JPH05100742A - Mobile working robot - Google Patents

Abstract

PURPOSE:To provide a mobile working robot capable of detecting the direction of the weave and the strength of a carpet on the floor surface of working zone while traveling. CONSTITUTION:A drive wheel 12 and a drive motor 13 to move a main body 11, a travel controller 27 to control these and execute travelling control, and a working device to execute work such as cleaning are provided, and the mobile working robot provided with a carpet weave sensor 15 with a detecting lever 32 with a contact part to come into contact with the floor surface, a rotary supporting part 35 to support the detecting lever 32 freely rotatably in a horizontal direction, an angle detecting means to detect the rotating angle of the detecting lever 32, a shaft attaching part 34 to support the detecting lever 32 freely rotatably in a vertical direction, and a spring to energize downward the detecting lever 32 is constituted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work having a traveling function for automatically performing work such as floor cleaning and floor finishing while self-propelled, and performing optimum control according to the condition of the traveling floor. It is about robots.

[0002]

2. Description of the Related Art In recent years, various mobile work robots have been developed in which work equipment is provided with functions such as a travel drive device, sensors and a travel control device to automate work.

Among the mobile work robots of this type, for example, a work that needs to move the entire work area without interruption, such as a work for cleaning the floor or finishing the floor, is a straight movement and a reversing motion for reversing the traveling direction. Many of them repeat the reciprocating movement depending on the combination of. For example, a self-propelled vacuum cleaner has a suction nozzle, a brush, etc. at the bottom of the main body as a cleaning function, a traveling and steering means as a moving function, an obstacle detection means for detecting an obstacle during traveling, and a position for recognizing a position. A recognition unit is provided, and while the obstacle detection unit moves along the wall around the cleaning place, the position recognition unit recognizes the cleaning area, and within the cleaning area, for example, a combination of rectilinear movement and reversal movement. The reciprocating movement is repeated to clean the entire cleaning area.

FIG. 9 shows an example of the operation of this type of mobile work robot, in which the main body 1 of the mobile work robot starts straight from the movement start point S and moves to the right as it approaches the front wall (W1). A U-turn operation is performed, and a straight movement is performed from a position displaced in the working direction A by the working width L. Next, similarly, when the front wall (W2) is reached, a U-turn operation is performed to the left this time, and a rectilinear movement is performed again from a position displaced by the working width L in the working direction A again. When the U-turn operation becomes impossible while moving to the side wall (W3) while repeating the above operation, the work is ended with this point as the end point F.

[0005]

However, in such a conventional mobile work robot as described above, the floor surface of the work area is a carpet with strong kerfs, such as a cut pile carpet with long hair, and the rugs have a straight direction. When the vehicle is running at a right angle, there is a problem that the main body is gradually flown in the direction of the rug while running, leaving unfinished work or lowering work efficiency. For example, as shown in FIG. 10, when the carpet is in the same direction as the work direction A, the work width gradually increases during traveling, and the work is left unfinished. On the contrary, as shown in FIG. 11, when the carpet is in the direction opposite to the working direction A, the working width is gradually reduced during traveling, so that the work does not proceed and the work efficiency is reduced.

As another problem, when the traveling floor surface includes a large stepped portion such as a staircase or a sill, there is a risk that the vehicle will not be able to run or fall, and therefore such a stepped portion can be detected in advance. Means to avoid sex were needed.

Further, in order to solve the above two problems, it has been customary to provide separate sensors, respectively. However, if a large number of sensors that come into contact with the floor surface are provided, those contact portions adversely affect the running performance of the main body. In addition to this, the structure of the main body became complicated and it was unavoidable that it became large.

Therefore, the present invention solves the above-mentioned conventional problems. Even if the floor of the work area is a carpet with strong eyes, the work can be performed without overwork and without lowering work efficiency. The first purpose is to provide a mobile work robot capable of performing.

A second object of the present invention is to provide a mobile work robot which automatically avoids the risk of being unable to run or falling even when there is a large stepped portion such as a stairway or a threshold on the running floor. ..

A third object of the present invention is to make it possible to detect a rug and a step of a concave portion at the same time while minimizing the adverse effect on the running property of the main body, and to move the main body structure in a simplified and downsized manner. To provide a working robot.

[0011]

The first means of the present invention for achieving the above first object is to provide a drive device and a steering device for moving the main body, and a main body for controlling the drive device and the steering device. A travel control device for controlling the travel of the vehicle, a work device for performing work such as cleaning, a detection lever having an abutment portion that abuts on the floor surface, and a rotation support portion for rotatably supporting the detection lever in a horizontal direction. , A carpet sensor having an angle detecting means for detecting the rotation angle of the detection lever, a shaft mounting portion for supporting the detection lever so as to be vertically rotatable, and a spring for urging the detection lever downward. This is a mobile work robot.

A second means of the present invention for achieving the second object is a drive device and a steering device for moving a main body, and a travel for controlling the travel of the main body by controlling the drive device and the steering device. A control device and a work device for performing cleaning work, etc., a detection lever having an abutment part that abuts the floor surface, a rotation support part for rotatably supporting the detection lever in a horizontal direction, and a detection lever in a vertical direction. A pivotally mounted portion that rotatably supports, and a spring that urges the detection lever downward.
The mobile work robot is provided with a step sensor having vertical movement detection means for detecting vertical movement of the detection lever.

Further, a third means of the present invention for achieving the third object is a drive device and a steering device for moving the main body, and traveling for controlling the travel of the main body by controlling the drive device and the steering device. A control device, a work device for cleaning, etc., a detection lever having an abutting part that comes into contact with the floor surface, a rotation support part that rotatably supports the detection lever in a horizontal direction, and a rotation angle of the detection lever. An angle detecting means for detecting the rotation angle, a shaft attachment portion for supporting the detection lever so as to be rotatable in the vertical direction, a spring for urging the detection lever downward, and a vertical movement detecting means for detecting the vertical movement of the detection lever. A mobile work robot equipped with a carpet and step sensor having the above.

[0014]

The mobile work robot according to the first means of the present invention operates as follows. The detection lever is rotatably supported in the up-down direction by a shaft mounting portion, and is constantly urged downward by a spring. Therefore, the contact portion always contacts the floor surface, and the detection lever is rotationally displaced by the horizontal component force received by the contact portion according to the state of the floor surface.
The traveling control device calculates and corrects the traveling direction from the information of the angle detection means that converts the rotational displacement amount of the detection lever into an angle. In this way, the work can be carried out without leaving the work unfinished or reducing the work efficiency.

The second means of the present invention operates as follows. The detection lever is rotatably supported in the vertical direction by a shaft attachment portion, and is constantly urged downward by a spring. Therefore, the contact portion always contacts the floor surface, and the vertical movement detecting means detects the vertical movement of the detection lever. Therefore, when the abutting portion approaches the recessed portion of the floor surface, the vertical movement detection means detects this as a downward movement of the detection lever, and the travel control device acts to stop the movement of the main body and perform the avoidance operation. In this way, it is possible to automatically avoid the risk of being unable to run or falling due to the recessed portion on the floor.

Further, according to the third means of the present invention, the floor sensor is provided with a single detection lever in which vertical movement detecting means for detecting the vertical movement of the detection lever is added to the carpet sensor of the first means of the present invention. Not only the rug on the surface but also the stepped portion on the floor can be detected. For this reason, it is possible to minimize the adverse effect on the running property of the main body with a simple configuration, to simultaneously detect the carpet and the step of the concave portion, and to downsize the main body.

[0017]

【Example】

(Embodiment 1) Hereinafter, an embodiment of the first means of the present invention will be described with reference to the accompanying drawings by taking a self-propelled cleaner as an example.

1 and 2 show the overall construction of this embodiment.
In the figure, 11 is a main body of a self-propelled vacuum cleaner, 12L · 12
Reference characters R denote drive wheels provided on the left and right rear sides of the main body 11, which are independently driven by the drive motors 13L and 13R. 1
3'L and 13'R are drive motors 13L and 13R, respectively
A rotation detector composed of a rotary encoder or the like connected to is used to detect the number of rotations of the drive motors 13L and 13R.
14L and 14R are driven wheels rotatably attached to the left and right front of the main body 11. Above, drive wheels 12L ・ 12
R, the drive motors 13L and 13R, and the driven wheels 14L and 14R constitute a drive and steering device for moving the main body 11.
Reference numeral 15 is a carpet sensor attached to the front of the bottom of the main body 11 and its specific configuration will be described in detail later. Reference numeral 16 is a bumper made of an elastic body attached to the periphery of the main body 11. Reference numeral 17 is an electric blower, 18 is a dust collecting chamber, and 19 and 20 are filters provided therein. Reference numeral 21 is a floor nozzle provided at the rear of the bottom of the main body 11, and is connected to the dust collection chamber 18 via a connection pipe 22. As described above, the electric blower 17, the dust collecting chamber 18, the filters 19 and 20, the floor nozzle 21, and the connecting pipe 22 constitute a working device for performing cleaning work.
Reference numeral 23 is an operation button provided on the operation unit 24. 25
Is a direction measuring device for measuring the direction of the main body 11. In this embodiment, it is composed of a rate gyro and an integrator for integrating the output. Reference numeral 26 is a distance-measuring sensor including an ultrasonic sensor or the like provided around the main body 11, which is an obstacle detection device for measuring the distance to an object on the front, left and right sides of the main body 11, and for detecting an obstacle. Are configured. 27 is a drive motor 13L based on the data from the carpet sensor 15, the direction measuring device 25, and the obstacle detection device.
A travel control device that controls 13R and controls the travel of the main body. Reference numeral 28 is a power source including a storage battery or the like for supplying electric power to the whole.

FIG. 3 shows the carpet sensor 15 of this embodiment.
4 is a detailed view of FIG. 4, and FIG. 4 is a view of an essential part of FIG. 3 viewed from the Y direction. In the figure, reference numeral 30 denotes a detection roller rotatably attached to a detection lever 32 by a roller shaft 31, and constitutes a contact portion that contacts the floor surface B. Three
Reference numeral 3 denotes a detection shaft having a shaft attachment portion 34 that supports the detection lever 32 so as to be rotatable in the vertical direction, and is supported by a bearing 36 of a rotation support portion 35 so as to be rotatable. Reference numeral 37 denotes an angle detection means connected to the detection shaft 33, which comprises a rotary encoder, a potentiometer, or the like, and detects the horizontal rotation angle of the detection lever 32. Reference numeral 38 denotes a spring that urges the pivotal movement of the detection lever 32 in the shaft mounting portion 34 downward, and brings the detection roller 30 into contact with the floor surface B with a predetermined load.

FIG. 5 is a control block diagram of this embodiment, in which the direction measuring device 25, the distance measuring sensor 26, and the rotation detector 13'L.
The outputs of the 13'R and the angle detection means 37 are input to the traveling control device 27. The traveling control device 27 determines these data and outputs a control signal to the drive motors 13L and 13R. In this embodiment, this drive motor 1
By controlling the rotation speeds of 3L and 13R, the rotation speeds of the left and right drive wheels 12L and 12R are independently controlled,
The main body 11 is driven and steered. That is, so-called PWS system driving is performed.

Now, the influence of the carpet when traveling straight on the carpet will be described with reference to FIG. FIG. 6A shows the movement trajectory of the main body 11 when the traveling floor surface is a flat bare floor without a carpet.
At this time, since there are no rugs, there is no influence of the rug, and the main body 11 is controlled by the linear movement means of the traveling control device 27 so that its movement locus is the main body 1 at the start of traveling.
The straight line a coincides with the direction of 1. However, as shown in FIG. 6B, for example, when the floor surface is changed to a carpet in which the rugs are in the direction from left to right and the vehicle travels straight under the same conditions, the main body 11 is moved by the straight traveling means of the traveling control device 27. Although the straight-ahead control is performed so as to ride on the line L1, the actual movement locus is a straight line b inclined by an angle θ to the right from the direction of the target line L1 even though the main body 11 always faces the direction at the start of traveling. become. That is, the present inventors have found that when the main body 11 travels straight on a carpet, the main body 11 slides in the direction of the rug in proportion to the straight traveling distance of the main body 11, and the angular deviation indicating the degree of this side slip. It has been confirmed that θ is almost unique to a carpet and is about several degrees. Therefore, for example, as shown in FIG. 6 (c), on the carpet on which the angular deviation θ has been measured in advance, the target line of the straight traveling means is a straight line L2 inclined by the angle θ to the left from the direction at the start of traveling (b).
When the vehicle travels straight under the same conditions as above, the movement locus at that time becomes a straight line c that coincides with the direction of the main body 11 at the start of traveling. Similarly, as shown in FIG.
When traveling straight in the opposite direction to (c), if the target line of the straight traveling means is straight traveling as a straight line L3 inclined by an angle θ to the right from the direction at the start of traveling, the locus of movement will be that of the main body 11 at the start of traveling. The straight line d coincides with the direction. As described above, when traveling straight on a carpet, it is known that the movement locus of the main body 11 can be corrected by changing the direction of the target line of the straight traveling means in accordance with the direction of the carpet and the strength of the eyes.

The detection lever 32 of the carpet sensor 15 is rotatably supported in the vertical direction by a shaft mounting portion 34 and is urged downward by a spring 38, so that the detection roller 30 is always on the floor. Since the detection lever 32 abuts and is supported by the rotation support portion 35 so as to be rotatable in the horizontal direction with respect to the main body 11, the detection lever 32 always faces the traveling direction when the main body 11 is traveling. That is, in the example of FIG. 6A, the detection lever 32 has the straight line a.
In the example (b), the detection lever 32 faces the direction of the straight line b.

The operation of the self-propelled cleaner constructed as above will be described with reference to FIG.

In the figure, it is assumed that the floor surface to be cleaned by the main body 11 has a carpet direction of left to right and an angle deviation of θ. When the main body 11 is placed at the starting point S and started, straight traveling is started. Then, as in the case shown in FIG. 6B, the main body 11 performs straight-ahead control in the direction at the start of traveling, and the main body 11 is always controlled to face the direction at the start of traveling. The locus is made to flow to the right by an angle θ due to the effect of the carpet. At this time, as described above, the detection lever 32 of the carpet sensor 15 faces the traveling direction, and the direction of the detection lever 32 is detected by the angle detection means 37 via the detection shaft 33 by the main body 11.
It will be detected as a rotation angle with respect to. Therefore, in the traveling control device 27, the angle deviation calculated by comparing the output angle of the angle detection means 37 with the reference value (angle value) becomes the angle θ to the right. Based on the calculation result, the traveling control device 27 shifts the target line for straight ahead control to the left by the angle θ.
A straight line control is performed by setting a correction target line that is tilted only. As a result, the main body 11 travels straight ahead in the direction at the start of traveling as shown in the figure.

When the distance measuring sensor 26 approaches the front wall W1 and detects it, it is checked whether or not there is an obstacle in the working direction A. In this case, there are no obstacles, so work direction A
Direction, that is, rightward of the main body 11 is inverted by 180 degrees to a position displaced by a predetermined working width. When the reversal is completed, the traveling control device 27 calculates the angle deviation θ by comparing the output angle of the angle detection means 37 with the reference value (angle value) as in the above. Based on the result of this calculation, a correction target line (a straight line that is inclined to the right of the main body 11 by an angle θ) is set and straight ahead control is performed. At this time, the main body 11 travels straight ahead in the direction at the beginning of travel and just 180 degrees. When it approaches the front wall W2, the main body 11 is turned to the left. When the above operation is repeated and the wall W1 is detected in front of the main body 11 at the point F, at this time, the working direction A, that is, the main body 1 is detected.
Since there is the wall W3 in the right direction of 1, the cleaning is judged to be completed and the work is completed.

As described above, according to this embodiment, the detection lever 32 of the carpet sensor 15 is rotatably supported in the vertical direction by the shaft mounting portion 34 and is urged downward by the spring 38 to detect the detection roller. 30 is always in contact with the floor surface, and the detection lever 32 is attached to the main body 1 by the rotation support portion 35.
Since it is rotatably supported in the horizontal direction with respect to 1,
Since the detection lever 32 always faces the traveling direction when the main body 11 is running, the direction of the detection lever 32 can be detected by the angle detection means 37 as a rotation angle with respect to the main body 11. Therefore, since the traveling control device 27 corrects the target line of the straight-ahead control according to the output and performs the straight-ahead control, the reciprocating straight-ahead trajectories of the main body 11 become parallel, and the cleaning may be left unfinished or the cleaning efficiency may decrease. There is nothing to do.

(Embodiment 2) Next, a self-propelled cleaner according to an embodiment of the second means and the third means of the present invention will be described. The overall structure of the self-propelled vacuum cleaner according to the present embodiment is shown in FIGS.
Other than the carpet sensor 15 of the first embodiment shown in FIG. The self-propelled cleaner of this embodiment is provided with a carpet / step sensor as shown in FIG. 8A instead of the carpet sensor 15 of the first embodiment. In the figure, reference numeral 30 denotes a detection roller rotatably attached to a detection lever 32 by a roller shaft 31, and constitutes a contact portion that contacts the floor surface B. Three
Reference numeral 3 denotes a detection shaft having a shaft attachment portion 34 that supports the detection lever 32 rotatably in the vertical direction, and is rotatably supported by a bearing 36 of a rotation support portion 35. Reference numeral 37 denotes an angle detection means connected to the detection shaft 33, which comprises a rotary encoder, a potentiometer, or the like, and detects the horizontal rotation angle of the detection lever 32. Reference numeral 38 denotes a spring for urging the pivotal movement of the detection lever 32 in the shaft mounting portion 34 downward, and causes the detection roller 30 to abut on the floor surface B with a predetermined load. The above-mentioned configuration is the carpet sensor 1 of the first embodiment.
Same as 5. Reference numeral 40 denotes a sliding flange provided on the detection shaft 33 so as to be slidable in the vertical direction. The sliding flange 40 is urged downward by a stopper 41 and a flange spring 42 attached above the detection shaft 33. Is always in contact with the upper end 32 'of the. Reference numeral 43 denotes a micro switch, which is attached to a position where the actuator 44 contacts the upper surface of the outer peripheral portion of the sliding flange 40. As described above, the sliding flange 40, the stopper 41, the flange spring 42, the micro switch 43, and the actuator 44 constitute vertical movement detecting means for detecting the vertical movement of the detection lever 32.

In the self-propelled cleaner constructed as described above, let us consider a case where there is a stepped portion such as a staircase or a sill on the floor surface during traveling. It is assumed that such a recess step exists in front of the main body 11 during traveling, and the detection roller 30 approaches the step as shown in FIG. 8B. Detection lever 3
2 is urged downward by a spring 38, so when the detection roller 30 attached to the tip of the spring 2 moves downward along the step, the detection lever 32 causes the shaft mounting portion 3 to move.
It rotates in the direction of arrow e in the figure with 4 as a fulcrum. At this time, the upper end 32 'of the detection lever 32 pushes up the sliding flange 40 in the direction of arrow f against the flange spring 42, and the actuator 44 is pushed and the micro switch 43 is pushed.
Turns on. When the micro switch 43 is turned on, the traveling control device 27 connected thereto immediately immediately drives the drive motor 13.
The rotation of the L / 13R is stopped to stop the traveling of the main body 11. Therefore, according to the present embodiment, the recessed wheel step does not cause the follower wheel 14 to fall off or the main body 11 to fall. After stopping the main body 11 in this way, the traveling control device 27 slowly rotates the drive motors 13L and 13R in the backward direction,
The main body 11 is moved backward. When the main body 11 moves backward, the detection lever 32 rotates in the horizontal direction due to the detection roller 30 hitting the step portion, the detection roller 30 rises to the floor surface B again, and returns to the state of FIG. 8A again. In this way, the micro switch 43 is turned off again. In the self-propelled cleaner of the present embodiment, the main body 11 is retracted until the micro switch 43 is turned off, and then the U-turn operation is performed, and the same processing as that when there is a wall in front is performed and the cleaning is continued. It is supposed to do.

The carpet and step sensor is
When traveling on a rug, the carpet can be detected in exactly the same manner as in the first embodiment, and therefore there is no uncleaning or uncleaning efficiency when traveling on the rug.

In the above embodiment, the vertical movement detecting means for detecting the vertical movement of the detection lever 32 is used as the micro switch 43.
However, a photo interrupter in which a light emitting body and a light receiving body are combined, or a photo interrupter in which a magnet and a reed switch are combined may be used.
It goes without saying that the same effect can be obtained as long as it is a structure for detecting the vertical movement of the.

[0031]

As described above, according to the first means of the present invention, the detection lever is supported by the shaft mounting portion so as to be rotatable in the vertical direction and is urged downward by the spring, so that the contact portion is always kept. The horizontal force received by the abutting part depending on the condition of the floor surface is detected as the rotation angle via the detection lever, and the running control device calculates this result to correct the running direction. By doing, you may be left unfinished work,
It is possible to realize a mobile work robot capable of performing work without lowering work efficiency.

According to the second means of the present invention, the detection lever is supported by the shaft mounting portion so as to be rotatable in the vertical direction and is urged downward by the spring so that the contact portion is always on the floor surface. Since the up-and-down movement detecting means detects the up-and-down movement of the detection lever, when the abutting portion approaches a recessed step on the floor surface, this is detected as a downward movement of the detection lever, and the travel control device detects the movement of the main body. By stopping and performing the avoidance operation, it is possible to realize a mobile work robot capable of automatically avoiding the risk of being unable to run or falling due to a recessed step on the floor surface.

Further, according to the third means of the present invention, one detection lever can be obtained by adding vertical movement detecting means for detecting the vertical movement of the detection lever to the carpet sensor of the first means of the present invention. Since it is possible to detect not only the rug on the floor surface but also the recessed step on the floor surface, it is possible to detect the rug and the recessed step at the same time while minimizing the adverse effect on the running performance of the main body. In addition, a mobile work robot capable of simplifying the main body configuration and downsizing is realized.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of a mobile work robot according to an embodiment of a first means of the present invention.

FIG. 2 is a rear view of the mobile work robot of the same embodiment, shown partially broken away.

FIG. 3 is a detailed sectional view of the carpet sensor of the same embodiment.

FIG. 4 is a view in the Y direction of FIG.

FIG. 5 is a control block diagram of a traveling control device for a mobile work robot according to an embodiment of the first means of the present invention.

FIG. 6 is an explanatory view for explaining the influence of the carpet when the mobile work robot of the embodiment travels straight on the carpet.

FIG. 7 is an operation explanatory view of the mobile work robot of the same embodiment.

FIG. 8 is a side view showing a partial cross section of a carpet / step sensor of the mobile work robot according to the embodiment of the second means of the present invention.

FIG. 9 is an operation explanatory diagram of a conventional mobile work robot.

FIG. 10 is a motion explanatory view explaining a motion of a conventional mobile work robot on a carpet.

FIG. 11 is an operation explanatory view for explaining the operation of the conventional mobile work robot on a carpet different from the one shown in FIG.

[Explanation of symbols]

 11 Main Body 12 Drive Wheel 13 Drive Motor 15 Carpet Sensor 17 Electric Blower 18 Dust Collection Room 21 Floor Nozzle 27 Travel Control Device 30 Detection Roller 32 Detection Lever 33 Detection Axis 34 Shaft Attachment 35 Rotation Support 37 Angle Detection Means 38 Spring

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hirofumi Inui, 1006 Kadoma, Kadoma City, Osaka Prefecture, Matsushita Electric Industrial Co., Ltd. (72) Yoshifumi Takagi, 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd.

Claims (3)

[Claims] 1. A floor surface comprising a drive device and a steering device for moving a main body, a travel control device for controlling the drive device and the steering device to control the travel of the main body, and a work device for performing work such as cleaning. Detection lever having an abutment portion that comes into contact with the rotation lever, a rotation support portion that rotatably supports the detection lever in a horizontal direction, an angle detection unit that detects a rotation angle of the detection lever, and the detection lever that is vertically rotatable. A mobile work robot comprising a carpet sensor having a shaft-attaching portion supported on the above and a spring for urging the detection lever downward. 2. A floor surface comprising: a drive device and a steering device for moving the main body; a travel control device for controlling the drive device and the steering device to control the travel of the main body; and a work device for performing work such as cleaning. A detection lever having an abutment portion that abuts against, a rotation support portion that rotatably supports the detection lever in a horizontal direction, a shaft attachment portion that rotatably supports the detection lever in a vertical direction, and a detection lever in a downward direction. A spring that biases the
A mobile work robot comprising a step sensor having vertical movement detecting means for detecting vertical movement of a detection lever. 3. A floor surface comprising: a drive device and a steering device for moving the main body; a travel control device for controlling the drive device and the steering device to control the travel of the main body; and a work device for performing work such as cleaning. Detection lever having an abutment portion that comes into contact with the rotation lever, a rotation support portion that rotatably supports the detection lever in a horizontal direction, an angle detection unit that detects a rotation angle of the detection lever, and the detection lever that is vertically rotatable. A mobile work robot equipped with a carpet and step sensor having a shaft attachment portion supported on the above, a spring for urging the detection lever downward, and vertical movement detection means for detecting vertical movement of the detection lever.