JP2007034769A - Autonomous traveling robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem that a charging station charges when a built-in battery of an autonomous traveling robot is exhausted, but does not execute checking such as checking whether a sensor works normally. <P>SOLUTION: The autonomous traveling robot system comprises an external information inputting means 9 and 10 for inputting the external information, an autonomous traveling device 8 having a power supply 13 for traveling autonomously, and a charging device 16 having a power supplying means 17 for supplying power to the power supply 13 from the commercial power source. A checking means 19 can check whether the external information inputting means 9 and 10 of the autonomous traveling device 8 works normally while the power supplying means 17 of the charging device 16 is charging the power supply 13 of the autonomous traveling device 8, thereby enabling constant start of traveling in safe state. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an autonomous traveling robot system that is equipped with a power source and is capable of autonomous traveling.

  Conventionally, this kind of autonomous mobile robot system consists of an autonomous mobile robot that autonomously moves to a target location and performs work, and a charging station installed outside the robot, and consumes the power of the built-in battery of the autonomous mobile robot. When the charging becomes necessary, the autonomous mobile robot automatically moves to the charging station and performs a charging operation (see, for example, Patent Document 1).

FIG. 4 shows a conventional autonomous traveling robot system described in Patent Document 1. In FIG. As shown in FIG. 4, the autonomous mobile robot 1 includes a control unit 2 that performs overall control of the autonomous mobile robot 1, a sensor unit 3 for detecting a moving target, and a built-in battery unit 4 for obtaining a driving power source. And a drive control unit 5 that executes the entire operation of the autonomous mobile robot 1. Further, the charging station 6 includes a light modulation device 7, and the light modulation device 7 emits a light blinking signal. The autonomous mobile robot 1 reads the position where the light modulation device 7 emits light and the blinking pattern, automatically moves to the charging station, and performs the charging operation.
JP 2004-151924 A

  However, in the conventional configuration, the charging station does not perform any work other than charging when the built-in battery of the autonomous mobile robot is exhausted, and performs inspection work such as whether the sensor unit is functioning normally. Did not exist.

  The present invention solves the above-described conventional problems, and an object thereof is to provide an autonomous traveling robot system capable of performing an inspection operation for inspecting a function of a sensor unit in addition to a charging operation.

  In order to solve the above-described conventional problems, an autonomous mobile robot system according to the present invention includes an external travel information input unit that inputs external world information, an autonomous travel device that has a power source and autonomously travels, and power from a commercial power source to the power source. A charging device having power supply means for supplying the charging device, the charging device further comprising check means for checking whether the outside world information input means operates normally, the check power supply means supplying power to the power supply device; During this period, the outside information input means is inspected.

  Thereby, while the power supply device of the charging device supplies power to the power source of the autonomous traveling device, the inspection means can carry out the inspection work to check whether the outside information input means of the autonomous traveling device is operating normally. it can.

  In the autonomous traveling robot system of the present invention, while the power supply device of the charging device supplies power to the power source of the autonomous traveling device, the inspection means checks whether the external information input means of the autonomous traveling device is operating normally. Since the work can be carried out, it is possible to quickly grasp problems such as a failure of the external information input means of the autonomous traveling device, and it is possible to always start autonomous traveling in a safe state. Further, since the inspection work is performed simultaneously with the charging work, the inspection result can be grasped efficiently in a short time.

  The first invention includes an outside world information input means for inputting information on the outside world, an autonomous running device having a power source and autonomously running, and a charging device having a power supply means for supplying power from a commercial power source to the power source, The charging device includes an inspection unit that performs an inspection operation to check whether the external environment information input unit operates normally, and the inspection unit performs an inspection operation of the external environment information input unit while the electric power supply device supplies power. Is. Thereby, while the power supply device of the charging device supplies power to the power source of the autonomous traveling device, the inspection means can carry out the inspection work to check whether the outside information input means of the autonomous traveling device is operating normally. As a result, problems such as a failure of the external information input means of the autonomous traveling device can be quickly grasped, and autonomous traveling can always be started in a safe state. Further, since the inspection work is performed simultaneously with the charging work, the inspection result can be grasped efficiently in a short time.

  According to a second aspect of the invention, in particular, the charging device according to the first aspect of the invention has a storage unit that stores the autonomous traveling device, and an entry detection means that detects that the autonomous traveling device has entered a predetermined position of the storage unit. Then, the power supply means and the inspection means are operated by the detection of the entry detection means. As a result, when the autonomous traveling device enters the predetermined position of the charging device storage unit, the entry detection means detects it and operates the power supply unit and the inspection unit, so that the inspection work is always performed at a fixed position of the storage unit. It is possible to check the external information input means more accurately.

  According to a third aspect of the invention, in particular, the outside world information input means of the autonomous traveling device of the first or second aspect of the invention comprises a step sensor for detecting a step of the traveling surface on which the autonomous traveling device travels, and the inspection means is the step sensor. When the output is outside the predetermined range, it is determined that there is an abnormality.

  As a result, the inspection means determines that the abnormality is detected when the output of the step sensor that detects the step on the traveling surface is outside the predetermined range, so that the abnormality of the step sensor can be quickly grasped, and the autonomous traveling device can travel next time. By dealing with before starting, it is possible to prevent the autonomous mobile device from falling due to the failure of the step sensor.

  According to a fourth aspect of the invention, in particular, the outside world information input means of the autonomous traveling device of the first or second aspect of the invention comprises a distance measuring sensor that measures the distance between the autonomous traveling device and an obstacle, and the charging device includes a power supply means. When supplying electric power, an obstacle for inspection is provided at a position facing the distance measuring sensor, and the inspection means is abnormal when the distance from the obstacle for inspection detected by the distance measuring sensor is outside a predetermined range. Judgment. As a result, the distance measuring sensor measures the distance to the obstacle for inspection provided in the charging device, and the inspection means determines that it is abnormal when the distance measured by the distance measuring sensor is outside the predetermined range. It is possible to quickly grasp the abnormality of the vehicle, and by dealing with the autonomous traveling device until the next start of traveling, it is possible to prevent the autonomous traveling device from colliding with an obstacle due to the failure of the distance measuring sensor. .

  In the fifth invention, in particular, the obstacle for inspection according to the fourth invention is configured such that the distance to the distance measuring sensor can be changed, and the distance measuring sensor measures at least two distances changed from the distance to the obstacle for inspection. The checking means determines that the distance is normal when the two distances detected by the distance measuring sensor are within a predetermined range. As a result, the distance measuring sensor measures at least two distances with different distances from the obstacle for inspection, and the inspection means is normal when the two distances detected by the distance measuring sensor are within a predetermined range. Therefore, it is possible to grasp whether or not the distance measuring sensor can accurately measure two different distances, so that the failure of the distance measuring sensor can be detected more accurately. By taking measures before the start, it is possible to prevent the autonomous mobile device from colliding with an obstacle due to a failure of the distance measuring sensor.

  According to a sixth aspect of the invention, in particular, the charging device according to any one of the first to fifth aspects includes an inspection result notifying means for notifying an inspection result performed by the inspection means.

  Since the charging device is provided with the inspection result notification means for notifying the result of the inspection performed by the inspection means, the inspection result notification means displays or confirms the result of the inspection performed by the inspection means by an abnormality, so that the external information input means Can be notified to the user.

  According to a seventh aspect of the invention, in particular, the charging device according to any one of the first to sixth aspects includes an inspection result confirmation means operated by a user, and when the inspection result confirmation means is operated, the autonomous traveling device advances by a predetermined distance. It will stop at. As a result, when the inspection result confirmation means is operated, the autonomous traveling device stops at a predetermined distance, so that the autonomous traveling device can be stopped at the position where it comes out of the storage unit of the charging device, and the user can It is possible to visually check whether the external information input means determined to be abnormal is not damaged or dust is attached, and appropriate measures can be taken.

  In the eighth aspect of the invention, in particular, when the inspection result confirmation unit of the seventh aspect of the invention is operated, the inspection result notification unit stops the notification. Thereby, since the inspection result notifying unit stops the notification when the user operates the inspection result confirming unit, the notification can be stopped after the user grasps the notification content of the inspection result notifying unit.

  According to a ninth aspect of the invention, in particular, the autonomous traveling device of the seventh aspect is provided with a reinspection operating means, and when the reinspection operating means is operated, the autonomous traveling device proceeds to a charging device, and the inspection means inputs external information The inspection work of the means is performed again. As a result, after the user visually confirms the outside world information input means of the autonomous traveling device and performs appropriate measures such as dusting, the autonomous traveling device proceeds to the charging device when the re-inspection operating means is operated. Since the inspection means checks the external information input means again, it is possible to confirm again whether the failure such as dust can be dealt with by the user or the failure that the user cannot deal with.

  According to a tenth aspect of the invention, in particular, the charging device of the ninth aspect of the invention includes an external notification means capable of reporting to the outside, and the external notification means determines that the inspection means performs an inspection operation of the external information input means again and is abnormal. In this case, the contents of the abnormality are reported. As a result, it is possible to automatically notify the abnormality content in the case of a failure that the user cannot deal with.

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

(Embodiment 1)
FIG. 1 is a top view showing the configuration of the autonomous mobile robot system according to the first embodiment of the present invention.

  In FIG. 1, the autonomous traveling device 8 serves as an outside world information input unit for inputting information on the outside world, a step sensor 9 that detects a step on the traveling surface on which the autonomous traveling device 8 travels, and the distance between the autonomous traveling device 9 and an obstacle. Is provided with a distance measuring sensor 9.

  The step sensor 9 is composed of a reflective infrared distance measuring sensor, is attached to the front of the autonomous traveling device 8 and measures the distance from the traveling surface, and can detect a depression when the traveling surface is depressed. .

  The distance measuring sensor 10 is composed of an ultrasonic sensor, and measures the distance from the obstacle ahead by measuring the time for the transmitted ultrasonic wave to bounce off the obstacle.

  Based on information from the step sensor 9 and the distance measuring sensor 10, the control means 11 controls the drive wheels that are travel means, and autonomously travels without falling or colliding. In addition, the autonomous traveling device 8 includes a rechargeable power supply 13 that supplies power for driving the autonomous traveling device 8, and the control unit 11 controls the drive wheels 12 when the power supply 13 becomes exhausted. Travel toward the charging device 15. A charging terminal 14 is attached to the bottom surface of the autonomous mobile device 8.

  The re-inspection operation means 15 is provided on the upper surface of the autonomous traveling device 8 and causes the autonomous traveling device 8 to travel toward the charging device 15 by a user's operation.

  The charging device 16 includes power supply means 17 for supplying power from the commercial power source to the power source 13 of the autonomous traveling device 8. When the charging terminal 18 is connected to the charging terminal 14 of the autonomous traveling device 8, the charging terminal 14 is connected to the charging terminal 14. A voltage is applied and the power supply 13 is charged.

  In addition, the inspection means 19 performs an inspection work to check whether the outside world information input means such as the step sensor 9 and the distance measuring sensor 10 of the autonomous traveling device 8 operate normally.

  The entry detecting means 20 detects that the autonomous traveling device 8 has entered a predetermined position of the storage unit 21 and is, for example, a switch that is mechanically pushed and activated by the entry of the autonomous traveling device 8.

  The inspection obstacle 22 is an obstacle for checking whether the autonomous traveling device 8 distance measuring sensor 10 is operating normally, and is configured to move. The inspection result notifying means 23 is an informing means for notifying the result of the inspection performed by the inspection means 19 and notifies by display or voice. The inspection result confirmation means 24 is an operation means operated by the user. When the inspection result confirmation means 24 is operated, the autonomous traveling device 8 advances and stops by a predetermined distance. The external reporting unit 25 is a reporting unit that reports the inspection result to the outside, and the control unit 26 controls the operation of the charging device 16.

  The operation and action of the autonomous mobile robot system configured as described above will be described below.

  Autonomous traveling device 8 obtains lower step information by step sensor 9 and distance information from a front obstacle by distance sensor 10 to avoid obstacles and steps, for example, autonomously according to a route map stored in advance inside I am running. During traveling, the control means 11 always checks the consumption of the power supply 13. When the consumption of the power supply 13 increases, the control means 11 stops the autonomous traveling and controls the drive wheels 12 toward the charging device 16. The location of the charging device 16 is stored in advance in the route map, and the control unit 11 selects the optimal route from the current location and the location of the charging device 16 and directs it to the charging device 16. When the autonomous mobile device 8 comes to the front of the charging device 16, the autonomous traveling device 8 is reversed on the spot and moves backward to the storage unit 21 of the charging device 16. At this time, for example, an optical signal is emitted from the charging device 16 to guide the autonomous traveling device 8 or to be guided by a mechanical guide.

  FIG. 2 shows a state where the autonomous mobile device 8 is stored in the storage unit 21 of the charging device 16.

  When the autonomous traveling device 8 is housed in the storage unit of the charging device 16 and enters the predetermined position, the charging terminal 14 of the autonomous traveling device 8 and the charging terminal 18 of the charging device 16 are connected, and the entry detecting means 20 enters the entry. Detect and work. The control unit 26 receives the signal from the entry detection unit 20 and operates the power supply unit 17 to start charging the power source 13 of the autonomous traveling device 8. Further, the control means 26 moves the inspection obstacle 22 to a predetermined position facing the distance measuring sensor 10 to operate the inspection means 19. The charging device 16 and the autonomous mobile device 8 are configured to be able to transmit and receive data by data communication means (not shown). When the checking means 19 of the charging device 16 is activated, the charging device 16 is connected by the data communication means. An inspection start signal is sent to the autonomous mobile device 8. When the autonomous traveling device 8 receives the inspection start signal, the step sensor 9 measures the distance to the bottom surface of the storage portion 21, and the distance measuring sensor 10 measures the distance to the inspection obstacle 22. The measured distance data is sent to the charging device 16 by the data communication means, and the inspection means 19 determines whether the step sensor 9 and the distance measuring sensor 10 are operating normally based on the distance data.

  That is, since the autonomous traveling device 8 is stopped at a predetermined position of the storage unit 21 of the charging device 16, the distance between the step sensor and the bottom surface of the storage unit 21 is always constant, and the output of the step sensor corresponds to the distance. Within the prescribed range. Accordingly, the inspection means 19 determines that the output is abnormal when the output of the step sensor is outside the predetermined range, and determines normal when the output is within the predetermined range.

  Moreover, since the distance between the distance measuring sensor 10 and the obstacle for inspection 22 is also constant, if the measured distance is outside the predetermined range, it is determined that there is an abnormality. When the distance measured by the distance measuring sensor 10 is within a predetermined range (for example, 15 to 25 mm), the control means 26 moves the inspection obstacle 22 and inspects as shown in FIG. The distance measuring sensor 10 is checked again by the means 19.

  In the re-inspection, the inspection unit 19 determines that the distance measured by the distance measuring sensor 10 is normal when the distance is within a predetermined range (for example, 95 to 105 mm). In this way, the inspection means 19 can grasp whether or not the distance measuring sensor 10 can accurately measure two different distances, so that the failure of the distance measuring sensor 10 can be detected more accurately.

  Note that the distance between the distance measuring sensor 10 and the inspection obstacle 22 at the time of inspection is the distance at which the autonomous traveling device 8 detects an obstacle and determines whether to slow down or stop while traveling. It is desirable to provide an obstacle 22 for use.

  When the inspection by the inspection unit 19 is completed, the location where the abnormality is found and its state are displayed by the inspection result notification unit 23 or notified to the user by voice. When the user grasps that the abnormality is found by the inspection by the inspection result notification means 23, the user operates the inspection result confirmation means 24 provided in the charging device 16. When the inspection result confirmation unit 24 is operated, the inspection result notification unit 23 stops the notification, the control unit 11 of the autonomous traveling device 8 controls the driving wheel 12 to advance a predetermined distance, and the storage unit 21 of the charging device 16 is moved. Stop at the position where you leave. The user visually checks whether the level difference sensor 9 or the distance measuring sensor 10 determined to be abnormal in the autonomous traveling device 8 is not damaged or dust is attached, and is appropriate to sweep the dust. Can be dealt with.

  Next, when the user operates the re-inspection operation unit 15 of the autonomous traveling device 8, the control unit 11 controls the drive wheel 12 to store the autonomous traveling device 8 in the storage unit 21 of the charging device 16. And the inspection means 19 inspects the level difference sensor 9 and the distance measuring sensor 10 again. Since the inspection work is performed again in this way, it is possible to confirm again whether the failure such as dust can be dealt with by the user or the failure that the user cannot deal with.

  In the re-inspection, if the inspection means 19 determines that there is an abnormality, the external reporting means 25 automatically reports the abnormality content. For example, a report is made to an external repair company via the Internet, etc., and a repair request is made.

  As described above, in the present embodiment, while the power supply device 17 of the charging device 16 supplies power to the power source 13 of the autonomous traveling device 8, the inspection unit 19 is configured to detect the step sensor 9 of the autonomous traveling device 8. Since the inspection work can be carried out to check whether or not the distance measuring sensor 10 is operating normally, it is possible to quickly grasp the trouble such as the step sensor 9 and the distance measuring sensor 10 of the autonomous traveling device, and to always be autonomous in a safe state. You can start running. Further, since the inspection work is performed simultaneously with the charging work, the inspection result can be grasped efficiently in a short time.

  Further, when the autonomous traveling device 8 enters a predetermined position of the storage unit 21 of the charging device 16, the entry detection unit 20 detects the entry and operates the power supply unit 17 and the inspection unit 19. The inspection work can be performed at a fixed position, and the step sensor 9 and the distance measuring sensor 10 can be inspected more accurately.

  In addition, since the inspection means 19 determines that the abnormality is detected when the output of the step sensor 9 that detects the step on the traveling surface is out of the predetermined range, it can quickly grasp the abnormality of the step sensor 9, and the autonomous traveling device can By taking measures until the vehicle starts traveling, it is possible to prevent the autonomous traveling device from dropping due to the failure of the step sensor 9.

  Further, the distance measuring sensor 10 measures the distance from the inspection obstacle 22 provided in the charging device, and the inspection means 19 determines that an abnormality occurs when the distance measured by the distance measuring sensor 10 is out of a predetermined range. The abnormality of the distance measuring sensor 10 can be grasped quickly, and the autonomous traveling device 8 collides with an obstacle due to the failure of the distance measuring sensor 10 by dealing with the autonomous traveling device 8 until the next start of traveling. Can be prevented in advance.

  In addition, the distance measuring sensor 10 measures at least two distances that are different from the obstacle 22 for inspection, and the inspection means 19 detects that the two distances detected by the distance measuring sensor 10 are within a predetermined range, respectively. Since it is determined that the distance measurement sensor 10 can accurately measure two different distances, a failure of the distance measurement sensor 10 can be detected more accurately, and the autonomous traveling device 8 can be detected. By taking measures until the next start of traveling, it is possible to prevent the autonomous traveling device from colliding with the obstacle due to the failure of the distance measuring sensor 10.

  Further, the inspection result notifying means notifies the user of the abnormality of the step sensor 9 and the distance measuring sensor 10 by notifying the inspection result by the inspection means by display or voice.

  Further, when the inspection result confirmation means 24 is operated, the autonomous mobile device 8 advances and stops at a predetermined distance, so that the autonomous mobile device 8 can be stopped at a position where it comes out of the storage unit 21 of the charging device 16. It is possible to visually check whether the level difference sensor 9 or the distance measuring sensor 10 determined to be abnormal in the autonomous traveling device 8 is not damaged or dust is attached, and appropriate measures can be taken.

  Further, since the inspection result notifying unit 23 stops the notification when the user operates the inspection result confirming unit 24, the user may stop the notification after grasping the notification content of the inspection result notifying unit 23. it can.

  When the user visually checks the level difference sensor 9 or the distance measuring sensor 10 of the autonomous traveling device 8 and performs appropriate measures such as sweeping out dust, the user operates the re-inspection operation means 15 to obtain the autonomous traveling device. No. 8 proceeds to the charging device 16 and the inspection means performs the inspection work of the step sensor 9 and the distance measuring sensor 10 again. Therefore, whether the failure such as dust can be dealt with by the user or the failure that the user cannot deal with again. It becomes possible to confirm.

  In the case of a failure that cannot be dealt with by the user, the external reporting means 25 can automatically report the details of the abnormality.

  As described above, the autonomous mobile robot system according to the present invention can be applied to uses such as a cleaning robot and a monitoring robot.

The top view which shows the structure of the autonomous running robot system in Embodiment 1 of this invention. The top view showing the configuration of the autonomous traveling robot system The top view showing the configuration of the autonomous traveling robot system Side view of a conventional autonomous traveling device

Explanation of symbols

8 Autonomous traveling device 9 Step sensor (external information input means)
10 Ranging sensor (external information input means)
DESCRIPTION OF SYMBOLS 13 Power supply 15 Reinspection operation means 16 Charging apparatus 17 Electric power supply means 19 Inspection means 20 Approach detection means 21 Storage part 22 Inspection obstacle 23 Inspection result notification means 24 Inspection result confirmation means 25 External notification means

Claims (10)

An external information input means for inputting information on the external world, an autonomous traveling device having a power source and autonomously traveling, and a charging device having power supply means for supplying electric power from a commercial power source to the power source, wherein the charging device is the external environment information An autonomous traveling robot system comprising inspection means for performing inspection work to check whether the input means operates normally, wherein the inspection means performs inspection work for the outside world information input means while the power supply device is supplying power. The charging device includes a storage unit that stores the autonomous traveling device, and an entry detection unit that detects that the autonomous traveling device has entered a predetermined position of the storage unit. The autonomous traveling robot system according to claim 1, wherein the inspection means is operated. The outside world information input means comprises a level difference sensor that detects a level difference of the traveling surface on which the autonomous traveling device travels, and the inspection means determines that an abnormality occurs when the output of the level difference sensor is outside a predetermined range. Autonomous running robot system. The external information input means comprises a distance measuring sensor that measures the distance between the autonomous traveling device and the obstacle, and the charging device places an obstacle for inspection at a position facing the distance measuring sensor when the power supply means supplies power. The autonomous traveling robot system according to claim 1, further comprising: an inspection unit that determines that an abnormality occurs when a distance from the inspection obstacle detected by the distance measuring sensor is outside a predetermined range. The inspection obstacle has a configuration in which the distance from the distance measuring sensor can be changed, the distance measuring sensor measures at least two distances changed from the distance to the inspection obstacle, and the inspection means detects the distance detected by the distance measuring sensor. The autonomous mobile robot system according to claim 4, wherein when the two distances are within a predetermined range, it is determined that the distance is normal. The autonomous mobile robot system according to any one of claims 1 to 5, wherein the charging device includes an inspection result notification unit that notifies an inspection result performed by the inspection unit. The autonomous traveling robot according to any one of claims 1 to 6, wherein the charging device includes an inspection result confirmation unit operated by a user, and the autonomous traveling device stops by moving a predetermined distance when the inspection result confirmation unit is operated. system. The autonomous traveling robot system according to claim 7, wherein when the inspection result confirmation unit is operated, the inspection result notification unit stops the notification. The autonomous traveling device includes a re-inspection operation unit, and when the re-inspection operation unit is operated, the autonomous traveling device proceeds to a charging device, and the inspection unit reinspects the outside information input unit. Autonomous traveling robot system. 10. The charging device according to claim 9, further comprising an external reporting unit capable of reporting to the outside, wherein the external reporting unit reports an abnormality content when the inspection unit performs an inspection of the external information input unit again and determines that an abnormality has occurred. Autonomous traveling robot system.

Images