protective member fixing jig 16 comes into contact with the inner front surface of the protective member 11.

  An elastic body 18 is provided around the base portion of the protective member fixing jig 16. A base portion (a part of the shaft portion) of the protective member fixing jig 16 is inserted into a spiral elastic body 18. The elastic body 18 is provided between the support substrate 17 and the protection member 11. The elastic body 18 generates an elastic force in a direction opposite to the direction in which the protection member 11 slides. That is, when the protection member 11 is pressed and slides to the back side of the electrode unit 1, the elastic body 18 causes the protection member 11 to exert an elastic force in a direction opposite to the direction in which the protection member 11 slides. When the pressing force against the protection member 11 is weakened, the protection member 11 is returned to the original position (the state shown in FIG. 1) by this elastic force. The elastic body 18 can be composed of, for example, a spring.

  The support substrate 17 is a member that is provided on the fixed substrate 14 and supports the electrode 10 and the protection member 11. The support substrate 17 can be composed of, for example, a sheet metal. The configuration in which the protection member 11 is supported by the support substrate 17 is as described above. A configuration in which the electrode 10 is supported by the support substrate 17 will be described later.

(Arrangement of electrode 10 and first sensor 12)
Next, the arrangement of the electrode 10 and the first sensor 12 will be described with reference to FIG. FIG. 2 is a plan view showing an installation example of the electrode 10 and the first sensor 12 in the electrode unit 1 according to Embodiment 1 of the present invention. The arrow in the figure indicates the gravity direction G.

  In the example of FIG. 2, four positive electrodes 10 a and four negative electrodes 10 b are provided as the electrodes 10. The number of the positive electrodes 10a and the negative electrodes 10b is not particularly limited, but is preferably about four as in the electrode unit 1 of the present embodiment.

  Each positive electrode 10a and negative electrode 10b are provided apart from each other. The arrangement direction of the positive electrode 10a and the arrangement direction of the negative electrode 10b are parallel to each other, and the arrangement directions are separated. The positive electrode 10a and the negative electrode 10b are respectively arranged in two rows in parallel to a direction normal to the gravity direction G. The interval between the positive electrodes 10a or the negative electrode 10b and the interval between the positive electrode 10a and the negative electrode 10b do not have to be uniform.

  As shown in FIG. 2, it is preferable that the centers of the positive electrode 10 a and the negative electrode 10 b arranged at both ends are designed to overlap the center of the protective member 11 or the electrode unit housing 15. That is, the line connecting the positive electrode 10a at both ends and the line connecting the negative electrode 10b at both ends are long sides, the line connecting the positive electrode 10a and the negative electrode 10b at one end, and the positive electrode 10a and the negative electrode at the other end In a virtual rectangle whose short side is the line connecting 10b, the intersection of two diagonal lines of the rectangle preferably overlaps the center of the protection member 11 or the center of the electrode unit housing 15.

  As described above, in the present embodiment, the two first sensors 12 are provided on the inner surface of the electrode unit housing 15. Specifically, as shown in FIG. 2, the first sensors 12 are provided so as to face each other and are disposed on the back side of the exposed surface 11 a of the protection member 11.

(Method for supporting electrode 10)
Next, a method for supporting the electrode 10 will be described with reference to FIG. It is a figure which shows the support structure of the electrode 10 in the electrode unit 1 which concerns on Embodiment 1 of this invention, (a) is a figure which shows the state by which the electrode 10 is not pressed, (b) is a figure by which the electrode 10 presses It is a figure which shows the state made.

  As shown in FIGS. 3A and 3B, the electrode 10 is supported by the support substrate 17 via the electrode support member 21, the elastic body 22, and the elastic body receiving member 23.

  The electrode support member 21 passes through the end of the L-shaped electrode 10 and is fixed to the support substrate 17. The electrode support member 21 restrains the movement of the electrode 10 in one sliding direction. Specifically, the electrode support member 21 restrains the movement of the electrode 10 so that the electrode 10 does not move further away from the support substrate 17 when the electrode 10 shown in FIG. 3A is not pressed. .

  The elastic body 22 is provided between the support substrate 17 and the electrode 10, and the electrode support member 21 passes through the elastic body 22. As shown in FIG. 3B, the elastic body 22 generates an elastic force in the direction opposite to the direction in which the electrode 10 slides when pressed. That is, the elastic body 22 is attached so as to generate an elastic force in the same direction as the direction in which the electrode support member 21 restrains the movement of the electrode 10. The elastic force generated by the elastic body 22 is transmitted to the electrode 10 via the elastic body receiving member 23 provided on the back surface of the electrode 10 (surface facing the support substrate 17). The elastic body 22 can be composed of, for example, a spring.

  As shown in FIG. 3A, in a state where the pressing member 20 is not in contact with the electrode 10, the electrode 10 is fixed while being sandwiched between the electrode support member 21 and the elastic body receiving member 23. . On the other hand, as shown in FIG. 3B, when the electrode 10 is further pressed from the state in which the pressing member 20 is in contact with the electrode 10, the pressing force is transmitted from the electrode 10 to the elastic body receiving member 23. While moving to the support substrate 17 side along the electrode support member 21, the elastic body 22 contracts.

  Thereafter, when the pressing member 20 moves away from the electrode 10 and returns to the original position, the pressing force on the electrode 10 disappears. As a result, the tension (elastic force) generated by the elastic body 22 transmits the tension to the electrode 10 via the elastic body receiving member 23, and the electrode 10 returns to the position shown in FIG. .

  As described above, in the electrode unit 1, the electrode 10 is preferably movably supported on the support substrate 17 side in accordance with the pressing force transmitted to the electrode 10. The reason why the electrode 10 is not completely fixed to the support substrate 17 is to prevent an excessive force from being applied to the electrode 10 and causing plastic deformation when another device attempts to contact the electrode 10.

  Further, as described above, in the electrode unit 1 of the present embodiment, the electrodes 10 (the positive electrode 10a and the negative electrode 10b) are arranged in the direction perpendicular to the gravity direction G as shown in FIG. In this case, if the elastic body 22 is not provided, the following problems may occur. (1) As described later, when the charging device 200 that has been in contact with the front surface (exposed surface 11a) of the protection member 11 is inclined with respect to the front surface, the first contact is made no matter how much the protection member 11 is pushed in. It is conceivable that other than the electrode 10 cannot be in contact with the electrode of the charging device 200. (2) It is conceivable that the contact between the electrode 10 and the electrode of the charging device 200 can be easily separated only by a slight displacement of the charging device 200 in the direction opposite to the direction in which the protection member 11 is slid.

  However, if the elastic body 22 is provided for each of the electrodes 10, each electrode 10 can move to the support substrate 17 side in accordance with the pressing force transmitted to the electrode 10. For this reason, each electrode 10 can be slid toward the support substrate 17 even after the charging device 200 first contacts the electrode 10. Thereby, all the electrodes 10 and the electrode of the charging device 200 can be made to contact reliably. Furthermore, the elastic body 22 continuously transmits the elastic force in the direction opposite to the sliding direction of the electrode 10 to the charging device 200 in contact with the electrode 10. For this reason, even if the charging device 200 is slightly displaced in the direction opposite to the direction in which the electrode 10 is slid, the contact state between the electrode 10 and the electrode of the charging device 200 can be maintained. Therefore, occurrence of the problems (1) and (2) can be prevented.

(Configuration of charging device 200)
Next, the configuration of the charging device 200 that charges the battery 110 of the mobile robot 100 via the electrode unit 1 will be described with reference to FIGS. FIG. 4 is a cross-sectional view showing a charging device 200 that charges through the electrode unit 1 according to Embodiment 1 of the present invention, (a) is a diagram showing a state during non-power feeding, and (b) is power feeding. It is a figure which shows the state of time. FIG. 4 shows an overview of the charging device 200, and FIG. 5 shows an example of the structure of the electrode 201 (positive electrode 201a / negative electrode 201b) for the charging device provided in the charging device 200.

  As shown in FIGS. 4A and 4B, the charging device 200 includes an electrode 201 (positive electrode 201a / negative electrode 201b), a protective member 202 for the electrode 201, an openable cover 210, and an operating device 220. It has. The configuration of the electrode 201 of the charging device 200 will be described later. The charging device 200 is fixed to a floor surface or the like.

  The protection member 202 holds the electrode 201 (the positive electrode 201 a and the negative electrode 201 b) of the charging device 200 and is fixed to the operating device 220. The tip surface (power feeding surface) of the electrode 201 is exposed on the front surface of the protection member 202.

  The openable cover 210 includes a mechanism that is opened when a force is applied from the inside to the outside of the charging device 200. Specifically, the openable cover 210 is closed when no power is supplied as shown in FIG. 4A, and blocks the path where the electrode 201 is exposed to the outside. On the other hand, the openable cover 210 is opened during the power supply shown in FIG. That is, at the time of power feeding, a force is applied to the openable / closable cover 210 from the inside to the outside of the charging device 200 to rotate about the rotation shaft 210a. As a result, the blocked path to the outside is opened, and the electrode 201 is exposed to the outside.

  The operating device 220 is a device for moving the protective member 202 holding the electrode 201. Specifically, as shown in FIG. 4B, the protective member 202 is moved in the horizontal direction during power feeding. As a result, the openable cover 210 rotates about the rotation shaft 210a, and the path to the outside of the charging device 200 is opened. As a result, the electrode 201 held by the protection member 202 can be moved to the outside. The operating device 220 is, for example, a linear actuator.

  The charging device 200 includes a control circuit and a charging circuit (not shown) inside. The operating device 220 is connected to the control circuit, and the electrode 201 is connected to the charging circuit. A control circuit and a charging circuit are also connected to each other, and the charging circuit receives the signal from the control circuit and controls the output of the electrode 201.

  As shown in FIG. 5, the electrodes 201 (the positive electrode 201 a and the negative electrode 201 b) of the charging device 200 are arranged separately with respect to the gravity direction G. The positive electrode 201a and the negative electrode 201b are band-shaped electrodes that are spaced apart from each other. The positive electrode 201 a of the charging device 200 corresponds to the positive electrode 10 a of the electrode unit 1, and the negative electrode 201 b of the charging device 200 corresponds to the negative electrode 10 b of the electrode unit 1. Moreover, the installation height of each of the positive electrode 201a and the negative electrode 201b is the same height as the gravity direction center of the positive electrode 201a and the negative electrode 201b indicated by the one-dot chain line in FIG. 5 and the gravity direction center of the positive electrode 10a and the negative electrode 10b of the electrode unit 1. It is preferably designed to be Moreover, it is preferable that the longitudinal width of the positive electrode 201a / negative electrode 201b of the charging device 200 is slightly longer than the distance between the positive electrodes 10a at both ends provided in the electrode unit 1 or between the negative electrodes 10b at both ends. Thereby, at the time of charge, all the positive electrodes 10a of the electrode unit 1 are arrange | positioned inside the positive electrode 201a of the charging device 200, and all the negative electrodes 10b of the electrode unit 1 are arrange | positioned inside the negative electrode 201b of the charging device 200. Therefore, since the electrode 10 of the charging device 200 and the electrode 10 of the electrode unit 1 are in reliable contact with each other, charging can be performed reliably.

(Charging of the mobile robot 100 using the electrode unit 1)
Next, a procedure for docking the electrode unit 1 (mobile robot 100) and the charging device 200 will be described with reference to FIGS. FIG. 6 is a flowchart for explaining a docking flow between electrode unit 1 (mobile robot 100) and charging apparatus 200 according to Embodiment 1 of the present invention. FIG. 7 is a view of the docking state between the mobile robot 100 provided with the electrode unit 1 according to the first embodiment of the present invention and the charging device 200 as seen from a lateral viewpoint. FIG. 8 is a view of the docking state between electrode unit 1 and charging apparatus 200 according to Embodiment 1 of the present invention as viewed from above.

  The flow of docking between the electrode unit 1 (mobile robot 100) and the charging device 200 will be described with reference to FIG. First, the mobile robot 100 equipped with the electrode unit 1 approaches the charging device 200 while recognizing the surrounding environment (S11) and stops at a certain distance (S12). The mobile robot 100 and the charging device 200 are each equipped with a communication device so that the distance between them can be recognized by communication between the communication devices. For this reason, like S11 and S12, at the time of charging, the mobile robot 100 can stop at a certain distance in front of the charging device 200. The method for recognizing the distance between the mobile robot 100 and the charging device 200 is not particularly limited, and various sensors can be used.

  Next, the charging device 200 operates the operating device 220, and the operating device 220 extends (S21). As a result, the electrode 201 and the protection member 202 move in the horizontal direction, the electrode 201 and the protection member 202 are exposed to the outside of the charging device 200, and the protection member 202 of the charging device 200 becomes the protection member 11 of the electrode unit 1. Contact. At this time, the mobile robot 100 is generally arranged with a slight inclination with respect to the charging device 200. For this reason, when the charging device 200 and the electrode unit 1 come into contact with each other and the protective member 11 is pushed in, the first first sensor 12 (the first sensor closer to the charging device 200) first depends on the inclination. React (S31).

  Thereafter, when the operating device 220 is further operated and the operating device 220 further expands, the protective member 202 of the charging device 200 further presses the protective member 11 of the electrode unit 1. As a result, the electrode 201 of the charging device 200 is pushed into the electrode unit 1, and the protective member 11 moves to the back of the mobile robot 100. At this time, the other first sensor 12 not reacting in S31 reacts (S32).

  Thereafter, when the electrode 201 of the charging device 200 is further pushed into the electrode unit 1 and the protection member 11 further moves to the back of the electrode unit 1, the protection member 11 comes into contact with the second sensor 13, and the second sensor 13 reacts (S33).

  Finally, when the second sensor 13 reacts, the charging device 200 stops the operation of the operating device 220 (S41).

  In this way, the electrode unit 1 (mobile robot 100) and the charging device 200 are connected, and the battery 110 is in contact with the electrode 10 of the mobile robot 100 (electrode unit 1) and the electrode 201 of the charging device 200. Is charged. The mobile robot 100 includes a detection unit (detection circuit), and the detection unit detects reactions and signals of the first sensor 12 and the second sensor 13. In addition, when the mobile robot 100 is disposed with an inclination with respect to the charging device 200, one first sensor 12 reacts faster than the other first sensor 12. Therefore, it is possible to detect that the mobile robot 100 is disposed with an inclination with respect to the charging device 200 (presence / absence of inclination), and also detect the direction of inclination depending on which first sensor 12 has reacted first. can do.

  As shown in FIGS. 7 and 8, when the mobile robot 100 (electrode unit 1) and the charging device 200 are connected, the electrode 10 (positive electrode 10a / negative electrode 10b) and the protective member 11 of the electrode unit 1 are The battery is displaced by being pressed by the electrode 201 (positive electrode 201a / negative electrode 201b) or the protective member 202 of the charging device 200, and slides to the back side. At the time of S33, as shown in FIG. 8, both the first sensors 12A and 12B are in contact with the protective member 202 or the electrode 201 of the charging device 200, and the second sensor 13 is in contact with the protective member 11. All sensors are in a responsive state. Therefore, if the inclination of the mobile robot 100 with respect to the charging device 200 is small, the electrode 10 of the mobile robot 100 and the electrode 201 of the charging device 200 can be brought into contact without any problem and charging can be performed safely.

(When the inclination of the mobile robot 100 with respect to the charging device 200 is small)
Next, docking when the mobile robot 100 is arranged with a small inclination with respect to the charging device 200 will be described in more detail with reference to FIGS. 9 and 10. FIG. 9 is a diagram illustrating an initial state in which mobile robot 100 (electrode unit 1) according to the first embodiment of the present invention is docked at an angle of about 2 degrees with respect to charging device 200. FIG. 10 shows that the mobile robot 100 (electrode unit 1) according to Embodiment 1 of the present invention is docked at an angle of about 2 degrees with respect to the charging device, and the protection member 11 of the electrode unit 1 is further removed from the state shown in FIG. It is a figure which shows the state pushed in. The inclination of the mobile robot 100 (electrode unit 1) with respect to the charging device 200 here means that the protective member 11 of the mobile robot 100 and the charging device are in a state where the mobile robot 100 is stopped before the charging device 200. The angle | corner which the mutual opposing surface with 200 protection members 202 makes is shown.

  As shown in FIGS. 9 and 10, when the inclination of the mobile robot 100 with respect to the charging device 200 is as small as about 2 degrees, the protection member 11 can follow the inclination for assembling. That is, clearances are provided between the protection member 11 and the electrode unit housing 15 and between the cavity of the protection member 11 and the electrode 10. For this reason, the protection member 11 can absorb the inclination of the mobile robot 100 with respect to the charging device 200 by using this clearance. In this case, as shown in FIG. 9, in the initial state where the charging device 200 is docked to the electrode unit 1, the first sensor 12 </ b> A to which the charging device 200 contacts first reacts, while the other first The sensor 12B and the second sensor 13 are not responding. In addition, the electrode 201 of the charging device 200 and the electrode 10 of the electrode unit 1 are not in contact with each other, and some of the electrodes 10 are not exposed from the protective member 11.

  On the other hand, when the protection member 202 of the charging device 200 further pushes the protection member 11 from the state of FIG. 9 to the state of FIG. 10, first, the protection member 11 and the first sensor 12B that has not reacted in the state of FIG. Contact, and the first sensor 12B reacts. Further, all the electrodes 10 are exposed from the protective member 11 and are in contact with the electrodes 201. When the protective member 11 is further pushed in, the protective member 11 comes into contact with the second sensor 13 and the second sensor 13 reacts.

  As described above, when the inclination of the mobile robot 100 with respect to the charging apparatus 200 is small, the second sensor 13 reacts after both the first sensors 12A and 12B react.

(When the inclination of the mobile robot 100 with respect to the charging device 200 is large)
Next, docking when the mobile robot 100 is arranged with a large inclination with respect to the charging device 200 will be described with reference to FIG. FIG. 11 shows an initial state in which the mobile robot 100 (electrode unit 1) according to the first embodiment of the present invention is docked at a tilt of about 5 degrees with respect to the charging device 200.

  As shown in FIG. 11, when the inclination of the mobile robot 100 with respect to the charging device 200 is as large as about 5 degrees, the inclination cannot be followed by the inclination of the protection member 11 and is restrained with a certain degree of inclination. For this reason, even if the electrode 201 and the protection member 202 of the charging device 200 come into contact with the protection member 11 of the electrode unit 1, the first sensor 12 </ b> A in contact with the protection member 11 reacts with the protection member 11. The other first sensor 12B that cannot be contacted does not react. Therefore, no matter how much the electrode 201 and the protection member 202 push the electrode 10 or the protection member 11 from this state, the other first sensor 12B does not react. On the other hand, since the protection member 11 is pushed in as it is, the second sensor 13 finally reacts while the other first sensor 12B does not react (or before the first sensor 12B reacts). Will do. Furthermore, even in a state where the second sensor 13 has reacted, some of the electrodes 10 do not contact the electrode 201 of the charging device 200. As a result, when the inclination of the mobile robot 100 with respect to the charging device 200 is as large as about 5 degrees, appropriate charging cannot be performed. Therefore, in order to charge appropriately, it is necessary to retry the charging process in which the connection between the mobile robot 100 and the charging device 200 is once released and then combined again.

  Therefore, as described above, in the mobile robot 100, the detection unit (detection circuit) detects the reactions and signals of the first sensor 12 and the second sensor 13. Accordingly, when the mobile robot 100 and the charging device 200 are docked, by detecting which of the first sensors 12A and 12B has reacted first, the presence or absence of the tilt of the mobile robot 100 with respect to the charging device 200 and the tilt Can be detected. In addition, as described above, even if one of the first sensors 12A reacts first because of the inclination, the other first sensor 12B reacts before the second sensor 13 reacts thereafter. In this case, charging is possible because the inclination is small. That is, the inclination can be determined as an allowable range, and no retry is required. In addition, even when the first sensors 12A and 12B react simultaneously, the mobile robot 100 and the charging device 200 are in an ideal arrangement state, so there is no need to retry.

  On the other hand, as shown in FIG. 11, when the second sensor 13 reacts without reacting the first sensor 12B after one of the first sensors 12A reacts, charging is not possible due to the large inclination. Is possible. That is, it can be determined that the inclination exceeds the allowable range, and a retry is performed. At the time of retry, since the direction of the inclination of the mobile robot 100 can be grasped, the arrangement of the mobile robot 100 is corrected according to the direction of the inclination (correction of the positional deviation) and then the retry is performed. Can do. Therefore, it is possible to charge appropriately at the time of retry.

  Thus, even if the mobile robot 100 is arranged with a large inclination with respect to the charging device 200, the direction of the inclination can be detected. For this reason, when the inclination is large, the retry can be performed by reflecting the direction of the inclination. Therefore, the number of retries can be reduced.

  On the other hand, as shown in FIG. 11, when the mobile robot 100 and the charging device 200 are forcibly docked with a large inclination, the protective member 11 slides with the electrode unit housing 15 having a large contact force. The large contact force is maintained even after docking. As a result, the protection member 11, the first sensor 12, and the electrode unit housing 15 may be worn out, and there may be a problem that the durability of the mobile robot 100 and the electrode unit 1 is impaired.

  This problem can also be prevented if the mobile robot 100 detects (determines) which of the first sensors 12A and 12B has reacted. That is, as described above, when one of the first sensors 12A reacts and then the second sensor 13 reacts without reacting to the other first sensor 12B, the mobile robot 100 responds to the charging device 200. Therefore, it can be determined that they are arranged with a large inclination. Further, as described above, if it is known which of the first sensors 12A and 12B has reacted first, the direction of inclination of the mobile robot 100 can be grasped. For this reason, the stop position of the mobile robot 100 at the next and subsequent charging can be corrected by reflecting the direction of the inclination. Therefore, since the stop position of the mobile robot 100 can be corrected appropriately, the number of corrections of the stop position can be reduced. Therefore, it is possible to prevent the durability of the mobile robot 100 and the electrode unit 1 from being impaired.

[Embodiment 2]
Another embodiment of the present invention is described below with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  FIG. 12 is a schematic diagram of an electrode unit 1a according to Embodiment 2 of the present invention. As shown in FIG. 12, the electrode unit 1a according to the present embodiment is different from the electrode unit 1 according to the first embodiment in that a slide lock mechanism 30 is added. Therefore, the description of the same parts as those in Embodiment 1 will not be repeated.

  As shown in FIG. 12, the electrode unit 1 a includes a slide lock mechanism (lock member) 30 inside. In the electrode unit 1a, the slide lock mechanism 30 is installed in the vicinity of the surface of the protective member 11 facing the second sensor 13, but the installation position is not particularly limited.

  The slide lock mechanism 30 restrains the protection member 11 from sliding when the battery 110 is not charged, and releases the restraint of the protection member 11 in conjunction with the pressing of the protection member 11 when the battery 110 is charged. Therefore, when the slide lock mechanism 30 is locked, the protection member 11 cannot slide to the back side. For this reason, the electrode 10 remains housed inside the protective member 11 and is not exposed to the outside. On the other hand, when the lock of the slide lock mechanism 30 is released, the protection member 11 can move to the back side, and the electrode 10 is exposed to the outside. The slide lock mechanism 30 is, for example, a solenoid lock.

  As described above, if the electrode unit 1 a includes the slide lock mechanism 30, when the mobile robot 100 approaches the charging device 200 and starts docking, the slide lock mechanism 30 is released and the protection member 11 is moved. It will be in a slidable state. As a result, the charging device 200 is docked with the mobile robot 100 and charging is started. After the charging is completed, when the electrode 201 of the charging device 200 is separated from the electrode 10 of the electrode unit 1a and the docking between the charging device 200 and the mobile robot 100 is released, the slide lock mechanism 30 is operated again to be locked. For example, after the protection member 11 returns to the original position and the electrode 10 is accommodated in the protection member 11, the slide lock mechanism 30 is operated to enter the locked state.

  As described above, in the present embodiment, by providing the slide lock mechanism 30 on the protective member 11 used for protecting the electrode 10, in addition to the effects of the first embodiment, the safer electrode unit 1a and the mobile robot 100 are provided. Can be realized.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In the electrode units 1 and 1a according to the first and second embodiments, the first sensor 12 and the second sensor 13 are both contact-type switch sensors.

  On the other hand, in the electrode unit 1b according to Embodiment 3 of the present invention, the first sensor 40 is a non-contact type sensor, and the second sensor 13 is a contact type switch sensor. -Different from 1a. Therefore, the description of the same parts as in the first and second embodiments will not be repeated.

  FIG. 13 is a schematic diagram of an electrode unit 1b according to Embodiment 3 of the present invention. As shown in FIG. 13, the electrode unit 1 b of the present embodiment performs measurement using a non-contact sensor as the first sensor 40 and detects the approach of a surrounding object. The electrode unit 1b includes a slide lock mechanism 30 as in the electrode unit 1 of the second embodiment.

  Two first sensors 40 are provided on the front surface of the protective member 11 so as to be separated from each other, and as shown in FIG. 13, the first sensors 40 are provided further outside than the electrodes 10 arranged on the outermost side. The first sensor 40 can measure the distance from the sensor detection surface to the electrode 201 or the protection member 202 when the electrode 201 or the protection member 202 of the charging device 200 approaches. The first sensor 40 is, for example, a photoelectric sensor.

  If the distance to the approaching object can be measured by the first sensor 40, how much the mobile robot 100 is inclined with respect to the charging device 200 by processing the measurement distance inside the mobile robot 100. Can be determined based on the measured distance from each sensor before the charging device 200 contacts. Therefore, when the inclination is large, the stop position of the mobile robot 100 can be corrected before the charging device 200 contacts.

  As described above, by using a non-contact sensor as the first sensor 40, more general processing can be performed by the mobile robot 100. Thereby, based on the measurement distance measured by the first sensor 40, the direction and amount of inclination of the mobile robot 100 with respect to the charging apparatus 200 can be accurately grasped. As a result, the stop position of the mobile robot 100 can be corrected more accurately. Therefore, in addition to the effects of the first and second embodiments, the number of corrections of the stop position of the mobile robot 100 is reduced, the number of retries is more reliably reduced, and reliable docking between the mobile robot 100 and the charging device 200 is achieved. Is possible.

  In addition, when a non-contact sensor is used as the first sensor 40, the fact that the mobile robot 100 is disposed obliquely with respect to the charging device 200 indicates that the mobile robot 100 and the charging device 200 are in contact ( Before docking). Thereby, it becomes possible to retry the charging process before the contact between the mobile robot 100 and the charging device 200. Therefore, wear of the electrode 10 and the electrode 201 due to contact between the mobile robot 100 and the charging device 200 can be reduced. Further, it is possible to prevent the protection member 11 from sliding while the mobile robot 100 is disposed obliquely with respect to the charging device 200. For this reason, it can also prevent that the protection member 11 contacts the electrode unit housing | casing 15, and is abraded.

  Furthermore, when the 1st sensor 40 is provided in the front surface of the protection member 11, before the charging device 200 pushes in the protection member 11, the 1st sensor 40 reacts. For this reason, when the 1st sensor 40 reacts, control which drops the actuator speed of the operating device 220 by the side of the charging device 200 is possible. Thereby, the impact force generated by the contact between the mobile robot 100 and the charging device 200 can be reduced. Furthermore, it is possible to operate at a high actuator speed of the operating device 220 until the first sensor 40 reacts. As a result, it is possible to shorten the docking time between the mobile robot 100 and the charging device 200, and hence the charging time.

[Embodiment 4]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the first to third embodiments are denoted by the same reference numerals and description thereof is omitted.

  In the electrode unit 1b according to the third embodiment, the first sensor 40 is a non-contact type sensor, and the second sensor 13 is a contact type switch sensor.

  In contrast, the electrode unit 1c of the present embodiment of the present invention is different from the electrode unit 1b in that both the first sensor 40 and the second sensor 50 are non-contact sensors. Therefore, the description of the same parts as those in Embodiment 3 will not be repeated.

  FIG. 14 is a schematic diagram of an electrode unit 1c according to Embodiment 4 of the present invention. As shown in FIG. 14, the electrode unit 1 c of the present embodiment performs measurement using a non-contact sensor as the second sensor 50 and detects the approach of the protection member 11. The second sensor 50 can measure the distance from the sensor detection surface to the protection member 11 when the protection member 11 slides and approaches. Based on the measured distance, the second sensor 50 detects that the protective member 11 has slid a certain amount (arbitrary set value) or more. The second sensor 50 is, for example, a photoelectric sensor.

  As described above, by using a non-contact sensor as the second sensor 50, when the protective member 11 slides by the electrode 201 or the protective member 202 of the charging device 200, the distance from the protective member 11 is measured. Can do. Thereby, based on the measured distance, it can grasp | ascertain that the protection member 11 slid more than fixed amount. For this reason, it can grasp | ascertain that the protection member 11 slid more than predetermined amount earlier than the case where a contact-type sensor is used as the 2nd sensor 13 like the above-mentioned embodiment. Accordingly, even when the inclination of the mobile robot 100 is large, the protection member 11 is prevented from sliding with a large contact force with respect to the electrode unit housing 15, and the electrode unit 1c and the mobile robot 100 are prevented from sliding. It can prevent more reliably that the durability of is impaired.

[Embodiment 5]
Another embodiment of the present invention will be described below with reference to FIGS. 15 and 16. For convenience of explanation, members having the same functions as those described in the first to fourth embodiments are given the same reference numerals and explanation thereof is omitted.

  FIG. 15 is a schematic diagram of an electrode unit 1d according to Embodiment 5 of the present invention. As shown in FIG. 15, the electrode unit 1 d of this embodiment is different from the electrode unit 1 of Embodiment 1 in that the first sensor 12 is provided on the exposed surface 11 a side of the protection member 11. Therefore, the description of the same parts as those in Embodiment 1 will not be repeated.

  The first sensor 12 detects that an object outside the electrode unit 1 d has approached the protection member 11. A plurality of first sensors 12 are provided on the exposed surface 11 a side of the protection member 11. In the electrode unit 1d of FIG. 15, two first sensors 12 are provided. That is, the first sensor 12 is provided at a position separated in the normal direction with respect to the sliding direction of the protection member 11. The front end surface (sensor detection surface) 12 a of the first sensor 12 is installed so as to protrude slightly forward from the exposed surface 11 a of the protection member 11. In the present embodiment, the first sensor 12 is, for example, a contact type switch sensor that reacts (detects an object) when the front end surface 12a is pressed.

  Next, the arrangement of the electrode 10 and the first sensor 12 will be described with reference to FIG. FIG. 16 is a plan view showing an installation example of the electrode 10 and the first sensor 12 in the electrode unit 1d according to the fifth embodiment of the present invention. The arrow in the figure indicates the gravity direction G.

  In the example of FIG. 16, as in the example of FIG. 2, four positive electrodes 10 a and four negative electrodes 10 b are provided as the electrodes 10. Each positive electrode 10a and negative electrode 10b are provided apart from each other. The arrangement direction of the positive electrode 10a and the arrangement direction of the negative electrode 10b are parallel to each other, and the arrangement directions are separated. The positive electrode 10a and the negative electrode 10b are arranged in parallel to each other in a direction normal to the gravity direction G.

  As shown in FIG. 16, it is preferable that the centers of the positive electrode 10 a and the negative electrode 10 b arranged at both ends are designed to overlap with the center of the protective member 11 or the electrode unit housing 15. That is, the line connecting the positive electrode 10a at both ends and the line connecting the negative electrode 10b at both ends are long sides, the line connecting the positive electrode 10a and the negative electrode 10b at one end, and the positive electrode 10a and the negative electrode at the other end In a virtual rectangle whose short side is the line connecting 10b, the intersection of two diagonal lines of the rectangle preferably overlaps the center of the protection member 11 or the center of the electrode unit housing 15.

  Further, as described above, in the present embodiment, the two first sensors 12 are provided on the front surface (exposed surface 11a) of the protection member 11. Specifically, as shown in FIG. 16, the first sensor 12 is provided on the outer periphery of the protection member 11 so as to be spaced apart from each other, and is disposed at an equal distance from the positive electrode 10a and the negative electrode 10b at both ends. ing. In FIG. 16, as shown by the solid line, the first sensor 12 is provided outside the positive electrode 10a and the negative electrode 10b provided at both ends. However, as indicated by the wavy line in FIG. 2, the first sensor 12 may be provided between the positive electrode 10a and the negative electrode 10b installed at both ends.

  Even in such a configuration, when the inclination of the mobile robot 100 with respect to the charging apparatus 200 is small, or when the inclination of the mobile robot 100 with respect to the charging apparatus 200 is small, after both the first sensors 12 react, the second sensor 13 reacts. On the other hand, when the inclination of the mobile robot 100 with respect to the charging device 200 is large, after one first sensor 12 reacts, the other first sensor 12 does not react (or the other first sensor 12B reacts). Prior to this, the second sensor 13 will react. Therefore, as in the first embodiment, the number of retries can be reduced.

[Summary]
The electrode units 1 and 1a to 1d according to the first aspect of the present invention are the electrode units 1 and 1a to 1d for charging the battery 110 mounted on the apparatus (mobile robot 100). ) And a plurality of first sensors 12 (12A and 12B) provided apart from each other while detecting that an external object (for example, the charging device 200) is in contact with or approaching the electrode units 1, 1a to 1d. ), 40.

  According to said structure, the 1st sensor provided mutually spaced apart is provided with two or more. Thereby, even if the electrode unit is arranged with a large inclination with respect to the charging device, in which direction the electrode unit is inclined with respect to an external object based on the timing at which each first sensor reacts ( Tilt direction) can be detected. For this reason, when the inclination is large, the arrangement state of the electrode unit can be corrected by reflecting the direction of the inclination. Therefore, the number of retries can be reduced.

  The electrode units 1, 1 a to 1 d according to the second aspect of the present invention, in the first aspect, accommodate the tip end portion of the electrode 10 when the battery 110 is not charged, and accommodate the internal portion when the battery 110 is charged. A protective member 11 that is slidable so as to expose the tip of the electrode 10, and second sensors 13 and 50 that detect that the protective member 11 has slid a predetermined amount or more. The sensor 12 (12A / 12B), 40 may be configured to detect that the object (charging device 200) is in contact with or close to the protection member 11.

  According to said structure, a 1st sensor detects that the object contacted or approached the protection member, and a 2nd sensor detects that the protection member slid more than predetermined amount. Thereby, after all the 1st sensors react simultaneously, when a protection member slides and a 2nd sensor reacts, it can be considered that an electrode unit is not inclined with respect to a charging device. Further, after some of the first sensors react, the protective member slides, and during the sliding and before the second sensor reacts, the remaining first sensors react, and then the second sensors When it reacts, it can be considered that the inclination of the electrode unit with respect to the charging device is absorbed during the sliding of the protective member. Therefore, also in this case, it can be considered that the electrode unit is not inclined with respect to the charging device.

  On the other hand, after some of the first sensors react, the protective member slides, and when the second sensor reacts with the remaining first sensors remaining unresponsive, and all the first sensors When the protective member slides and the second sensor reacts in a state where no reaction occurs, the electrode unit can be regarded as being largely inclined with respect to the charging device.

  Therefore, the inclination of the electrode unit can be determined more accurately, and the arrangement position of the electrode unit can be corrected (positional deviation is corrected), or the correction can be reflected in the next arrangement. Therefore, the number of retries can be reduced more reliably.

  The electrode units 1 and 1a to 1d according to the aspect 3 of the present invention are the electrode unit 1 and 1a to 1d according to the aspect 2, wherein the electrode 10 includes a plurality of pairs of the positive electrode 10a and the negative electrode 10b that are spaced apart from each other. And the arrangement direction of the negative electrodes 10b may be parallel to each other and in a direction normal to the gravity direction G.

  According to said structure, the electrode (positive electrode and negative electrode) of an electrode unit and the electrode (positive electrode and negative electrode) of a charging device can be made to contact easily.

  The electrode units 1, 1 a to 1 d according to the aspect 4 of the present invention are the same as the aspect 3, wherein the first sensors 12 and 40 are more than both ends or both ends of the positive electrode or the negative electrode provided apart from each other. It may be provided outside.

  According to said structure, since a 1st sensor can be provided apart, the direction of the inclination with respect to the charging device of the electrode unit 1 can be detected more correctly.

  The electrode units 1, 1 a to 1 d according to aspect 5 of the present invention are the same as the above-described aspects 2 to 4, in the same direction as the support substrate that supports the electrode 10 and the direction in which the protection member 11 slides when the battery 110 is charged. It is preferable that the elastic body 22 is further shrinkable, and the electrode 10 is supported by a support substrate via the elastic body 22.

  According to said structure, an electrode is supported so that a movement to the support substrate side according to the pressing force transmitted to an electrode. Therefore, when the charging device attempts to contact the electrode unit, it is possible to prevent an excessive force from being applied to the electrode and plastic deformation.

  The electrode units 1, 1a to 1d according to aspect 6 of the present invention are the above-described aspects 2 to 5, in which the second sensors 13 and 50 are configured such that the protection member slides when the battery 110 is charged and the tip of the electrode 10 It may be configured to detect sliding beyond the position where the part is exposed.

  According to said structure, after a protection member slides and the front-end | tip part of an electrode is exposed, a 2nd sensor reacts. Therefore, the electrode of the electrode unit and the electrode of the charging device can be reliably brought into contact with each other.

  The electrode unit 1a according to aspect 7 of the present invention restricts the protection member 11 from sliding when the battery 110 is not charged, while restraining the protection member 11 when the battery 110 is charged. It is preferable to provide a lock member (slide lock mechanism 30) to be released.

  According to said structure, since the lock member which restrains the slide of the protection member used for protection of an electrode is provided, it becomes possible to provide a safer electrode unit.

  The electrode units 1, 1a, 1b, and 1d according to the eighth aspect of the present invention are the contacts that react when at least one of the first sensor 12 and the second sensor 13 is pressed in the second to seventh aspects. It may be a type sensor.

  According to said structure, since at least one of a 1st sensor and a 2nd sensor is a contact-type sensor, the structure of an electrode unit can be simplified.

  In the electrode units 1b and 1c according to the ninth aspect of the present invention, in the second to seventh aspects, at least one of the first sensor 40 and the second sensor 50 may be a non-contact sensor.

  According to said structure, by using a non-contact-type sensor as a 1st sensor, it can judge how much an electrode unit inclines with respect to a charging device by the measurement distance from each sensor before a contact. Is possible. On the other hand, by using a non-contact sensor as the second sensor, it is possible to grasp that the protective member has slid a certain amount or more based on the distance from the protective member before the protective member is contacted.

  A traveling device (mobile robot 100) according to aspect 10 of the present invention includes an electrode unit 1, 1a-1d according to any one of aspects 1-9, and a battery 110 that is charged via the electrode unit 1, 1a-1d. With.

  According to said structure, the frequency | count of retry when it arrange | positions largely with respect to a charging device like the aspect 1 can be reduced.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

  The electrode unit of the present invention can be suitably used when supplying power to a battery of a traveling device that operates with movement in an environment away from the power supply on the fixed equipment side, and particularly, an automatic guided vehicle (AGV). And can be suitably used as an electrode unit for a mobile robot.

DESCRIPTION OF SYMBOLS 1 Electrode unit 1a Electrode unit 1b Electrode unit 1c Electrode unit 1d Electrode unit 10 Electrode 10a Positive electrode 10b Negative electrode 11 Protective member 11a Exposed surface 12 First sensor 12A First sensor 12B First sensor 12a Front end surface (front end)
13 Second sensor 17 Support substrate 21 Electrode support member 22 Elastic body 30 Slide lock mechanism (lock member)
40 First sensor 50 Second sensor 100 Mobile robot (traveling device)
110 battery 200 charging device

Claims (10)

In the electrode unit for charging the battery mounted on the device,
Electrodes,
An electrode unit comprising: a plurality of first sensors that detect that an external object has come into contact with or approached the electrode unit, and are spaced apart from each other. A protective member that is slidable so as to expose the tip of the electrode housed inside when charging the battery, while housing the tip of the electrode inside when the battery is not charged,
A second sensor for detecting that the protective member has slid a certain amount or more,
The electrode unit according to claim 1, wherein the first sensor detects that the object has contacted or approached the protection member. The electrode comprises a plurality of pairs of positive and negative electrodes provided apart from each other,
The electrode unit according to claim 2, wherein the arrangement direction of the positive electrode and the arrangement direction of the negative electrode are parallel to each other and are normal to the direction of gravity.   4. The electrode unit according to claim 3, wherein the first sensor is provided at both ends of the positive electrode or the negative electrode provided at a distance from each other or outside the both ends. A support substrate for supporting the electrode;
An elastic body capable of contracting in the same direction as the direction in which the protective member slides when the battery is charged,
The electrode unit according to claim 2, wherein the electrode is supported by a support substrate via the elastic body.   The second sensor according to any one of claims 2 to 5, wherein the second sensor detects that the protective member has slid beyond the position where the tip of the electrode is exposed when the battery is charged. The electrode unit according to item.   7. The device according to claim 2, further comprising: a lock member that restrains the protection member from sliding when the battery is not charged, and that releases the restraint of the protection member when the battery is charged. Electrode unit.   The electrode unit according to any one of claims 2 to 7, wherein at least one of the first sensor and the second sensor is a contact sensor that reacts by being pressed.   The electrode unit according to any one of claims 2 to 7, wherein at least one of the first sensor and the second sensor is a non-contact type sensor.   A travel device comprising: the electrode unit according to claim 1; and a battery charged via the electrode unit.

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