JP2005135274A - Mobile work robot and program for it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To determine a battery remaining quantity according to the dimension of a room or a work area in a conventional mobile work robot for improvement in usage efficiency of a battery capacity. <P>SOLUTION: This mobile work robot moving for work is provided with a main body part 1, a travel means 2 making the main body 1 move and travel, a battery 3 feeding electric power to the main body part 1, a battery voltage detection means 12 determining battery remaining quantity of the battery 3, a travel distance measuring means 13 measuring a travel distance, a comparison means 15 determining reduction in battery voltage, and a storage means 14. The outer circumference distance of the room is measured by the travel distance measuring means 13, and based on the measured outer circumference distance of the room, a predetermined low limit voltage value, by which reduction in the battery voltage is determined, is corrected to an optimum value. In this way, an optimum voltage threshold value determining reduction in the battery voltage is decided according to the dimension of the room, and the mobile work robot improved in battery capacity usage efficiency can be realized. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a mobile work robot that moves while measuring a battery voltage and automatically moves to a predetermined position when the battery voltage decreases.

  Conventionally, some self-propelled robots that are powered by batteries, etc., measure the battery voltage, and when the battery voltage drops, the remaining battery power decreases on the display screen provided on the robot body. There is something to be notified.

  In addition, the robot body is equipped with a wireless communication function, and a wireless information terminal is provided separately from the robot body. When the battery voltage drops, the low battery level is notified on the display screen provided on the robot body. (For example, refer to Patent Document 1).

Some display screens calculate and display the remaining cleaning time or the travelable time from the remaining battery level (see, for example, Patent Document 2).
JP 2002-244731 A Japanese Patent Application Laid-Open No. 11-267074

  However, as described above, in the conventional configuration, since the notification of the decrease in the remaining battery level, the cleaning time or the travelable time is calculated and displayed only from the remaining battery level, the cleaning time is simply displayed. If the battery voltage drop is detected, it can be displayed automatically depending on the size of the work area. Has a problem that the battery may be in an overdischarged state before returning to the travel start point or the charging station.

  On the other hand, there is a problem that there is a possibility that the work may be finished early although the battery capacity still remains.

  The present invention solves the above-described conventional problems, and measures the outer circumference or size of a room or work area, and determines the decrease in battery voltage in accordance with the outer circumference or size of the room or work area. It aims to provide a mobile work robot that performs the above.

  In order to solve the above-described conventional problems, a mobile work robot of the present invention includes a main body that moves and performs work, traveling means that moves the main body, traveling control means that controls the traveling means, A battery for supplying power to the main body, a battery voltage detection means for detecting a battery voltage of the battery, a travel distance measurement means for measuring a travel distance, a comparison means for determining a decrease in battery voltage, and a battery voltage Storage means for storing a predetermined lower limit voltage value for determining the decrease of the vehicle, and the main body travels along the outer periphery of the room based on the control information of the travel control means, and the travel The predetermined lower limit voltage value stored in the storage means is corrected based on the travel distance measured by the distance measuring means.

  Thus, the present invention corrects a predetermined lower limit voltage value for determining a decrease in battery voltage in accordance with the size of the room in which the mobile work robot performs work, thereby adjusting the battery of the mobile work robot to the work area. It becomes possible to monitor the lower limit voltage.

  In the mobile work robot of the present invention, the voltage threshold value for determining the optimum decrease in battery voltage is determined according to the size of the room (distance on the outer periphery), so that the battery capacity usage efficiency can be improved as compared with the conventional case. Can do.

  The first invention includes a main body part that moves and performs work, traveling means that moves the main body part, traveling control means that controls the traveling means, a battery that supplies power to the main body part, A battery voltage detecting means for detecting a battery voltage of the battery; a travel distance measuring means for measuring a travel distance; a comparing means for determining a decrease in the battery voltage; and a predetermined lower limit voltage for determining a decrease in the battery voltage. Storage means for storing a value, the body portion travels along the outer periphery of the room based on the control information of the travel control means, based on the travel distance measured by the travel distance measurement means at that time, The mobile work robot corrects a predetermined lower limit voltage value stored in the storage means.

  Thus, when the mobile work robot travels on the outer periphery, the travel distance measuring means measures the distance of the outer periphery of the room, and determines the decrease in the battery voltage based on the measured distance of the outer periphery of the room. By correcting the above, it is possible to prevent overdischarge of the battery and to display the remaining battery capacity according to the size of the room.

  In the second invention, when the battery voltage detected by the battery voltage detecting means of the first invention becomes smaller than the lower limit voltage value stored in the storage means and corrected based on the travel distance of the outer periphery of the room, the running control means Then, the main body was moved toward the start point and then stopped, and the mobile work robot finished the work or movement.

  As a result, the lower limit voltage value for determining the decrease in battery voltage is corrected based on the standard of the distance of the outer circumference of the room measured by the travel distance measuring means, and when the remaining battery level of the battery becomes smaller than the lower limit voltage value. Since the main body moves toward the start point and stops, it can be prevented from stopping in front of the door or under the bed even if the remaining battery level is low. Convenience can be improved.

  In addition to the second invention, the third invention includes display means for informing battery information, and the battery voltage detected by the battery voltage detection means is stored in the storage means and is based on the travel distance of the outer periphery of the room. When the lower limit voltage value becomes smaller than the corrected lower limit voltage value, the display means starts a notification that the remaining battery level is low, and the mobile unit stops the notification after a predetermined time elapses after the main unit stops at the start point. It was a robot.

  As a result, when the remaining battery level becomes smaller than the lower limit voltage value, the display means displays that the remaining battery level is low, so that even if the operation is stopped during the operation, the user can Therefore, it is possible to improve the convenience of the user because the battery charging time can be grasped at a glance.

  The fourth invention includes, in addition to the first or second invention, a direction detecting means for detecting the orientation of the main body, and a plurality of distance measuring means for measuring a distance to an obstacle around the main body, When the obstacle is recognized near the front of the main body by the distance measuring means during traveling, the traveling control means rotates the main body to travel along the obstacle, and is provided on the side of the main body. When the outputs of the plurality of distance measuring means substantially coincide with each other, the storage means stores the traveling direction at that time as a reference direction, and the battery voltage detected by the battery voltage detecting means is stored in the storage means to the travel distance of the outer periphery of the room When the main body is moved toward the starting point and the traveling direction is recognized as the reference direction and an obstacle is detected in the traveling direction when the main body is moved toward the starting point, Judged to have returned to the surroundings The travel stop Te, and the mobile work robot to terminate the operation or movement.

  As a result, the cleaning robot or the mobile work robot starts traveling, and when an obstacle such as a wall surface is detected in front, it starts traveling along the wall surface and outputs from a plurality of distance measuring means provided on the side surface of the main body. When the two are almost the same, the current traveling direction is stored as the reference direction, the operation is continued, and when the remaining battery level becomes smaller than the lower limit voltage value, the vehicle travels along the wall and travels toward the reference direction. Sometimes, when the wall surface is detected in the traveling direction of the main body, it is determined that the vehicle has returned to the vicinity of the start point, the traveling is stopped, the work or the movement is finished, and the predetermined position such as the traveling start position is determined. When the battery level is low even if you do not attach a sensing object such as a reflector, marker, or magnet that emits magnetism or an antenna that emits radio waves to the wall of the room, etc. , So come back in the vicinity of the starting point, it is possible to improve the convenience of the user.

  According to a fifth invention, in addition to the fourth invention, when the traveling direction is recognized as a reference direction and an obstacle is detected in the traveling direction, the main body is rotated by a predetermined angle and traveled after traveling a predetermined distance. A mobile work robot that stops and finishes work or movement is used.

  As a result, the self-propelled cleaner or the mobile work robot travels along the wall when the remaining battery level becomes lower than the lower limit voltage value, and moves in the direction of travel of the main body when traveling toward the reference direction. When the wall surface is detected, it is determined that it has returned to the vicinity of the start point, and when it stops, it rotates by a predetermined angle, and further stops by moving a predetermined distance, that is, by stopping from the inside of the room, Problems such as stopping in front of the door can be prevented.

  In addition to the fourth or fifth invention, the sixth invention includes temperature detecting means for measuring the ambient temperature of the main body, and when the main body is stopped around the start point, the main body 360 degrees, and the temperature detecting means detects the presence or absence of a heating element around the main body during rotation, and the mobile work robot stops when it recognizes that there is no heating element.

  As a result, the mobile work robot rotates 360 degrees on the spot when stopping work or movement, and stops after the cost contact type temperature detecting means confirms that there is no heat source around the body. Thus, it is possible to prevent a danger that the main body is hit by a heat source during the stop.

  In addition to the fourth or fifth invention, the seventh invention is provided with temperature detecting means for measuring the ambient temperature of the main body, and when the main body is stopped around the start point, the main body on the spot 360 degrees, and the temperature detecting means detects the presence or absence of a heating element around the main body during the rotation, and if it recognizes that there is a heating element, it runs to avoid the heating element and avoids the heating element. The mobile work robot stopped after a long time.

  As a result, the mobile work robot rotates 360 degrees on the spot when stopping the work or movement, confirms that the cost contact type temperature detecting means is not a heat source around the main body, and removes the heat source object. When detected, since the operation or movement is stopped after traveling so as to avoid the heat source object, it is possible to prevent stopping around the heat source object, and there is a danger that the main body is hit by the heat source during the stop. Can be prevented.

  The eighth invention includes, in addition to any one of the second to seventh inventions, an electric blower that sucks dust on the floor and a control means for controlling the electric blower, and the battery voltage detection means detects When the battery voltage to be stored becomes smaller than the lower limit voltage value stored in the storage means and corrected based on the travel distance of the outer periphery of the room, the mobile work robot is turned off.

  Thereby, the battery voltage detection means determines that the battery voltage has become smaller than the lower limit voltage value, and when the mobile work robot returns to the vicinity of the start point, the electric blower is stopped and moved, thereby Since the power consumption of the electric blower when returning to the periphery is no longer necessary, the working time of the self-propelled cleaner and the mobile work robot can be extended accordingly.

  In addition to the first invention, a ninth invention includes a charging unit that is provided separately from the main body unit and charges the battery of the main body unit, and transmits a position signal that informs its own position. And a battery unit that is provided in the main body unit and receives a position signal from the transmission unit, the battery voltage detected by the battery voltage detection unit is stored in the storage unit, and the travel distance of the outer periphery of the room When the voltage is lower than the lower limit voltage value corrected on the basis of the position, the main body is moved toward the charger by the position signal from the transmitter received by the receiver, and the charging means of the charger causes the charger to A mobile work robot for charging the battery of the main body was used.

  As a result, a transmitter / receiver for transmitting / receiving signals from the outside is provided in the main body, and a transmitter / receiver for transmitting / receiving signals from the outside is also provided in the charger for charging the battery. When the work robot returns to the vicinity of the start point, the position information of the charger or the presence / absence of the charger can be transmitted to the main body. Since it can be stopped, it is possible to eliminate the trouble of the user carrying the mobile work robot to the vicinity of the charger, and since automatic charging can be performed, the convenience of the user can be improved. it can.

  In a tenth aspect of the invention, there is provided a program for executing a part or all of the functions of the mobile work robot according to any one of the first to ninth aspects by a computer.

  Since it is a program, a part or all of the functions of the electric apparatus of the present invention can be easily realized by using a computer or the like at home.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment.

(Embodiment 1)
FIG. 1 shows an example of an overview diagram of a mobile work robot according to the first embodiment of the present invention. In FIG. 1, the mobile work robot includes a traveling unit 2 that moves the main body unit 1, a battery 3 that supplies electric power to the main body unit, a display unit 4 that notifies control information of the main body unit, and the like. When the direction detecting means 5 for detecting the orientation of the main body, the distance measuring means 6 for measuring the distance to the obstacles and wall surfaces around the main body, and the main body 1 collide with an obstacle, A bumper 7 that detects contact with an obstacle is provided. The direction detecting means 5 is a gyro sensor or the like, and measures the rotational angular velocity of the main body 1 to recognize the direction of the mobile work robot, the traveling direction, and travel straight ahead. The distance measuring means 6 includes, as an example, an optical distance sensor, an ultrasonic sensor, etc. In FIG. 1, when the distance measuring means 6 is an ultrasonic sensor, the distance measuring means 6 is a distance measuring means. 6a is configured as a transmission unit of the ultrasonic sensor, and the distance measuring means 6b is configured as a reception unit of the ultrasonic sensor.

  FIG. 2 shows an example of a configuration diagram of the mobile work robot according to the first embodiment of the present invention. In FIG. 2, the mobile work robot includes a travel control unit 11 that controls the travel unit, a battery voltage detection unit 12 that detects a remaining battery level of the battery 3, a travel distance measurement unit 13 that measures a travel distance, A storage unit 14 for storing various set values such as a lower limit voltage value for determining a decrease in battery voltage and a comparison unit 15 for determining a decrease in battery voltage are provided.

  The operation and action of the mobile work robot configured as described above will be described with reference to FIGS.

  FIG. 3 is an example of a diagram showing a work area where the mobile work robot performs work, and a movement trajectory after the mobile work robot starts moving. When the mobile work robot starts to move from the work start point 33, as shown in FIG. 3, first, the mobile work robot travels along the wall of a moving area such as a room. At this time, the mobile work robot moves while measuring the distance to the wall surface and the obstacle by the distance measuring means 6 so as not to collide with the wall surface and the obstacle by the distance measuring means 6. At this time, when the obstacle cannot be detected by the distance measuring means and the vehicle collides, the bumper 7 detects that the obstacle has been touched and avoids it. Further, the direction detection means 5 starts the traveling of the mobile work robot, and the wall surface that first traveled along the wall surface is used as a reference wall, and the traveling direction of the mobile work robot at that time (00 direction in FIG. 3) ) As a reference direction.

  In this way, as shown in FIG. 3, the mobile work robot first travels along the wall of a moving area such as a room. At that time, the travel distance measuring means 13 As a measure of size, the distance of the outer periphery of the room (the distance traveled by the mobile work robot during outer periphery travel) is measured. For example, the travel distance measuring means 13 can detect the rotation of the axle of a drive motor that drives the travel means during outer periphery travel, and can estimate the travel distance from the result and the diameter of the tire that is the travel means. it can. Since it is only necessary to measure the moving distance of the mobile work robot, the effect is not changed by this other method. For example, instead of obtaining the travel distance from the travel speed and travel time of the mobile work robot, or detecting the rotation of the axle of the drive motor that drives the travel means, an auxiliary wheel for measuring the travel distance is provided. Thus, it is possible to obtain a rough estimate of the travel distance by a method of calculating from the rotation speed and the diameter of the auxiliary wheel. The distance of the outer circumference of the room measured in this way is stored in the storage means 14.

  When the outer periphery traveling is finished, the mobile work robot performs a predetermined work. For example, when the mobile work robot is equipped with an electric blower, a suction nozzle, etc., such as a self-propelled cleaning robot, when the outer periphery travel is completed, the room is moved through the room with a predetermined travel pattern and work pattern. Clean inside. Travel patterns include vertical movement first in the room and lateral movement when the vertical movement ends, cross-pattern travel, spiral travel that travels spirally in the room, random travel that moves randomly, etc. However, the present invention does not particularly limit the running pattern. When the predetermined travel pattern and work pattern are completed, the mobile work robot returns to the vicinity of the work start point 33. In the case of a mobile work robot having an automatic charging function, the robot returns to the charging station and automatically starts charging. In this way, after the work is completed, the user can save time and effort to find a mobile work robot and to charge the battery by automatically returning to the charging station near the work start point. There are many mobile robots with functions.

  Further, during the mobile work, the mobile work robot performs the work while periodically measuring the battery voltage of the battery 3 by the battery voltage detecting means 12. In order to prevent overdischarge of the battery voltage, a reference value for determining a battery voltage drop is stored in the storage unit 14 in advance so that the remaining battery level of the battery does not become a predetermined voltage or less.

  FIG. 4 shows that the battery voltage measured by the battery voltage detection means 12 becomes lower than the threshold voltage for determining the battery voltage drop stored in the storage means 14, and the mobile work robot reaches the vicinity of the work start point. It is a figure showing the example of the return path | route. As shown in FIG. 4, when the battery voltage measured by the battery voltage detecting means 12 becomes lower than the reference value for determining the battery voltage drop stored in the storage means at the battery voltage drop recognition point 41, the operation is performed. After finishing, follow the route as shown in FIG. 4 and return to the vicinity of the work start point 33. As a means for the mobile work robot to return to the vicinity of the work start point, for example, when returning on the route shown in FIG. The direction detection means 5 starts the traveling of the mobile work robot, and the wall surface that first traveled along the wall surface is used as a reference wall, and the traveling direction of the mobile work robot at that time (00 direction in FIG. 3) is determined. There is a method of determining that the vehicle has returned to the vicinity of the work start point when a wall surface is detected forward while moving in the same direction as the reference direction stored as the reference direction.

  Thus, even when there is no landmark such as a charging station, the mobile work robot can be returned to the vicinity of the work start point when a drop in battery voltage is detected. Furthermore, when the wall surface is detected in the traveling direction of the main body when traveling toward the reference direction, the main body is rotated by a predetermined angle, and after traveling a predetermined distance, the traveling is stopped. By providing such a function, it is possible to prevent stopping near a door or the like.

  In the case of a mobile work robot having an automatic charging function, the robot returns to the charging station and automatically starts charging. Thus, even when the remaining battery level is low, the user can save time and labor for searching for a mobile work robot and charging by returning to the charging station automatically.

  If the room is large (the distance of the outer circumference measured when traveling on the outer circumference is long), the distance to the vicinity of the start point or to the charging station becomes longer. Even if the room is not large, if there are many obstacles and the like, the obstacles are avoided and the vehicle returns, so the distance to the vicinity of the starting point and to the charging station becomes long. On the contrary, when the room is small (the distance of the outer circumference measured when traveling on the outer circumference is short), the distance to the vicinity of the start point or to the charging station is shortened. If there is only one voltage threshold for judging the battery voltage drop, the work is finished when the battery voltage still remains relatively high so that the battery does not overdischarge even in a large room. It will be in the driving mode to return to the nearby or charging station automatically, but in the case of a small room, the voltage threshold is determined according to the case of a large room, so there is still enough battery remaining It may occur that the driving mode is ended near the starting point of the work or automatically returns to the charging station.

  In the present invention, the threshold value for automatically determining the decrease in the battery voltage is also changed in accordance with the distance of the outer periphery of the room measured during outer periphery travel and stored in the storage means 14. A plurality of threshold values for determining a decrease in battery voltage are stored in the storage means 14 in advance so that a threshold value for determining a decrease in battery voltage can be changed according to the size of the room (distance on the outer periphery). According to the length of the outer circumference distance of the room measured by the travel distance measuring means 13, a threshold value for determining the optimum battery voltage drop is selected and the remaining battery level is detected.

  Further, as shown in FIG. 4, at the battery voltage drop recognition point 41 during the moving work, the battery voltage measured by the battery voltage detection means 12 is a reference value for determining the battery voltage drop stored in the storage means. When it is lower, the work is finished, the route shown in FIG. 4 is followed, and when returning to the vicinity of the work start point 33 or the place of the charging station, the display means 4 displays a predetermined value after the main body is stopped. A notification that the remaining battery level is low is given until the time has elapsed.

  Thus, by measuring the distance of the outer periphery of the room by the travel distance measuring means 13 during the outer periphery traveling, and determining the voltage threshold for determining the decrease in the battery voltage based on the measured distance of the outer periphery of the room. According to the size of the room (periphery distance), the voltage threshold value for determining the optimum battery voltage drop is determined, so that the battery capacity usage efficiency can be increased as compared with the conventional case. In addition, since the battery capacity is used close to the performance compared to the conventional case, it is possible to reduce the burden of charging in the case of a mobile work robot that the user charges by himself, improving the convenience of the user Can be made. Further, since the battery capacity is used close to the performance as compared with the conventional case, the number of times of charging is reduced, so that the life of the battery can be extended. Further, until the predetermined time elapses, the mobile working robot is in the middle of the work by notifying the display means 4 that the remaining battery level has decreased until the predetermined time elapses after the main body stops. Even when the work is interrupted, it is possible to prevent the user from giving a misunderstanding such as a failure.

(Embodiment 2)
The present embodiment is provided with a temperature detecting means in addition to the first embodiment, and other configurations and operations are the same as those of the first embodiment.

  FIG. 5 shows an example of a configuration diagram of the mobile work robot in the present embodiment. In FIG. 5, the mobile work robot includes temperature detection means 51 for measuring the temperature around the mobile work robot and detecting a heat source such as a stove.

  Similar to the operation of the first embodiment, the voltage threshold value for determining the decrease in the battery voltage is determined based on the distance of the outer periphery of the room measured by the travel distance measuring means 13 during the outer periphery travel. Then, when the mobile work robot is working, if the battery voltage becomes lower than the voltage threshold value for determining the battery voltage drop, it is determined that the battery voltage has dropped, and the mobile work robot returns to the vicinity of the work start point and stops.

  At this time, when the temperature detecting unit 51 detects a heat source such as a stove during the moving operation, the mobile work robot travels so as to avoid the heat source by the travel control unit 11. Also, when the mobile work robot is working, the battery voltage drops, and when the work is finished and returned to the vicinity of the work start point 33 and stopped, the travel control means 11 rotates 360 degrees where it stops. Check that there is no heating element around the body during rotation, and then stop. When a heating element is detected around the main body during rotation, the traveling control means 11 travels to avoid the heating element and stops the main body.

  In this way, when the battery voltage drop is detected and the operation is finished and the main body is stopped, the mobile work robot is burned by the heat generated by the heat generating body by checking the presence or absence of the heat generating body around the main body. -Since it is possible to prevent dangers such as ignition, the safety of the mobile work robot can be improved by stopping after securing safety even when the battery voltage drops and stops.

(Embodiment 3)
This embodiment is provided with a communication function with a charger in addition to the first and second embodiments, and other configurations and operations are the same as those of the first and second embodiments.

  FIG. 6 shows an example of a configuration diagram of the mobile work robot in the present embodiment. In FIG. 6, the mobile work robot includes a transmission / reception unit 62 that transmits and receives signals from the outside and 61 that connects a charger that charges the battery 3. In addition, the battery charger 63 includes a charger 63 that is separated from the main body of the mobile work robot, and the charger 63 includes a main body connection means 64 that connects to the mobile work robot, a transmission / reception unit 65 that transmits and receives signals of the main body Charging means 66 for charging the battery is provided.

  An example of the simplest configuration of the transmission / reception unit 65 provided in the charger 63 and the transmission / reception unit 62 provided in the main body of the mobile work robot is, for example, an optical sensor. When the light emitted from the light emitting element of the transmitter / receiver 65 of the charger 63 is received by the light receiving element of the transmitter / receiver 62 of the main body of the mobile work robot, the mobile work robot detects that it is around the charger. .

  Similar to the operation of the first and second embodiments, during the outer periphery traveling, the voltage threshold value for determining the decrease in the battery voltage is determined based on the distance of the outer periphery of the room measured by the traveling distance measuring means 13. When the mobile work robot is working, when the battery voltage becomes lower than the voltage threshold value for determining the battery voltage drop, the mobile work robot determines that the battery voltage has dropped, and the mobile work robot charges the battery 63 to charge the battery. Start running back to. At this time, the mobile work robot sets a battery low flag and, when the battery low flag is on, detects that the transmitter / receiver 62 is around the charger and starts charging by the travel control means 11. To perform the operation. The means for transmitting and receiving signals between the main body and the charger at this time is not particularly limited, and other means may be used.

  As described above, the transmitter / receiver 62 for transmitting / receiving a signal from the charger 63 is provided in the main body, and the transmitter / receiver 65 for transmitting / receiving a signal from the main body similarly to the charger 63 for charging the battery 3. Thus, when the battery voltage decreases and the mobile work robot returns to the vicinity of the start point, the position information of the charger or the presence / absence of the charger can be transmitted to the main body, and the remaining battery When the amount drops and stops, it can always stop near the charger, so it is possible to eliminate the hassle of carrying a mobile work robot near the charger and automatic charging etc. are also possible Therefore, the convenience for the user can be improved.

(Embodiment 4)
In this embodiment, in addition to the first to third embodiments, the mobile work robot is provided with an electric blower that sucks dust on the floor. Other configurations and operations are the same as those of the first to third embodiments. The same.

  FIG. 7 shows an example of a configuration diagram of the mobile work robot in the present embodiment. In FIG. 7, the mobile work robot is a self-propelled cleaning robot, and includes an electric blower 71 that sucks dust on the floor and a control means 72 that controls the electric blower 71.

  Similar to the operation of the first to third embodiments, during the outer periphery traveling, the voltage threshold value for determining the decrease in the battery voltage is determined based on the distance of the outer periphery of the room measured by the travel distance measuring means 13. When the mobile work robot is working, if the battery voltage becomes lower than a voltage threshold value for determining a decrease in the battery voltage, it is determined that the battery voltage has decreased, and the mobile work robot is around the work start point 33 or the charging Return to vessel 63. At this time, when the battery voltage becomes lower than a voltage threshold value for determining a decrease in battery voltage while the mobile work robot is working, the control means 72 stops the electric blower and works in a state where the electric blower is stopped. Traveling around the start point 33 or returning to the charger 63 is performed. When the mobile work robot is a cleaning robot including an electric blower 71 that sucks dust on the floor surface, the power consumption of the entire mobile work robot depends largely on the power consumed by the electric blower.

  Therefore, it is determined that the battery voltage measured by the battery voltage detection unit 12 is smaller than the voltage threshold value for determining the decrease in the battery voltage in this way, and the mobile work robot moves around the start point 33 or the charger 63. When returning, stopping and moving the electric blower eliminates the need for power consumption of the electric blower around the start point 33 or when returning to the charger 63. The working time of the robot can be lengthened.

  The mobile work robot according to the present invention automatically corrects a predetermined voltage threshold value for determining a decrease in battery voltage in accordance with the size of the work area, and determines a decrease in battery voltage. It can be applied to various autonomous robots such as cleaning robots and pet robots.

Overview of mobile work robot in Embodiment 1 of the present invention Block diagram showing the configuration of the mobile work robot The figure which shows the path | route of the movement after the start of a movement of a mobile work robot, and the work area where a mobile work robot works similarly The figure which shows the example of the path | route where a mobile work robot returns to the circumference | surroundings of a work start point similarly The block diagram which shows the structure of the mobile work robot in Embodiment 2 of this invention. The block diagram which shows the structure of the mobile work robot in Embodiment 3 of this invention. Block diagram showing the configuration of the mobile work robot in Embodiment 4 of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main-body part 2 Traveling means 3 Battery 4 Display means 5 Direction detection means 6 Distance measurement means 7 Comparison means 11 Travel control means 12 Battery voltage detection means 13 Travel distance measurement means 14 Storage means 51 Temperature detection means 62 Transmission / reception part 63 Charger 71 Electric blower

Claims (10)

A main body that moves and performs work, traveling means that moves the main body, traveling control means that controls the traveling means, a battery that supplies power to the main body, and a battery voltage of the battery is detected. Battery voltage detecting means, traveling distance measuring means for measuring a traveling distance, comparing means for determining a decrease in battery voltage, and storage means for storing a predetermined lower limit voltage value for determining a decrease in battery voltage And the main body travels along the outer periphery of the room based on the control information of the travel control means, and stores in the storage means based on the travel distance measured by the travel distance measurement means at that time. A mobile work robot that corrects the predetermined lower limit voltage value. When the battery voltage detected by the battery voltage detection means becomes smaller than the lower limit voltage value stored in the storage means and corrected based on the travel distance of the outer periphery of the room, the travel control means moves the main body toward the start point. The mobile work robot according to claim 1, wherein the mobile work robot is stopped after finishing the work or movement. When the battery voltage detected by the battery voltage detecting means is smaller than the lower limit voltage value stored in the storage means and corrected based on the travel distance of the outer periphery of the room, the display means includes a display means for reporting battery information. The mobile work robot according to claim 2, wherein notification that the remaining battery level is low is started, and the notification is stopped after a predetermined time has elapsed after the main body has stopped at the start point. A direction detecting means for detecting the orientation of the main body and a plurality of distance measuring means for measuring the distance to obstacles around the main body, and the obstacle is located near the front of the main body by the distance measuring means during traveling. When recognizing an object, the traveling control means rotates the main body section and travels along the obstacle, and when the outputs of the plurality of distance measuring means provided on the side surfaces of the main body section substantially coincide, the traveling direction at that time Is stored as the reference direction, and the battery voltage detected by the battery voltage detection means is smaller than the lower limit voltage value stored in the storage means and corrected based on the travel distance of the outer periphery of the room, so that the main body portion When the vehicle is moving toward the vehicle, the direction of travel is recognized as the reference direction and an obstacle is detected in the direction of travel. Termination to be completed Mobile work robot according to claim 2 or 3. 5. The method according to claim 4, wherein when the traveling direction is recognized as a reference direction and an obstacle is detected in the traveling direction, the main body is rotated by a predetermined angle, and after traveling a predetermined distance, the traveling is stopped and the operation or movement is ended. The described mobile work robot. A temperature detection means for measuring the ambient temperature of the main body is provided. When the main body is stopped around the start point, the main body is rotated 360 degrees on the spot, and the main body is rotated by the temperature detection means during the rotation. The mobile work robot according to claim 4 or 5, wherein the mobile work robot is stopped when detecting the presence or absence of a heating element around the head and recognizing that there is no heating element. A temperature detection means for measuring the ambient temperature of the main body is provided. When the main body is stopped around the start point, the main body is rotated 360 degrees on the spot, and the main body is rotated by the temperature detection means during the rotation. 6. The mobile work robot according to claim 4, wherein the presence or absence of a heating element around the head is detected, and if it is recognized that the heating element is present, the vehicle travels to avoid the heating element and stops after avoiding the heating element. An electric blower that sucks dust on the floor and a control unit that controls the electric blower, and the battery voltage detected by the battery voltage detection unit is stored in the storage unit and corrected based on the travel distance of the outer periphery of the room. The mobile work robot according to any one of claims 2 to 7, wherein the electric blower is turned off when the lower limit voltage value is reduced. A charger having a charging means for charging a battery of the main body provided separately from the main body, and a transmitter for transmitting a position signal informing the position of the battery, and the transmission provided in the main body The battery voltage detected by the battery voltage detection means is smaller than the lower limit voltage value stored in the storage means and corrected based on the travel distance of the outer periphery of the room. 2. The movement according to claim 1, wherein the main body is moved toward a charger according to a position signal from the transmitter received by the receiver, and the battery of the main body is charged by a charging unit of the charger. Working robot. The program for performing at least one part or all of the function which the mobile work robot of any one of Claims 1-9 has with a computer.

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