JP5105051B2 - robot - Google Patents

Description

The present invention relates to a robot , and more particularly, to an autonomously traveling robot incorporating a battery.

  Many autonomous robots are active not only for industrial use but also for consumer use. Many of these robots have a built-in battery because they move from place to place and perform a given job. When the remaining amount of the battery decreases, the battery is charged at a charging station (charger).

  In an environment where a plurality of robots work on and off the floor as in an office, there are cases where charging stations for performing these chargings are arranged at different locations. Each robot is provided with an indicator indicating the remaining battery level. The robot operator looks at this indicator when the robot that has delivered the package performs the next job, for example, and instructs charging when it is found that the remaining battery level is low. . Then, the robot that has received the charging instruction travels by itself to the nearest charging station and performs charging.

  There are cases where a plurality of robots to be charged are arranged around one charging station. In such a case, if one of the robots starts charging at the charging station first, there is a problem that other robots cannot perform charging at that place when charging is required.

  Therefore, in such a case, a robot that needs to be charged later travels by itself to a charging station arranged at another location. At this time, if the charging station is located at a distant place, the reserve electric power left for the nearest charging station is consumed, and traveling may become impossible on the way.

Thus, it has been proposed that each robot decides its own charging station and performs battery management on the premise of returning to this charging station (see, for example, Patent Document 1). In this proposal, it is possible to work while saving power consumption by working at a lower speed than normal work until returning to the charging station.
JP 2000-47728 A (paragraphs 0008 and 0036, FIG. 4)

  By the way, when a robot performs a task such as bringing a baggage far away from his charging station, the operator at this work determines that charging is necessary by looking at the indicator attached to the robot Shall be. At this time, in the above proposal, even when a charging station exists in the vicinity of the robot, the robot needs to return to its own charging station located far away to perform charging. This is of course effective for securing a place for charging each robot. However, there are cases where robots are working near each other's charging station, and it is often inefficient to always return to their own charging station for charging.

  Also, if the total number of robots matches the total number of charging stations, this suggestion always ensures a place to charge, but if the number of charging stations is small, return to your own charging station. However, other robots may be charging. The same applies when there is only one charging station and a plurality of robots share it.

  In such a case, the robot waiting for charging continues normal work, but there is a possibility that the battery runs out without being grasped by the operator and gets stuck. Of course, this problem can be solved by arranging charging facilities such as charging stations or chargers sufficient for the number of robots. However, it is not economical to increase the number of charging facilities as the number of robots increases.

Accordingly, an object of the present invention is to provide a robot that can prevent the battery from running out as much as possible even when the number of robots is larger than that of the charger .

In the present invention, (a) a built-in battery, (b) autonomous traveling means that autonomously travels using this battery as a part, and (c) remaining amount determining means that determines the remaining amount of the battery. (D) Transmission of the remaining amount information obtained as a result of the determination by the remaining amount determination means wirelessly transmitted to a charger installed at a predetermined place in order to charge the own device and other robots one by one. Means, (e) a connector that receives supply of power for charging the battery from the charger, and ( f ) power saving mode execution means for executing a power saving mode that saves use of the battery. (G) a power saving mode shift instruction receiving means for receiving an instruction to shift to the power saving mode wirelessly when the other robot described above is connected from the charger described above ; (H) This power saving A power saving mode executing means for executing a power saving mode according to the battery remaining amount determined by the remaining amount determining means when the mode shift instruction receiving means receives an instruction to shift to the power saving mode ; The robot is equipped.

As described above, according to the present invention, since a plurality of robots can be managed by the charger, it is not necessary to assign one charger to one robot, and the battery power supply system for the robot is configured at a low cost. Can do. Furthermore, when the robot moves in a wide range, it is possible to distribute the chargers according to the number of robots, so that multiple robots can be used efficiently in cooperation with the operator. Become.

  Hereinafter, the present invention will be described in detail with reference to examples.

FIG. 1 shows an outline of the configuration of a battery power supply system for a robot according to an embodiment of the present invention. The battery power supply system 100 for the robot according to this embodiment includes a charger 102 disposed near the operator 101 and first and second robots 104 ₁ and 104 ₂ that communicate with the antenna 103 of the charger 102. It is configured. The charger 102 is common to the first and second robots 104 ₁ and 104 ₂ , and in this example, one of them can be charged at a time.

FIG. 2 shows an outline of the configuration of the first robot and the charger. Since the second robot 104 ₂ shown in FIG. 1 has the same circuit configuration as the first robot 104 ₁ , its illustration and description are omitted. However, when the second robot 104 ₂ is described in this specification, the subscript “1” indicated on the component parts of the first robot 104 ₁ is replaced with “2”.

The first robot 104 ₁ includes a built-in antenna 111 ₁ that performs wireless transmission and reception with the antenna 103 of the charger 102. The built-in antenna 111 ₁ is connected to the wireless transmission / reception unit 112 ₁ . The wireless transmission / reception unit 112 ₁ is connected to a control unit 114 ₁ that performs various types of control. The transmission data related to the battery 113 ₁ sent from the control unit 114 ₁ is modulated, and then DA (digital-analog) conversion is performed. The signal is amplified and output from the built-in antenna 111 ₁ . Further, the radio wave received by the built-in antenna 111 ₁ is demodulated and then A-D (analog-digital) converted and output to the control unit 114 ₁ .

The control unit 114 _1, in addition to controlling the motor 116 ₁ for driving the wheels 115 ₁ for causing the self-propelled robot 104 ₁ of the first battery remaining amount data 117 ₁ representing the remaining amount from the battery 113 ₁ To receive. In addition, the control unit 114 ₁ is connected to the robot function unit 118 ₁ and performs various processes for the work of the first robot 104 ₁ .

Such a control unit 114 ₁ includes a CPU (Central Processing Unit) 119 ₁ and a memory 121 ₁ . The memory 121 ₁ stores a control program for controlling the first robot 104 ₁ . The robot function unit 118 ₁ may be provided with an original control unit, and the control unit 114 ₁ may mainly perform control related to the remaining amount of the battery 113 ₁ .

The battery 113 ₁ is composed of a rechargeable secondary battery. Battery 113 ₁ is connected to the connecting portion 122 ₁ formed of the connector. The connection unit 122 ₁ detects the connection with the charger 102 and charges the battery 113 ₁ .

The charger 102 includes a wireless transmission / reception unit 131 to which an antenna 103 is connected. Antenna 103 is adapted to perform a first robot 104 _first internal antenna 111 ₁ and the second both transmission and reception of radio waves of the robot 104 _{and second} internal antenna 111 ₂ shown in FIG. 1 shown in FIG. 2 Yes. The wireless transmission / reception unit 131 is connected to a control unit 133 that performs various controls in the charger 102. The wireless transmission / reception unit 131 modulates transmission data related to the battery 113 ₁ sent from the control unit 133, performs DA conversion, amplifies the data, and outputs the amplified data from the antenna 103. Further, the radio wave received by the antenna 103 is A / D converted after being demodulated and output to the control unit 133. Such a control unit 133 includes a CPU 134 and a memory 135. The memory 135 stores a control program for controlling each part of the charger 102.

The control unit 133 is also connected to a display unit 137 that performs visual display, a switch 138 that switches the display of the display unit 137, a comparison unit 139 that performs remaining amount comparison, and a logic circuit 141 that performs predetermined logic. Has been. Here the display unit 137 is specifically performed and the remaining amount of the battery 113 ₂ incorporated in the battery 113 ₁ or the second robot 104 ₂ built in the first robot 104 _1, the remaining amount display The first robot 104 ₁ or the second robot 104 ₂ is displayed with an LED (Light Emitting Diode) lamp. The switch 138 is a push button type switch, and the display unit 137 selects a target to be displayed from the first robot 104 ₁ and the second robot 104 ₂ each time the switch 138 is pressed.

The comparison unit 139 represents the remaining amounts of both the battery 113 ₁ and the battery 113 ₂ received by the wireless transmission / reception unit 131 and obtained from the first robot 104 ₁ and the second robot 104 ₂ via the control unit 133. Of the remaining amount data 142, the data with the larger remaining amount is input and compared with a predetermined set value. When the remaining amount data 142 falls below this set value, an H (high) level remaining amount decrease signal 143 indicating a decrease in the remaining amount is output to one input terminal of the logic circuit 141.

The logic circuit 141 inputs a detection output 145 for detecting the connection of the connection unit 144 to the other input terminal, calculates a logical product of these, and inputs the logical output 146 to the control unit 133. Detection output 145 of the connecting portion 144 in this case, so the first robot 104 _first connecting portion 122 ₁ or the second robot 104 _{and second} connecting portion 122 ₂ and the charging H level when it detects the connection at the time of ing. The connection unit 144 detects the connection with the first or second robot 104 ₁ , 104 ₂ and supplies power for charging the battery 113 ₁ or the battery 113 ₂ . For this reason, the connecting portion 144 is connected to a DC power supply 147 for charging.

In a state where the first or second robot 104 ₁ , 104 ₂ is connected to the connection unit 144 and the battery 113 ₁ or 113 ₂ indicates that the remaining amount is low, the logic output 146 becomes H level. When the control unit 133 inputs the logic output 146 of the H level, the control unit 133 detects that one of the first or second robots 104 ₁ and 104 ₂ has started charging, and consumes power for the unconnected one. Power-saving notification is performed to suppress the problem.

FIG. 3 shows a display unit of a charger and a circuit part related to the display unit. The display unit 137 includes two display areas, a battery fuel gauge 151 and a device indicator 152. Among these, the battery remaining amount meter 151 displays the remaining amount of the battery 113 ₁ or the battery 113 ₂ of the _first or _second robot 104 ₁ , 104 ₂ shown in FIG. remaining LED153 ₁ ~153 ₈ of 8 is arranged. Device indicator 152, first robot LED 154 ₁ and has a second robot LED 154 ₂ is arranged, which corresponds to the robot currently displayed on the battery remaining amount meter 151 is adapted to light up.

Eighth remaining LED 153 ₈ in the remaining battery capacity meter 151, the first or second robot LED 154 _1, 154 ₂ of the battery 113 ₁ or the state of the battery 113 ₂ fully charged instructed to display in device indicator 152 It is designed to light only in In this state of full charge, the remaining LED153 ₁ ~153 ₇ of the remaining first to seventh also turned. State seventh remaining LED 153 _7, the first or second robot LED 154 _1, 154 ₂ of the battery 113 ₁ or the battery 113 ₂ which is instructed to display, the full remaining amount than the charge becomes more one step less Goes off. In the same manner, the second remaining LED 153 ₂ is turned off when the battery 113 ₁ or the battery 113 ₂ of the first or second robot LED 154 _1, 154 _2, which is instructed to display is the lowest of the remaining It is supposed to be. Thus, by looking at the lit number of the first to seventh remaining LED 153 ₁ ～153 _7, or the operator remaining capacity of the battery 113 ₁ or the battery 113 ₂ belongs to any of the eight stages Can be determined.

In order to perform such display control of the remaining battery capacity meter 151, the control unit 133 outputs the LED driving signals 156 _{1 to 156 8} of 8 stages corresponding to the remaining amount, the remaining amount of the first through 8 LED 153 ₁ and supplies to a corresponding one of ～153 _8. The control unit 133 switches the display state of the first and second robot LEDs 154 ₁ and 154 ₂ each time a switch pressing signal 157 generated when the switch 138 is pressed is input. Then, in a state where the battery 113 ₁ of the first robot LED 154 ₁ is displayed, the control unit 133 sends the first robot LED drive signal 158 ₁ to the first robot LED 154 ₁ to light it. In this state, the control unit 133 outputs LED drive signals 156 _{1 to} 156 ₈ for the first robot 104 ₁ .

When a state in which the display input by the second robot LED 154 _{and second} battery 113 _{and second} switch press signal 157 is performed, the control unit 133 sends out a ₂ second robot LED drive signals 158 LED 154 to ₂ second robot Turn this on. In this state, the control unit 133 outputs the LED drive signals 156 _{1 to} 156 ₈ for the second robot 104 ₂ .

  FIG. 4 shows a state of display control switching processing by an operator pressing a switch of a charger in such a robot battery power supply system. This switching process is realized by the CPU 134 executing a control program stored in the memory 135 in the control unit 133 shown in FIG. This will be described with reference to FIG.

When the power supply (not shown) is turned on, the charger 102 receives an H (high) level signal of 3.3 volt LVCMOS (Low Voltage Complementary Metal Oxide Semiconductor) in the state where the switch 138 is not depressed. Entered. In this state, the CPU 134 executes a first robot display mode for performing display relating to the battery 113 ₁ of the first robot 104 ₁ (step S201). In a state where the first robot display mode is being executed, the CPU 134 monitors whether the operator presses the switch 138 (step S202). Until the switch 138 is pressed (N), the processing in step S201 is continued.

When the signal level input to the control unit 133 by pressing the switch 138 changes from the H level to the L (low) level only at that time (step S202: Y), the first robot display mode is terminated, and the second The second robot display mode for displaying the battery 113 ₂ of the robot 104 ₂ is executed (step S203). In this state, the CPU 134 monitors the depression of the switch 138 by the operator (step S204). Until the switch 138 is pressed (N), the processing in step S203 is continued. When the switch 138 is pressed (step S204: Y), the process returns to the first step S201 (return).

  Thereafter, each time the switch 138 is pressed, the first robot display mode and the second robot display mode are alternately switched. Although the first robot display mode is first executed when the battery charger 102 is turned on, the second robot display mode may be executed first.

FIG. 5 shows a display process in the first robot display mode. This will be described with reference to FIG. The control unit 133 of the charger 102 sets the first robot LED drive signal 158 ₁ to the H level and turns on the _first robot LED 154 ₁ (step S221). Next, the control unit 133 causes the wireless transmission / reception unit 131 to transmit a request for data related to the remaining amount of the battery 113 ₁ of the first robot 104 ₁ (step S222).

FIG. 6 shows a state of the battery remaining amount transmission process by the first robot. This will be described with reference to FIG. When the first robot 104 ₁ receives a request for data related to the remaining amount of the battery 113 ₁ of the first robot 104 ₁ from the charger 102 (step S241: Y), the control unit 114 ₁ outputs the output voltage of the battery 113 ₁ . Is checked (step S242). The output voltage of the battery 113 ₁ may be periodically checked and the result stored in the memory 121 ₁ and read out. The output voltage of the battery 113 ₁ obtained in this way is sent from the wireless transmission / reception unit 112 ₁ to the charger 102 as 8-bit serial transmission data (step S243).

Returning to FIG. When the process of step S222 is performed, the charger 102 waits for the output voltage of the battery 113 ₁ to be sent as the remaining amount data from the first robot 104 ₁ (step S223). When the first robot 104 ₁ remaining amount data sent from (Y), as compared with the remaining quantity data preset 8 stage voltage level, the corresponding stage as the LED drive signals 156 _{1 to 156 8} A signal level signal is output (step S224). Thereby, the first to eighth remaining LED153 ₁ ~153 ₈ remaining battery capacity meter 151 shown in FIG. 3 residual quantity display is performed as a whole these lights or off to.

The process of step S203 in FIG. 4, so that replacing the first contents of the robot display mode described in FIG. 5 to the second robot 104 ₂ and will not be shown and described. The process in which the second robot 104 ₂ shown in FIG. 1 transmits the remaining amount of the battery 113 ₂ to the charger 102 is substantially the same as the process in the first robot 104 ₁ shown in FIG. Illustration and description are omitted.

As described above, the operator of the charger 102 can easily check the remaining amount of the batteries 113 ₁ , 113 ₂ of the first or second robot 104 ₁ , 104 ₂ by appropriately pressing the switch 138. . Therefore, even if these first and second robots 104 ₁ and 104 ₂ both have a function of automatically charging with the charger 102 when the remaining amount is lowered to the lowest level, the job allocation is performed. It is also possible to adjust so that the situation in which the first and second robots 104 ₁ and 104 ₂ require charging at the same time does not occur by forcibly charging one at an early stage.

FIG. 7 shows the flow of the power saving mode transition instruction process for the other robot when one of the robots is connected to the charger and charging is started. Here, a case where the first robot 104 ₁ is connected to the charger 102 will be described with reference to FIG.

The control unit 133 of the charger 102 checks whether the logic output 146 input from the logic circuit 141 is at the H level or the L level (step S261). When the logic output 146 is at the L level (N), the latest one of the pair of remaining amount data of the batteries 113 ₁ and 113 ₂ received from the first and second robots 104 ₁ and 104 ₂ by the operation of the operator. Is sent to the comparison unit 139 as remaining amount data 142 (step S262). The received remaining amount data may always be sent to the comparison unit 139, and the comparison unit 139 may select the one with the larger remaining amount.

The comparison unit 139 compares the remaining amount data 142 sent from the control unit 133 with a set value. The set value is set to, for example, the value of the fourth step from the lower remaining amount of the above-described eight levels of remaining amount display. Normally, charging is performed first from the first robot 104 ₁ and the second robot 104 ₂ with the least remaining amount of the batteries 113 ₁ and 113 ₂ . Therefore, when the first robot 104 ₁ is connected to the charger 102, the comparison unit 139 compares the remaining amount of the battery 113 ₂ of the second robot 104 ₂ .

When the first robot 104 ₁ is connected to the charger 102, the remaining amount of the battery 113 ₂ of the second robot 104 ₂ is one of the fifth stage to the eighth stage full charge state, The second robot 104 ₂ does not need to be charged early. In this state, the remaining amount decrease signal 143 is at the L level, and the logic output 146 input from the logic circuit 141 remains at the L level. In this case, it does not leave transition instruction from the charger 102 to the second power saving mode to the robot 104 _2.

On the contrary, when the first robot 104 ₁ is connected to the charger 102 and the remaining amount of the battery 113 ₂ of the second robot 104 ₂ is relatively small, the battery will not run out. It is necessary to. For this purpose in this embodiment, so as to instruct to shift to the power saving mode for the second robot 104 ₂ of this situation.

In such a case, that is, when the first robot 104 ₁ is connected to the charger 102, the remaining amount of the battery 113 ₂ of the second robot 104 ₂ is one of the first to fourth stages. Suppose. The comparison unit 139 outputs an H level remaining amount decrease signal 143 indicating a decrease in the remaining amount. As a result, the logic circuit 141 calculates the logical product of the H level detection output 145 and the H level remaining amount decrease signal 143, and sets the logic output 146 to the H level (step S261: Y).

Then, the control unit 133 which has received the logic output 146 of the H level to determine whether the first robot 104 ₁ is connected to the charger 102 (step S263). This determination can be carried out depending on whether the lower of the remaining data charger 102 has received is the first robot 104 _1. In the example described herein, the charger 102 is connected to the first robot 104 _1. Therefore, in this case (step S263: Y), the control unit 133 transmits an instruction to shift to the power saving mode to the _second robot 1042 (step S264).

It is assumed that the battery 113 ₂ of the second robot 104 ₂ has a smaller remaining amount and is connected to the charger 102 in a situation opposite to the situation described so far (step S263: Y). In this case, on condition that the remaining amount of the battery 113 ₁ of the first robot 104 ₁ is relatively small (see step S261), the control unit 133 switches to the power saving mode with respect to the first robot 104 ₁ . A migration instruction is transmitted (step S265).

FIG. 8 shows a state of the power saving processing of the robot that has received the instruction to shift to the power saving mode. This will be described with reference to FIGS. For example, it is assumed that the first robot 104 ₁ shown in FIG. 1 starts charging and the charger 102 transmits an instruction to shift to the power saving mode to the _second robot 104 ₂ . When the second robot 104 ₂ receives this instruction (step S281: Y), the control unit 114 ₂ checks the remaining amount of the battery 113 ₂ (step S282).

Then, when the first robot 104 ₁ starts charging, the power saving mode corresponding to the remaining amount is executed on the premise that charging cannot be performed on the second robot 104 ₂ side, for example, for a maximum of 3 hours ( Step S283). As an example, while the work has not occurred, or stops the driving of the motor 116 _2, so as to set a smaller becomes the speed of the lowest power per distance during traveling. In addition, only the circuit portions necessary for the function are energized. Further, if the present embodiment adopts a method of notifying the regular charger 102 not but notifies the charger 102 the remaining amount of the battery 113 ₂ when the charger 102 is requested, applied thereto Measures are taken such as extending the notification cycle.

According to the embodiment described above, the operator can check the display contents of the charger 102 even when the first and second robots 104 ₁ and 104 ₂ are not in the vicinity of the batteries 113 ₁ and 113 ₂ . You can easily check the remaining amount. Therefore, when both the first and second robots 104 ₁ and 104 ₂ need to be charged in the near future, the operator performs an operation of charging one of the robots 104 as soon as necessary. It is possible to prevent the occurrence of a situation where work cannot be performed due to running out of the battery.

In addition, when one of the first and second robots 104 ₁ and 104 ₂ is being charged, the other can shift to the power saving mode, which also prevents the situation in which work cannot be performed due to running out of the battery. it can.

By being devised in this way, one charger 102 can cope with the _two robots 104 ₁ and 104 ₂ , and an economical system can be constructed. Further, for example, even when two robots 104 ₁ and 104 ₂ have their respective chargers 102 arranged far away from each other, the nearby charger 102 can be used, so the time required for movement Can be applied to other work to make efficient work.

  <Modification of the invention>

  FIG. 9 shows a display unit of a charger and a circuit portion related thereto in a modification of the present invention. 9, the same parts as those in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

In the first modification, in addition to the first and second robots 104 ₁ and 104 ₂ shown in FIG. 1, a third robot 104 _{3 (} not shown) is charged by one charger 102A. ing. Accordingly, in addition to the first and second robot LEDs 154 ₁ and 154 _2, a third robot LED 154 ₃ is arranged on the device indicator 152 A of the display unit 137 A in the charger 102 A.

Further, the switch 138A includes a switch knob 301 that can be rotated in three angular directions. The switch knob 301 corresponds to one of the _first to third robots 104 _{1 to} 104 ₃ by matching this with any of the numbers “1” to “3” engraved on the switch panel surface 302. Is displayed on the display unit 137A. For example, in a state where the switch knob 301, as shown pointing to the numeral "1", device indicator first robot LED 154 ₁ is turned in 152A, the first through the remaining amount of the eighth battery remaining amount meter 151 LED 153 ₁ ˜153 ₈ indicate the remaining amount of the battery 113 ₁ of the first robot 104 ₁ .

First and second switch state signals 303 and 304 are supplied from the switch 138A to the control unit 133A. Here, when both the first and second switch state signals 303 and 304 are at the L level, the switch knob 301 indicates the number “1”, and the display of the first robot 104 ₁ is selected. Further, when the second switch state signal 304 the first switch state signal 303 is at the H level is at L level, the state in which the switch knob 301 points to the number "2", the display of the second robot 104 ₂ is selected It becomes. Further, when the first switch state signal 303 is at the L level and the second switch state signal 304 is at the H level, the switch knob 301 indicates the number “3” and the display of the third robot 104 ₃ is selected. It becomes.

In this example, setting the state where both the first switch state signal 303 and the second switch state signal 304 are at the H level is prohibited. Of course, when four robots 104 _{1 to} 104 ₄ (the fourth robot 104 ₄ is not shown together with the third robot 104 ₃ ) use one charger 133 A, the first switch state signal 303 and it may be a state where the second switch state signal 304 becomes the H level to assign to a fourth robot 104 _4.

  As described above, the number of robots corresponding to one charger in the present invention does not need to be two or three, and any number is possible. Also, in the embodiment, the remaining battery of the robot of the destination robot to be notified of the transition to the power saving mode is checked, and when the remaining amount is sufficient, the notification of the transition to the power saving mode is not performed. It is not limited. For example, when one robot starts charging, the other robot is unconditionally notified of the transition to the power saving mode, and the robot itself that receives the notification performs control according to the remaining battery level of its own. May be.

  Furthermore, in the embodiment and the modification, the battery remaining amount display of each robot is performed on the charger, but it is also possible to cause the robot to display the remaining amount of its own battery. In addition, in the embodiment and the modified example, the operator selects the robot that displays the remaining amount of the battery, but the charger is regularly reporting the state of the battery of each robot, and the state where the remaining amount is the least The robot may be automatically selected and its remaining amount displayed preferentially.

  In the embodiment and the modification, the remaining amount of the battery is displayed at the lighting rate of the LED, but may be displayed using characters, numbers, or figures. Further, as to which robot is displayed, not only the corresponding lamp is turned on, but the robot number and nickname may be displayed in characters.

  In addition, autonomously traveling robots are not limited to those that travel on wheels, but those that move by walking using feet, and those that move by other means such as those that float and move using thrust such as air. Of course it can be included.

1 is a system configuration diagram illustrating an outline of a configuration of a battery power supply system for a robot according to an embodiment of the present invention. It is a circuit diagram of a 1st robot and a charger in a present Example. It is the block diagram which showed the display part of the electrical appliance in this Example, and the circuit part relevant to this. It is a flowchart showing the mode of the switching process of the display control by pushing the switch of a charger in a present Example. It is a flowchart showing the mode of the display process in a 1st robot display mode in a present Example. It is a flowchart showing the mode of the battery remaining amount transmission process by the 1st robot in a present Example. It is a flowchart showing the flow of the power-saving mode transfer instruction | indication process with respect to a robot in a present Example. It is a flowchart showing the mode of the power saving corresponding | compatible process of the robot which received the transfer instruction | indication to power saving mode in a present Example. It is the circuit diagram which showed the display part of the charger in the modification of this invention, and the circuit part relevant to this.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Robot battery power supply system 101 Operator 102, 102A Charger 103 Antenna 103 ₁ 1st robot 104 ₂ 2nd robot 104 ₃ 3rd robot 111 Built-in antenna 112, 131 Wireless transmission / reception part 114, 133 Control part 113 Battery 137, 137A Display unit 138, 138A Switch 139 Comparison unit 141 Logic circuit 153 Remaining LED
154 Robot LED

Claims (1)

Built-in battery,
Autonomous traveling means that autonomously travels using this battery in part,
A remaining amount determining means for determining the remaining amount of the battery;
Transmitting means for wirelessly transmitting the remaining amount information obtained as a result of the determination of the remaining amount determining unit to a charger installed in a predetermined place in order to charge the own device and other robots one by one ;
A connector that receives supply of electric power for charging the battery from the charger;
Power saving mode execution means for executing a power saving mode that saves use of the battery;
A power saving mode shift instruction receiving means for receiving an instruction to shift to a power saving mode wirelessly because the other robot is being connected from the charger ;
When the power saving mode transition instruction receiving means receives an instruction to shift to the power saving mode, the power saving mode executing means for executing the power saving mode according to the remaining battery level determined by the remaining capacity determining means < A robot characterized by comprising:

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