JP2009039836A - Power supply system for robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform certainly and simply an emergency stop for a mobile robot during power supply, in a power supply system for a robot which comprises the mobile robot capable of moving independently and a power supply to supply electric power to the mobile robot. <P>SOLUTION: A power supply system for a robot comprises a mobile robot and a fixed-type power supply section to supply electric power to the mobile robot, in which an emergency stop circuit on the power supply side and a circuit operating section to operate the emergency stop circuit on the power supply side are independently provided at the fixed-type power supply section, an emergency stop circuit on the robot side and a switch to operate the emergency stop circuit on the robot side are independently provided at the mobile robot, and the emergency stop circuit on the robot side is operable by constituting the emergency stop circuit on the robot side so as to be electrically connected to the circuit operating section to operate the emergency stop circuit on the power supply side when electric power is supplied from the fixed-type power supply section to the mobile robot. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention includes a fixed power supply unit such as a charging station installed at a predetermined position, and a movement that can be moved independently of the fixed power supply unit and that is supplied with power from the power supply unit. The present invention relates to a power supply system for a robot composed of a type robot.

  2. Description of the Related Art Conventionally, industrial robots that are fixed on a work site and perform predetermined work are known. In order to safely control the operation of such a robot, it is common to provide the robot with an emergency stop circuit for urgently stopping the operation of the powered robot. However, since such an industrial robot itself is installed at a work site, even if an operation unit for operating such an emergency stop circuit is provided in the robot body, in order for an operator to operate the operation unit, You have to go to the work site, and it is difficult to actually make an emergency stop.

  Therefore, an emergency stop circuit for stopping the operation of the robot is provided in a teaching device (teaching pendant) or the like for controlling the operation of the robot in order to safely use the robot for an emergency stop. Technology to stop is being developed. (For example, see Patent Documents 1 and 2)

By the way, in recent years, not only industrial robots fixed at work sites but also mobile robots that move indoors and outdoors to perform predetermined work and autonomous operation are being developed. Such a mobile robot has a battery that can be charged inside, and when the electric capacity stored in the battery decreases below a predetermined amount, the mobile robot autonomously reaches a charging station provided at a target point such as a specified position coordinate. In general, control such as movement is incorporated in advance. Further, such a charging station is provided independently of the mobile robot, that is, physically separated, and the mobile robot can perform a free operation when it is not necessary to charge. .
Japanese Utility Model Publication No. 6-11982 Japanese Utility Model Publication No. 60-11792

  In such a power supply system for charging a mobile robot, an emergency stop circuit for stopping power supply or the like in an emergency is usually provided on the charging station side that supplies power. However, even if the emergency stop circuit is activated when charging the mobile robot, the mobile robot can continue its operation if the power is stored in the battery of the mobile robot. An emergency stop of a mobile robot cannot be performed only by providing an emergency stop circuit at a charging station that supplies power. Therefore, it is necessary to incorporate an emergency stop circuit to stop the operation inside the mobile robot. However, since the mobile robot moves autonomously and independently, in order to stop the mobile robot urgently It is necessary to send a signal for operating the emergency stop circuit from the outside to the mobile robot by a signal transmission means such as a radio, and operate the circuit.

  However, when a signal for emergency stop is transmitted by such wireless communication, the emergency stop cannot be reliably performed unless the signal transmission / reception reliability is sufficiently obtained. Therefore, it is not preferable to perform such an emergency stop by radio because of the reliability problem of performing an emergency stop. In order to reliably stop the mobile robot, it is provided inside the mobile robot. An operation unit (such as a switch) for operating the emergency stop circuit is provided in the mobile robot body.

  However, since the mobile robot moves autonomously, if such an operating part is provided at a position where it can easily come into contact with the outside, the operating part may operate due to accidental contact and an emergency stop may be performed. Therefore, it is necessary to provide such an operating part at a position where it is difficult to come into contact with the outside. For this reason, there is a problem that the operation of emergency stopping the robot by the operating part provided on the robot side becomes complicated.

  Furthermore, there may be a restriction on the position where the operation unit is provided due to the problem of the external shape (design) of the robot. For this reason, in order to reliably operate the emergency stop circuit provided in such a mobile robot, a structure that can be taken by the robot is restricted, which is a design problem.

  The present invention has been made in order to solve such a problem. In a robot power supply system including a mobile robot that moves independently and a power supply unit that supplies power to the mobile robot. The purpose is to make an emergency stop of the mobile robot reliably and easily when power is supplied.

  A power supply system for a robot according to the present invention includes a mobile robot that operates autonomously or based on a prescribed control program, and a fixed power supply that supplies power by physically contacting the mobile robot. And a power supply side emergency stop circuit provided independently in the fixed power supply unit, and a circuit operating unit for operating the power supply side emergency stop circuit. In the mobile robot, the robot-side emergency stop circuit provided independently and a switch for operating the robot-side emergency stop circuit are provided, and when power is supplied from the fixed power supply unit to the mobile robot The robot-side emergency stop circuit is electrically connected to a circuit operating unit for operating the power supply-side emergency stop circuit, and operates the circuit operating unit. By, it is characterized in that to enable actuate the robot-side emergency stop circuit.

  In such a robot power supply system, the emergency stop circuit provided in the mobile robot operates in conjunction with a circuit operating unit that operates the emergency stop circuit of the fixed power supply unit when the mobile robot is charged. Therefore, it is possible to operate the emergency stop circuit of the mobile robot when charging the mobile robot. Therefore, it is possible to perform an emergency stop of the mobile robot reliably and easily when supplying power to the mobile robot.

  When supplying power to the mobile robot from the fixed power supply unit, a power supply side emergency stop circuit is electrically connected to a switch for operating the robot side emergency stop circuit, and the movement More preferably, the power supply side emergency stop circuit is operated by switching a switch provided in the robot. In this way, when the mobile robot side is emergency stopped during charging of the mobile robot, the fixed power supply unit can also be emergency stopped.

  As an example of such a robot power supply system, a closed circuit that can be electrically opened by a circuit opening / closing unit is provided on the mobile robot side, and power is supplied from the fixed power supply unit to the mobile robot. When performing the operation, the robot-side emergency stop circuit is electrically connected to the circuit operation unit on the fixed power supply unit side through the closed circuit, and the closed circuit is opened by the circuit opening / closing unit. Then, the structure linked with operation of the circuit action | operation part by the side of the said fixed power supply part can be considered. If it does in this way, it will become possible to operate the emergency stop circuit provided in the fixed type power supply unit simply in conjunction with the switch of the mobile robot. In addition, as the circuit opening / closing part, a low-priced one having a stable operability such as a limit switch is preferably used.

  In such a robot power supply system, the configuration of the mobile robot is not particularly limited as long as power is supplied from a fixed power supply unit. A battery may be provided, and the mobile robot and the fixed power supply unit may be physically separated. In such a robot power supply system, when the mobile robot is charged, the robot is electrically connected to the fixed power supply unit, and power is supplied from the power supply unit to the battery.

  The present invention is not limited to a robot power supply system that performs charging only when necessary. For example, the power supply system is connected to a fixed power supply unit via a wire (power supply line). Electric power may always be supplied to the mobile robot via a line. In this case, the robot-side emergency stop circuit and a circuit operating unit for operating the power-supply-side emergency stop circuit are electrically connected via the power supply line.

  As described above, according to the present invention, it is possible to reliably and easily perform an emergency stop of a mobile robot that is supplied with power from a fixed power supply unit when the power is supplied.

Embodiment 1 of the Invention
A robot power supply system according to an embodiment of the present invention will be described below with reference to FIGS. In this embodiment, the mobile robot constituting the robot power supply system is a wheel-driven robot that autonomously moves on a plane by driving a pair of wheels, and the fixed power supply unit is An example of a charging station installed in the movement area of the robot is shown.

  FIG. 1 schematically shows an embodiment in which a mobile robot 1 moves in a limited movement area P (area surrounded by a broken line) on a floor F as a moving plane. In this embodiment, it is assumed that the charging station 100 is placed in the movement area P, and the mobile robot 1 can move autonomously in the movement area P.

  The mobile robot 1 includes a pair of two opposing driving wheels and is configured to be movable so as to avoid an object (obstacle) partially boarded on the floor surface P. This will be described in detail below.

  As shown in FIG. 2, the mobile robot 1 is capable of rotating independently with respect to a mobile body 10 and a support shaft C (not shown) fixed integrally with the mobile body 10. A pair of opposed drive wheels W1 and W2 is provided. The mobile body 10 includes a box-shaped body 12, a head 11 that is rotatably connected to the top of the body 12, and an arm that has one end connected to both sides of the body 12. Right arm portion 21 and left arm portion 22, and right hand portion 31 and left hand portion 32 as holding portions respectively connected to the other ends of these both arm portions.

  As shown in FIG. 3, the body 12 has a support shaft C (C1) that supports a pair of opposed driving wheels W1 and W2 (hereinafter simply referred to as driving wheels) inside a box-shaped frame. , C2), and motors 131 and 132 as drive units for driving the support shaft C, a gyro 14 for detecting the degree of inclination with respect to the vertical direction, and a control signal for driving the drive wheels described above, The control unit 15 that transmits the control signal to the motors 131 and 132, the battery 16 for supplying power to these components, and the shape of the moving floor, obstacles, and the like disposed in front of the battery 16 are optically used. Are provided with detectors 17 and 17 for recognizing automatically.

  The motors 131 and 132 are configured to drive the drive wheels described above independently, and change the traveling direction of the mobile robot 1 by changing the rotation speed of these drive wheels according to a control signal from the control unit 15. Or making a turning motion. In addition, the motor is provided with a temperature sensor (not shown) for detecting that the motor is overheated due to power supply, the overheat state is detected by this temperature sensor, and a detection signal is output to the control unit described later, It is possible to avoid a state in which the maximum torque cannot be output by the motor.

  The gyro 14 is a sensor that detects the degree of inclination of the body portion 12 with respect to the vertical direction. The gyro 14 detects the amount by which the position of the body 12 is inclined for a predetermined time from the vertical direction, for example, the inclination angular velocity, and uses the detected angular velocity as an electrical signal. It can be converted and output. A tilt angular velocity signal based on the detected tilt angular velocity is transmitted to the control unit 15. Then, by integrating the inclination angle velocity of the moving body detected at minute time intervals during the movement of the mobile robot 1, the amount of inclination of the moving body main body 10 (body portion 12) can be obtained. The electrical signal output from the gyro is transmitted to the control unit 15 after noise and the like are removed through a filter (not shown). In the present embodiment, the sensor that detects only the tilt angle in the moving direction (front-rear direction) of the body portion 12 is used, but a sensor that detects the tilt angle in the left-right direction can also be used.

  The control unit 15 is a small computer including a storage area 15a such as a predetermined CPU or memory, and the storage area 15a has a predetermined amount for determining a driving amount for driving the driving wheels based on an input signal. Along with this program, map information relating to the moving area to be moved is stored. As a signal input to drive the driving wheel, the tilt angle signal transmitted from the gyro 14 is used.

  Further, the control unit 15 performs an inverted control for performing a control for maintaining the inverted state of the mobile robot 1. Specifically, as shown in FIG. 4, a straight line passing through the axle C extending in a vertical direction from a contact point where the driving wheel of the mobile robot 1 contacts the floor surface P, and the position of the center of gravity of the mobile robot 1. Rotational drive of the drive wheel W1 and the drive wheel W2 is controlled so that a straight line connecting the wheel C and the axle C forms a target inclination angle η (for example, η = 0 degrees). Accordingly, the moving operation of moving forward and backward can be performed so that the moving body continues to maintain the predetermined inverted state. The inclination angle η is obtained by the gyro 14 provided in the mobile robot 1 as described above. In this way, by applying an appropriate torque to the pair of drive wheels that are in contact with the floor surface, the inclination angle formed by the movable body main body with respect to the vertical direction does not increase beyond a certain value. The inverted state is maintained, and movement control is performed so as to maintain the inverted state.

  The control unit 15 not only drives the driving wheel by the inverted control but also controls the driving wheel by so-called position control that controls the rotational driving of the driving wheel so as to move the driving wheel with respect to a predetermined position. Control to drive. The switching of the drive control of the drive wheels by the inversion control and the position control can be performed by autonomous determination by the control unit 15.

  Furthermore, the control unit 15 not only performs the inversion control and the position control by driving the driving wheels, but also drives the arm units (the right arm unit 21 and the left arm unit 22) in accordance with a program stored in the storage area 15a. The overall operation of the mobile robot 1 is controlled such as the driving operation of the hand unit (the right hand unit 31 and the left hand unit 32). In particular, in order to grip an object with the hand unit described later, a data table regarding the control data of the gripping operation corresponding to the shape and material of the object to be gripped is stored in the storage area 15a described above. The operation of the hand unit can be controlled by appropriately reading control data from the data table. By such control, it is possible to perform a predetermined operation using an arm unit such as carrying a load.

  Further, the control unit 15 autonomously creates the movement route based on the map information stored in the storage area 15a. This map information is composed of a grid map obtained by virtually depicting grid lines connecting lattice points arranged at substantially constant intervals on the entire shape of the moving floor surface P. Using the enclosed grid unit, a location corresponding to the mobile robot 1's own position, a movement end point that is a target point, a movement direction of the mobile robot 1 at the movement end point, and the like are specified. Note that the interval between lattice points in the grid map can be appropriately changed according to conditions such as the curvature of the mobile robot 1 that can be moved and the accuracy of recognizing the absolute position. Then, the control unit 15 uses the self-position specified on the grid map as a movement start point, creates a movement route from the movement start point to the destination movement end point, and obtains it from the rotational speed of the drive wheels and the like. The self-position is calculated in real time from the moving speed and the moving distance, and movement control is performed so as to move along the created movement route.

  The battery 16 is electrically connected to a charging target terminal 161 (see FIG. 5) provided so as to protrude from the surface of the body portion 12, and includes a charging terminal provided in a charging station described later, By contacting the terminal to be charged 161, electric power is supplied and charged. The remaining amount of electric power stored in the battery 16 is regularly monitored by the control unit 15. As shown in FIG. 5, an emergency stop circuit 162 provided in the body part is connected between the battery 16 and the control unit 15, and a switch for operating the emergency stop circuit 162 is connected. By operating 163, power supply from the battery is stopped, and the operation of the mobile robot 1 can be stopped in an emergency. Note that the switch 163 is provided so as to protrude to the outside of the movable body main body 10, and an emergency stop can be performed by a simple operation from the outside. Hereinafter, a detailed structure for operating the emergency stop circuit 162 will be described.

  The configuration for operating the emergency stop circuit 162 by the switch 163 includes three independent circuits (circuit 160a, circuit 160b, and circuit 160c) as shown in FIG. The circuit 160a is a switching circuit capable of switching between an electrically connected state and a disconnected state by operating the switch 163, and in a state where the mobile robot 1 is independent from the charging station (a state where it is not charged). A circuit for independently operating the emergency stop circuit 162 by operating the switch 163 is configured.

  The circuit 160b can be switched between an electrically connected state and a disconnected state by operating the switch 163, which is connected to the terminals 161a and 161b provided in the terminal 161 to be charged via lead wires. Switching circuit. The circuit 160b does not affect the operation of the mobile robot 1 in a state where the mobile robot 1 is independent from the charging station (a state where the mobile robot 1 is not charged).

  In the circuit 160c, the terminal 161c and the terminal 161d provided in the terminal 161 to be charged are connected to the emergency stop circuit 162 through lead wires, respectively, and a closed circuit is formed by the limit switch LS1 in the middle of the connection. Yes. When the limit switch LS1 is closed, a closed circuit is formed as described above, and the circuit 160c does not affect the operation of the emergency stop circuit 161. However, when the limit switch LS1 is opened, The stop circuit 162 is connected to the terminals 161c and 161d, and the emergency stop circuit 161 can be operated by an external signal as will be described later. Details of the configuration for operating the emergency stop circuit 161 from the outside will be described later.

  The detection unit 17 is installed symmetrically with respect to the lower front surface of the body unit 12, and irradiates each of the infrared lasers, changes the irradiation direction of the lasers so as to swing in the horizontal direction and the vertical direction, and reflects the reflection. By receiving the light, the floor surface shape below the front surface of the body portion 12 is detected. Based on the information on the floor shape detected by the detection unit 17, the height of the convex portion such as a step or an obstacle existing on the floor surface, the distance from the current position of the mobile robot 1 to the convex portion, and the like are obtained. .

  The head 11 includes cameras 111 and 112 on the front surface thereof, optically images a person or object existing around the mobile robot 1, and transmits the image data to the control unit 15. The control unit 15 determines the surrounding environment from the imaging data obtained by the cameras 111 and 112, selects the direction and behavior pattern to move autonomously, and drives the driving wheels W1, W2, the arm unit, and the like. Take control.

  The right arm portion 21 and the left arm portion 22 are connected at one end to the body portion 12 and have a plurality of joint portions at positions corresponding to human shoulder portions and elbow portions, and can be freely joint-driven at these joint portions. It is configured. By this joint drive, the postures of the right arm portion 21 and the left arm portion 22 can be freely changed and the appearance can be changed.

  Further, a right hand portion 31 and a left hand portion 32 are connected to the other ends of the right arm portion 21 and the left arm portion 22, respectively. Although not described in detail, these hand units include a plurality of finger units for joint driving and a support unit for supporting these finger units, and these finger units are controlled by a control signal from the control unit 15. By driving the joint, the object recognized by the cameras 111 and 112 provided in the head 11 can be gripped. It should be noted that the magnitudes and speeds of the joints to be driven by these finger portions and the driving force are appropriately selected according to the shape and material of the recognized object.

  Next, the charging station 100 will be described with reference to FIG. As shown in FIG. 6, the charging station 100 includes a charger main body 101 and a controller 103 for controlling the charger main body 101. The controller 103 includes an emergency stop circuit (power supply side emergency stop circuit) 201 for stopping the operation of the charger main body 101, that is, a charging operation, a circuit operating unit 202 for operating the emergency stop circuit 201, and charging. Terminal 203. Then, in order to supply power to the battery 16 of the mobile robot 101, the charging terminal 203 provided in the controller 103 and the charging terminal 203 are brought into contact with the charging target terminal 161 on the robot side. Then, the battery 16 is charged from the charger body 101.

  The circuit operation unit 202 provided in the controller 103 is an operation unit configured in a predetermined shape that can be turned on / off by a simple operation such as a push button or a lever, and a charging station (that is, a charger main body). It is operated from the outside when an emergency stop is desired. A detailed configuration for operating the emergency stop circuit 201 by the circuit operating unit 202 will be described below.

  A configuration in which the emergency stop circuit 201 is operated by the circuit operating unit 202 will be described with reference to FIG. As shown in FIG. 6, the configuration for operating the emergency stop circuit 201 by the circuit operating unit 202 includes three independent circuits (circuit 103a, circuit 103b, and circuit 103c). The circuit 103a is a switching circuit that can switch between an electrically connected state and a disconnected state by operating the circuit operating unit 202, and the mobile robot 1 is independent from the charging station (not charged). In FIG. 2, a circuit for operating the emergency stop circuit 201 alone by operating the circuit operating unit 202 is configured.

  The circuit 103b switches between an electrically connected state and a disconnected state by operating the circuit operating unit 202, which is connected to the terminals 203c and 203d provided in the charging terminal 203 through lead wires, respectively. Possible switching circuit. The circuit 103b does not affect the operation of the charging station in a state where the mobile robot 1 is not charged.

  In the circuit 103c, the terminals 203a and 203b provided in the charging terminal 203 are connected to the emergency stop circuit 201 through lead wires, respectively, and a closed circuit is formed by the limit switch LS2 in the middle of the connection. . When the limit switch LS2 is closed, a closed circuit is formed as described above, and the circuit 103c does not affect the operation of the emergency stop circuit 201. However, when the limit switch LS2 is opened, The stop circuit 201 is connected to the terminals 203a and 203b, and the emergency stop circuit 201 can be operated by an external signal, as will be described later. In the present embodiment, as apparent from the above description, the configuration for operating the emergency stop circuit 161 in the mobile robot and the configuration for operating the emergency stop circuit 201 built in the charging station 100 are almost the same. It has the same configuration.

  Next, a configuration for operating the emergency stop circuit built in the mobile robot when the mobile robot 1 is charged by the charging station will be described in detail with reference to FIG.

  When it is determined by the control unit 15 that the mobile robot 1 needs to be charged, the mobile robot 1 changes its moving destination to a charging station and moves to this destination. The mobile robot 1 that has reached the charging station 100 performs positioning in detail so as to bring the terminal 161 to be charged into contact with the charging terminal 203 of the charging station 100 and is relatively close to the charging station. As a result, as shown in FIG. 7, a state in which the terminal 161 to be charged and the charging terminal 203 are in contact can be obtained.

  In addition, when the terminal 161 for charging and the terminal 203 for charging contact, the limit switch LS1 provided in the mobile robot 1 and the limit switch LS2 provided in the charging station 100 are respectively shown in FIG. Opened. That is, when each limit switch is opened, the circuit 160b changes from a closed state to an open state. At this time, since the terminal 161c and the terminal 161d are in contact with the terminals 203c and 203d on the charging station 100 side, a closed circuit is formed by the circuit 160c on the mobile robot 1 side and the circuit 103b on the charging station 100 side. In the state, the emergency stop circuit 162 does not operate.

  Similarly, when the limit switch LS1 is opened, the circuit 103c on the charging station 100 side is also opened, but the terminals 203a and 203b on the charging station side are in contact with the terminals 161a and 161b of the mobile robot 1. Since the closed circuit is formed by the circuit 103c on the charging station 100 side and the circuit 160b on the mobile robot 1 side, the emergency stop circuit 201 does not operate in this state.

  In this way, the mobile robot 1 can be charged by the charging station 100, that is, each of the terminals 161 a, 161 b, 161 c, 161 d provided on the charging target terminal 161 of the mobile robot 1 is charged by the charging station 100. When connected to the terminals 203 a, 203 b, 203 c, and 203 d provided for the terminals for operation, each emergency stop circuit becomes operable by the switch 163 and the circuit operating unit 202. This will be described in detail below.

  FIG. 8 shows a state in which the circuit operating unit 202 provided in the charging station 100 is operated in a state where the charging target terminal 161 and the charging terminal 203 are in contact with each other as shown in FIG. When the circuit operating unit 202 is operated in this way, the circuit 103a and the circuit 103b described above are opened. As a result, the emergency stop circuit 201 on the charging station 100 side is activated and the closed circuit constituted by the circuit 103b and the circuit 160c is opened, so that the emergency stop circuit 162 on the mobile robot 1 side is also activated. Accordingly, it is possible to stop the power supply from the charging station and to stop the movement of the mobile robot 1.

  Similarly, FIG. 9 shows a state in which the switch 163 on the mobile robot side is operated in a state where the charging terminal 161 and the charging terminal 203 are in contact with each other as shown in FIG. As shown in FIG. 9, when the switch 163 on the mobile robot side is operated, the circuit 160a and the circuit 160b on the mobile robot side are opened. As a result, the emergency stop circuit 162 on the mobile robot 1 side is activated and the closed circuit constituted by the circuit 160b and the circuit 103c is opened, so that the movement of the mobile robot can be stopped and the charging station 100 can be stopped. The emergency stop circuit 201 on the side can be activated to stop the power supply from the charging station.

  As described above, according to the above-described embodiment, during charging of the mobile robot, either the switch for operating the emergency stop circuit of the mobile robot or the circuit operating unit for operating the emergency stop circuit of the charging station is operated. Even so, each emergency stop circuit can be activated. Therefore, the operation of the mobile robot to which power is supplied from the charging station can be surely and easily stopped in an emergency when the power is supplied.

  In addition, since the mobile robot can be reliably stopped from the outside, there is no problem even if the position of the emergency stop switch provided on the mobile robot is provided at a position that is normally difficult to contact from the outside. As a result, the restriction on the outer shape (design) of the robot is reduced, and the effect of increasing the degree of freedom in design is also obtained.

  In the present embodiment, each emergency stop circuit is operated regardless of which of the switch that operates the emergency stop circuit of the mobile robot and the circuit operation unit that operates the emergency stop circuit of the charging station. However, the present invention is not limited to this. That is, when it is not necessary to link the switch of the mobile robot to the emergency stop circuit of the charging station, the closed circuit (closed circuit 103c) provided on the charging station side may not be provided.

  Further, the present invention is not limited to the robot power supply system that performs charging only when the power stored in the battery is reduced as described above. For example, a fixed power supply unit may be always connected via a wired (power supply line), and power may be constantly supplied to the mobile robot via the power supply line. In this case, the lead wire for connecting the mobile robot and the fixed power supply unit (charging station) as shown in FIGS. 7 to 9 is constituted by a covered flexible cable having a predetermined length. It is preferable that the can move freely with respect to the fixed power supply unit. In this way, since electric power is always supplied to the mobile robot, there is no need to monitor the remaining amount of the battery provided in the mobile robot, and the robot is continuously operated. It is possible to lengthen the time that can be set. As such an example, for example, it can be suitably used in an automatic warehouse or the like in which luggage input / output in a warehouse is performed by a robot and the input / output records and the like can be managed.

  Further, the limit switch as the circuit opening / closing unit used in the mobile robot and the fixed type power supply unit has a high safety level for the safety category defined in the international safety standard in order to surely perform the switching operation. It is preferable to use those. Preferably, it is preferable to use parts of safety category 4 or more defined by international safety standards.

  In the above-described embodiment, the movement route of the mobile robot has been described using an example specified using a grid map. Instead, it is created by indoor GPS or other means. Is also possible. Regardless of which means is used to create the movement path, the mobile robot is close to the fixed power supply unit (charging station) and within a predetermined area near the fixed power supply unit (charging station). It is preferable to create a movement route so that the route can be identified with high accuracy.

  Further, in the above-described embodiment, as an example of the mobile robot, an inverted two-wheeled moving body that moves by driving wheels is described as an example, but instead of this, a legged walking is used. The present invention can also be applied to a type of robot or a mobile robot that is not an inverted two-wheel type and moves by normal wheel driving.

1 is a schematic diagram schematically showing an example of a power supply system for a robot according to an embodiment of the present invention. It is the schematic which shows notionally the external appearance of the mobile robot included in the electric power supply system for robots shown in FIG. FIG. 3 is a schematic diagram schematically showing an internal configuration of a trunk portion of the mobile robot shown in FIGS. 1 and 2. It is a figure which shows roughly a mode that the mobile robot shown in FIG. 2 was seen from the side surface. 5 is a circuit diagram specifically showing an internal configuration for operating an emergency stop circuit for stopping the operation of the mobile robot in the mobile robot shown in FIGS. 1 to 4. FIG. FIG. 2 is a circuit diagram specifically showing an internal structure for operating an emergency stop circuit for stopping the operation of the charging station for the charging station shown in FIG. 1. It is a figure which shows a mode that the mobile robot shown in FIG. 5 was connected to the charging station shown in FIG. It is a figure which shows a mode that the circuit operation part by the side of a charging station was operated during charge of a mobile robot. It is a figure which shows a mode that the switch by the side of a mobile robot was operated during charge of a mobile robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Mobile robot 10 ... Mobile body 13 ... Drive part (motor)
DESCRIPTION OF SYMBOLS 15 ... Control part 15a ... Memory area 16 ... Battery 160c ... Closed circuit 161 ... Charged terminal 162 ... Emergency stop circuit (robot side emergency stop circuit)
163 ... Switch 100 ... Charging station (fixed power supply unit)
101 ... Charger body 103 ... Controller 103c ... Closed circuit 201 ... Emergency stop circuit Power supply side emergency stop circuit)
202... Circuit operating unit 203... Charging terminals LS1, LS2... Limit switch (circuit opening / closing unit)
F: Plane P ... Moving area

Claims (6)

A robot power supply system comprising a mobile robot that operates autonomously or based on a prescribed control program, and a fixed power supply unit that supplies power to the mobile robot,
The fixed power supply unit includes a power supply side emergency stop circuit provided independently, and a circuit operation unit that operates the power supply side emergency stop circuit.
In the mobile robot, a robot-side emergency stop circuit provided independently and a switch for operating the robot-side emergency stop circuit are provided,
When supplying power to the mobile robot from the fixed power supply unit, the robot-side emergency stop circuit is electrically connected to a circuit operating unit for operating the power supply-side emergency stop circuit, and the circuit A robot power supply system characterized in that the robot-side emergency stop circuit can be operated by operating an operating unit.   When power is supplied from the fixed power supply unit to the mobile robot, a power supply-side emergency stop circuit is electrically connected to a switch for operating the robot-side emergency stop circuit. The robot power supply system according to claim 1, wherein the power supply side emergency stop circuit is configured to be operable by switching.   A closed circuit that can be electrically opened by a circuit opening / closing unit is provided on the mobile robot side, and when power is supplied from the fixed power supply unit to the mobile robot, The robot-side emergency stop circuit is electrically connected to the circuit-operating unit on the fixed-type power supply unit side, and the closed-type circuit is opened by the circuit opening / closing unit, whereby the fixed-type power supply unit 3. The robot power supply system according to claim 1, wherein the robot-side emergency stop circuit is configured to be operable in conjunction with an operation of the side circuit operating unit. 4.   The robot power supply system according to claim 3, wherein the circuit opening / closing unit is a limit switch.   The mobile robot is provided with a battery, and the mobile robot and the fixed power supply unit are physically separated from each other. The mobile robot and the fixed power supply unit are physically separated from each other. 5. The robot power supply system according to claim 1, wherein power is supplied from a power supply unit to the battery by being electrically connected when touching.   5. The robot power supply system according to claim 1, wherein the power supply unit is connected to the mobile robot via a power supply line for supplying power.

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