JPH11282533A - Mobile robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile robot system for transmitting information to a managing device even when a mobile robot is working. SOLUTION: This mobile robot system is provided with an independently moving and working mobile robot 1 and an information station 2 for applying a work instruction to the mobile robot 1. When a time clocked by a timer 10 since the work is started reaches a prescribed time, the mobile robot 1 moves to the information station 2, and exchanges information with the information station 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot for performing tasks such as housework and cleaning by independently moving in a room of a hospital, hotel or general home, and providing information such as work instructions to the mobile robot. The present invention relates to a mobile robot system including a management device.

[0002]

2. Description of the Related Art Conventionally, in a mobile robot system,
Various types of mobile robots, such as a cleaning robot that moves independently to clean the room (see Japanese Patent Application Laid-Open No. 5-161577), an automatic transport robot that carries luggage, and a guide robot that guides facilities such as department stores, are available. A management device called an information station that is used and gives work instructions to these mobile robots is provided.

[0003] The mobile robot has wheels for moving, and moves while performing operations in accordance with a preset program while grasping the surrounding conditions by sensors mounted on the mobile robot. The management device sets an operation program for the mobile robot and supplies a power supply voltage for power.

FIG. 14 is a diagram showing an example of a traveling pattern in which the cleaning robot moves. In the figure, 1 indicates a mobile robot, and R indicates a running pattern. A traveling pattern is set for the mobile robot 1 from a management device (not shown) or from a setting unit provided in the mobile robot 1. Specifically, the starting point, the direction and distance in which the vehicle travels straight, and the number of times the mobile robot 1 turns back 180 degrees are set as the traveling pattern.

With this setting, the mobile robot 1
The robot moves while drawing a running pattern as shown in FIG. 4 and simultaneously performs cleaning. That is, starting from the point a, the vehicle travels straight by A, and reaches the turning point c at the point b.
Next, go straight ahead from point c by A and turn back at point d. This series of moving operations is performed until the number of times of turning back reaches the set number of times. Then, when the mobile robot 1 reaches the point e, the movement ends. As a result, cleaning is performed over the range of A × B.

[0006]

The above-mentioned mobile robot 1
Performs cleaning while moving according to a preset program. Therefore, once the work is started, it operates as it is until the program ends. At this time, for example, when there is a case where the user wants to interrupt the work or wants to perform cleaning again from the beginning, the mobile robot 1
Cannot be stopped.

[0007] Normally, the mobile robot 1 operates by using a mounted rechargeable battery as a power source. However, even if the battery capacity is insufficient during the operation of the mobile robot 1, the user cannot recognize it. In the worst case, the mobile robot 1 runs out of batteries and stops working.

In view of the above problems, an object of the present invention is to provide a mobile robot system that allows a mobile robot to transmit information to and from a management device even during work. Another object is to provide a mobile robot system capable of automatically supplying power.

[0009]

Means for Solving the Problems The object of the present invention is to provide a mobile robot which moves independently and performs a work, and a management device which gives a work instruction to the mobile robot, wherein the mobile robot operates externally or internally. It has control means for moving to the management device when receiving the information, and information transmission means for exchanging information with the management device.

[0010] The time when an external action is received means a time when a situation surrounding the mobile robot or an abnormal state in the situation is detected. Also, when the internal action is received, when a predetermined time has been reached after starting the work, when a predetermined moving distance has been measured since the start of the work, or an abnormal state of the mobile robot itself has been detected. Time and so on.

When the mobile robot detects these situations or conditions, it suspends its work and moves to the management device. Then, information is exchanged with the management device. Then, after the delivery of the information, the operation returns to the position where the operation was interrupted, and the operation is continued.

[0012] In this way, the mobile robot once moves to the management device when the work of the mobile robot needs to be interrupted or restarted from the beginning, so that it can be easily managed even during the work. An instruction can be transmitted from the device to the mobile robot. Also, since information can be transmitted from the mobile robot to the management device, information such as the situation around obstacles and the like obtained by the mobile robot can be transmitted to the management device, and the management device responds to the information. Instructions or processing corresponding to them.

[0013] Another object of the present invention is to provide a mobile robot having a power source and moving independently to perform work, a management device for giving a work instruction to the mobile robot, and a supply device for supplying power to the mobile robot. The mobile robot has control means for moving to the management device when subjected to an external or internal action, information transmission means for transferring information to and from the management device, and when the power is insufficient. And a replenishing means for replenishing the power from the supply device. In this case, the supply device may be provided in the management device, or may be provided independently of the management device.

According to this configuration, when the power of the mobile robot, for example, the capacity of the battery is insufficient during the operation, when the mobile robot detects this, the mobile robot moves to the management device and notifies the state. The supply device supplies power to the mobile robot according to an instruction from the management device. Therefore, the mobile robot can automatically supply power without any user intervention.

When information is exchanged between the mobile robot and the management device, the two robots communicate information non-contact with each other through non-contact transfer means. The non-contact delivery means includes a light-emitting unit that emits infrared light, and a light-receiving unit that receives infrared light emitted from the light-emitting unit. According to this, since the mobile robot can transmit information without contacting the management device, it is possible to omit delicate alignment when connecting to the management device, and to facilitate the movement control.

Alternatively, separately from the non-contact delivery means, one of the mobile robot and the management device has contact detection means for detecting contact with each other, and the mobile robot and the management device are connected to the other party. The information may be transferred by providing a connector for transferring the information. The contact detecting means detects the mutual contact by, for example, transmitting and receiving a connection confirmation signal through a connecting body, or by supplying electricity from one to the other.

In this case, one of the connecting units of the management device and the mobile robot is formed in a convex shape, and the other connecting unit is
In order to guide one connecting body, it is formed in a concave shape having a taper. In particular, the base end of one connecting body is preferably movable so as to be easily guided by the other connecting body. By doing so, when the mobile robot connects to the management device, the connected objects can be smoothly guided and connected.

Further, a protective body is provided on the other connecting body so as not to be exposed to the outside, and the protective body is opened and closed by proximity or contact of the one connecting body. This can prevent dust and the like from adhering to the connection body.

[0019]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

<First Embodiment> FIG. 1 is a diagram showing an internal configuration of a mobile robot and an information station (management device) applied to a mobile robot system according to a first embodiment of the present invention. The mobile robot system includes a mobile robot 1 that moves independently and performs a task, and an information station 2 that gives a task instruction to the mobile robot 1. There are various types of mobile robots 1 such as a cleaning robot that moves independently to clean a room or the like, a housework robot that performs housework, an automatic transport robot that carries luggage, or a guide robot that guides facilities such as department stores.

The mobile robot 1 has a box-shaped robot body 3 to which wheels are mounted. Inside the robot body 3, a driving unit 4 such as a motor for driving wheels, a transmission mechanism, and a turning mechanism is provided. A self-contained traveling sensor 5 composed of a gyro, a distance meter and the like for detecting information necessary for independent traveling such as a traveling direction and a traveling distance; a control unit 6 composed of a microcomputer for controlling the operation of the mobile robot 1; Battery 7, a charging unit 8 as a replenishing unit for charging the battery 7, a connecting unit (connecting body) 9 for transferring information between the information station 2, and a time measuring unit for measuring time. A timer 10 is provided. The robot body 3
Is a substantially rectangular shape with one end rounded, but is not limited thereto, and may be an arbitrary shape such as a substantially cylindrical shape or a substantially pyramid shape. When the mobile robot 1 is a cleaning robot, the mobile robot 1 has a brush, a cleaner, or the like, and when the mobile robot 1 is a housework robot, the mobile robot 1 has a configuration according to a use. For example, the mobile robot 1 has a hand for grasping an object.

The mobile robot 1 uses a motor driven by electric power from a battery 7 as its power source. Instead of this, for example, an engine and a generator driven by a fuel such as gas or gasoline are used as the power source. It may be a power source. When the mobile robot 1 is used outdoors, the battery 7 may be a solar battery. In addition, the mobile robot 1 may have a crawler belt type or a plurality of feet instead of wheels, so that it can move up and down stairs and move on uneven surfaces.

The information station 2 gives a work instruction and a power supply voltage to the mobile robot 1. A control unit 11 composed of a microcomputer as a control center and various information are stored in a substantially rectangular cabinet. A display unit 12 for displaying to the user, a setting unit 13 for the user to set the operation of the mobile robot 1, a connection unit (connecting body) 14 for transferring information between the mobile robot 1, A power supply unit 15 as a supply device for supplying power to the robot 1, and a connection detection unit 16 for detecting that the mobile robot 1 is connected to the information station 2.
And The information station 2 may be fixed, or may be movable with a caster on the bottom surface. The power supply unit 15 may be provided separately from the information station 2.

Mobile robot 1 and information station 2
The two terminals 9 and 14 are connected to each other to exchange information. As shown in FIG. 2, the connecting portion 9 of the mobile robot 1 is formed in a convex shape such as a polygonal pyramid or a cone, and the connecting portion 14 of the information station 2 has a taper to guide the connecting portion 9. It is formed in a concave shape. In addition, in the figure, 17 is a wheel.

More specifically, the connecting portion 9 of the mobile robot 1
As shown in FIG. 3, is formed in a polygonal pyramid shape with a truncated tip, and has planar contacts 21a, 21b,
21c, 21d (hereinafter collectively referred to as "contact 2
1 ". ) Are formed.

On the other hand, the connecting portion 14 of the information station 2 is formed with a groove 22 which is the same as or slightly larger than the convex connecting portion 9 of the mobile robot 1, and has a groove 22 having a tapered surface.
, Pin-shaped contacts 23a, 23b, 23c,
23d (hereinafter, collectively referred to as "contact 23"). The contact 23 is housed in a guide hole 25 formed in the bottom surface 24 of the groove 22 so that the tip side protrudes outside, and is connected to an internal lead wire 26. The protrusion 27 and the bottom surface 2 in the middle of the contact 23
A spring 28 is interposed between the spring 4 and the spring 4 to urge the contact 23 in a protruding direction.

When the mobile robot 1 approaches the information station 2, since the connecting portions 14 of the information station 2 have a taper, the connecting portions 9 and 14 of each other are guided to each other, and the connecting portion of the mobile robot 1 is connected. 9 is smoothly guided to the connection part 14 of the information station 2. Therefore, even if the positions of the opposed connecting portions 9 and 14 are slightly shifted,
It can be easily corrected.

When the mobile robot 1 further approaches, the surface of the planar contact 21 of the mobile robot 1 comes into contact with the tip of the pin-shaped contact 23 on the information station 2 side.
When the contact further approaches, the planar contact 21 pushes the pin-shaped contact 23 into the guide hole 25, but the pin-shaped contact 23 is pushed back by the elastic force of the spring 28. As a result, the pin-shaped contact 23 and the sheet-shaped contact 21 are surely in contact with each other. In this way, the connecting portions 9 and 14 of the mobile robot 1 and the information station 2 are securely connected.

Further, as shown in FIG.
The base end 29 of the connecting portion 9 may be formed movably, for example, in a bellows shape so as to be easily guided by the connecting portion 14 of the information station 2. In addition to the bellows shape, a spring, a link mechanism, or the like may be interposed between the distal end and the proximal end 29 of the connecting portion 9 or freely rotatably supported by a universal joint or a ball socket coupling. It may be.

In this way, by adopting a structure in which the direction of the tip of the connecting portion 9 can be freely changed, the connecting portion 9 of the mobile robot 1 can be guided to the connecting portion 14 of the information station 2 more smoothly. There is an advantage that connection can be easily performed even if the connection portions 9 and 14 are misaligned.

Further, the position of the connecting portion 9 when the mobile robot 1 approaches on the information station 2 side is detected by performing image recognition, and the connecting portion 14 is displaced up, down, left and right by a motor or the like in accordance with the position. In this way, the connection portions 9 and 14 may be connected to each other. Thereby, when the mobile robot 1 approaches, even if there is a positional shift between the opposed connecting portions 9 and 14, the connecting can be reliably performed.

The connecting portions 9 and 14 of the mobile robot 1 and the information station 2 may be replaced with irregular shapes. Also, the connection unit 14 of the information station 2
The side may be provided movably, and both connecting parts 9 and 14 may be configured to be movable together.

As shown in FIG. 5, a protective cover 30 serving as a protective body for covering the connecting portion 14 so as not to be exposed to the outside is provided.
Is provided. The protective cover 30 is rotatably supported on the upper edge of the opening of the connecting portion 14 by a hinge or the like, and the protective cover 30 is normally closed by the bias of the spring 31. Therefore, the protective cover 30 is opened when pressed by the connecting portion 9 of the mobile robot 1 from the outside, and the protective cover 30 is opened.
Closes automatically when exits.

With this configuration, foreign matter does not enter the connection portion 14 of the information station 2 from the outside, dust and the like can be prevented from adhering to the contact 23, and communication failure can be suppressed. . Note that a structure may be employed in which the approach of the connecting portion 9 of the mobile robot 1 is detected by a sensor or the like, and the protective cover 30 is automatically opened and closed.

When the mobile robot 1 is connected to the information station 2, the charging unit 8 of the mobile robot 1 shown in FIG.
The shapes of the charging unit 8 and the power supply unit 15 are the same as those of the connection units 9 and 14 described above. The charging unit 8 is formed in a convex or concave shape, and the power supply unit 15 is formed in a concave or convex shape. When the charging unit 8 is connected to the power supply unit 15, power can be supplied from the information station 2 to the mobile robot 1.

Next, operation control of the mobile robot 1 and the information station 2 will be described. Mobile robot 1
The information station 2
And exchange information with the information station 2. Internal action is the built-in timer 10
Means that a predetermined time has elapsed since the start of the work. At this time, the mobile robot 1 stops working and moves to the information station 2.

Specifically, the mobile robot 1 starts moving from the start point for work such as cleaning. In this case, the start point may be a predetermined point or a point connected to the information station 2. However, it is assumed that the mobile robot 1 stores the location where the information station 2 is installed, and recognizes not only the position but also the location of the connection unit 14.

When the mobile robot 1 starts moving,
The timer 10 is started. The mobile robot 1 moves by controlling the drive unit 4 based on a signal from the independent running sensor 5 according to a preset program. The time measured by the timer 10 is a predetermined time (for example,
(10 minutes), stop moving. At the same time, the cleaning operation is interrupted, and the user moves to the information station 2. The predetermined time is arbitrarily determined according to the application. In particular, the upper limit of the predetermined time is determined in consideration of the capacity of the battery 7 that can move to the information station 2.

Since the mobile robot 1 always detects its own position by the self-sustained traveling sensor 5 and recognizes the position of the information station 2, the mobile robot 1 easily moves from the position where the work was interrupted to the position of the information station 2. be able to. In this case, the control unit 6 functions as a control unit. In order to detect the self-position, the self-traveling sensor 5 may be detected by an external signal such as GPS.

As shown in FIG. 6, the route when moving to the position of the information station 2 may be linearly moving from the interruption position to the position of the information station 2 (see the solid line A), or May be traced in reverse to move to the information station 2 (see dashed line B). Instead of measuring a predetermined time, a predetermined time may be detected.

When the mobile robot 1 moves to the location of the connection section 14 of the information station 2, the connection section 9 of the mobile robot 1 is connected to the connection section 14 of the information station 2.
The charging unit 8 of the mobile robot 1 is connected to the power supply unit 15 of the information station 2.

At this time, the information station 2 is connected to the mobile robot 1 by the connection detecting section 16 of the information station 2.
Detects that is connected. That is, as shown in FIG. 7, the protrusion 32 provided on the surface of the robot body 3 facing the information station 2 pushes the push-in switch 33 provided on the information station 2,
The information station 2 detects that the mobile robot 1 has been connected.

In this way, the information station 2
When the mutual connection is confirmed, communication is performed through the connection units 9 and 14 to transfer information. In this case, the control unit 6 and the connection unit 9 function as information transmission means. For example, to stop the work of the mobile robot 1, the mobile robot 1
If the user sets an instruction to stop the work from the setting unit 13 before the user connects to the information station 2, the work of the mobile robot 1 can be stopped by transferring the information at this time.

Therefore, it is possible to easily give an instruction to the mobile robot 1 when the user wants to stop the work on the way or restart the work from the beginning. Therefore,
Unnecessary operation of the mobile robot 1 can be eliminated, work can be performed efficiently, and power consumption can be reduced. In addition, since the mobile robot 1 moves and transmits information to the information station 2, there is no need to mount a remote control device such as a wireless communication device. Therefore, the mobile robot 1 can be reduced in size and weight, and can be manufactured at low cost.

At this time, the mobile robot 1 may transmit the remaining capacity of the battery 7 to the information station 2 as data. The control unit 11 of the information station 2 having received the data, when the capacity of the battery 7 is equal to or less than the predetermined capacity, that is, when the capacity of the battery 7 is insufficient, supplies power to the mobile robot 1. An instruction is issued to the power supply unit 15. In response, the power supply unit 15 supplies a voltage to the charging unit 8 to perform charging. Further, the control unit 11 displays on the display unit 12 the actual remaining capacity of the battery 7 and a display such as “charging in progress”.

As described above, when the mobile robot 1 transmits information about the capacity of the battery 7 to the information station 2, the information station 2 can automatically charge the mobile robot 1 as needed. Therefore, the user does not have to worry about the capacity of the battery 7 of the mobile robot 1 and does not need to perform a special operation for charging.

When the capacity of the battery 7 of the mobile robot 1 is insufficient as shown in FIG. 6, the information station 2 instructs the mobile robot 1 to move to the charging device 34 provided separately. May be given. Thereby, the mobile robot 1 can move to another charging device 34 and charge it, for example, when the information station 2 is not provided with the power supply unit 15. In addition,
Instead of the charging device 34, it may be moved to a commercial outlet of AC 100V to perform charging. In this case, the mobile robot 1 is provided with an AC-DC converter.

When there is no work instruction to the mobile robot 1 in particular, the mobile robot 1 returns to the interrupted position after the exchange of information with the information station 2 and continues the work. As a result, the mobile robot 1 automatically returns to the interrupt position, so that the work according to the program can be performed to the end. Then, a predetermined time is measured again by the timer 10, and when the predetermined time is reached, the information station 2
Move up to. Here, if the predetermined time is set to be too short, the mobile robot 1 frequently
Therefore, it is desirable to set an appropriate time.

In the above description, the information station 2 is provided with an interface function with the user such as the display unit 12 and the setting unit 13. However, instead of this configuration, a general-purpose personal computer or information terminal is used for the information station 2. The connection may be made, and the interface with the user may be performed on the personal computer side.

<Second Embodiment> Next, a mobile robot system according to a second embodiment will be described. The feature of the second embodiment is that the mobile robot 1 of the mobile robot system measures the distance traveled by the self-supporting travel sensor 5, and when a predetermined travel distance is measured, stops the operation and moves to the information station 2. It is in. In this case, the output of the distance meter in the self-contained traveling sensor 5 may be used for measuring the moving distance, and this distance meter functions as a distance measuring unit. Other configurations are the same as in the first embodiment.

Here, if the predetermined moving distance is set to the moving distance in the above-mentioned predetermined time, the timing at which the mobile robot 1 moves to the information station 2 in the course of the work reaches the information station 2 if the predetermined time is reached. To the first embodiment. The predetermined moving distance is arbitrarily determined according to the application, similarly to the predetermined time.

As described above, when the mobile robot 1 has moved a predetermined distance, this is detected, and the mobile robot 1 moves to the information station 2, so that the timer 10 becomes unnecessary, and the cost of parts is reduced, and the same as in the first embodiment. The effect of can be obtained.

<Third Embodiment> FIG. 8 is a diagram showing a configuration of a mobile robot system according to a third embodiment. Third
The feature of the embodiment is that when the mobile robot 1 receives an external action during the work, the work is interrupted and the mobile robot 1 moves to the information station 2. The time when an external action is applied means a time when a situation around the robot body 3 or an abnormal state of the mobile robot 1 itself is detected.

Specifically, as shown in FIG. 8, in place of the timer 10 shown in FIG. 1, an abnormal state detecting section 35 is provided as state detecting means for detecting a state outside the robot body 3. The abnormal state detection unit 35 may detect an abnormal state of each part of the robot body 3 instead of an external situation, or may detect both of them. Other configurations are the same as in the first embodiment.

The situation surrounding the mobile robot 1 includes an obstacle on the path along which the mobile robot 1 moves, a suspicious person invading when the mobile robot 1 is used for security monitoring, This refers to a situation away from the mobile robot 1 in the event of gas leakage, fire, or the like. These situations are detected by sensors such as tactile, visual, olfactory and temperature.

When the mobile robot 1 cannot move due to obstacles during the work movement and cannot execute the preset program, the mobile robot 1 stops the work and
And moves to the information station 2.

When the mobile robot 1 informs the information station 2 that there is an obstacle, the mobile robot 1
Gives an instruction to the mobile robot 1 to cancel the work,
This is displayed on the display unit 12 of the information station 2.
So the user can remove the obstacle,
The mobile robot 1 can be restarted.

When the mobile robot 1 is used for security monitoring, the mobile robot 1 includes a memory for storing video data captured by a CCD camera and audio data recorded by a microphone.

The mobile robot 1 monitors while moving along a route as programmed in advance. At this time, when a suspicious intruder is detected, the CCD camera is operated to capture an image of the situation at that time. In addition, the surrounding voice at that time is recorded by a microphone, and the microphone moves to the information station 2. Then, the fact that the intruder has been detected is transmitted to the information station 2, and the captured image data and audio data are transmitted.

The information station 2 displays the video data acquired from the mobile robot 1 on the display unit 12, notifies the voice, or contacts the external central management center. This allows the user to recognize that there has been an intruder.

Further, the abnormal state detecting section 35 may detect an abnormal state of the mobile robot 1 itself, for example, detecting that the capacity of the battery 7 has fallen below a predetermined capacity. Specifically, the mobile robot 1 that has started the work such as cleaning from the start point detects an abnormal state when the remaining voltage capacity of the battery 7 becomes equal to or less than a predetermined capacity (for example, ３ of FULL) during the work. The unit 35 detects this, interrupts the work, controls the drive unit 4, and moves to the information station 2. Then, the information station 2 is notified that the capacity of the battery 7 is insufficient. The information station 2 supplies power to the mobile robot 1 from the power supply unit 15 in response to the information.

In this way, the mobile robot 1 does not stop due to running out of batteries during the moving operation.
On the other hand, the user does not have to worry about the capacity of the battery 7 each time the mobile robot 1 is working, so that the user can save the trouble of charging work.

As described above, when the mobile robot 1 cannot perform a predetermined operation due to an obstacle or the like, or there is a possibility that the operation will be hindered due to insufficient capacity of the battery 7, the mobile robot 1 moves to the information station 2 and Since the status can be reported and an instruction can be received, the mobile robot 1 can perform work efficiently without time loss due to work stoppage.

The abnormal state detecting section 35 may detect that the inside of the robot main body 3 has become high temperature, or may internally monitor and detect that the microcomputer has run away. In addition, the mobile robot 1 may include the timer 10 and the abnormal state detection unit 35 described in the first embodiment.

<Fourth Embodiment> Next, a mobile robot system according to a fourth embodiment will be described. The feature of the fourth embodiment is that the information station 2 detects the connection with the mobile robot 1 by an electric method. That is, as shown in FIG. 9, the connection detection unit 16 of the information station 2 is deleted from the configuration shown in FIG. 1, and as described later, each of the connection units 9 and 14 is configured to be electrically detectable. I have. Other configurations are the same as in the first embodiment.

FIG. 10 is a block diagram showing an electrical configuration of each of the connecting portions 9 and 14. The connection unit 9 of the mobile robot 1 includes a reception unit 41 and a transmission unit 42 connected to the control unit 6, and contacts 21 a and 2 connected to the reception unit 41 and the transmission unit 42 via a pair of wires, respectively.
1b, 21c and 21d. A resistor 43 is connected in parallel between a pair of wires between the receiver 41 and the contacts 21a and 21b. This resistor 43 is
The connection between the mobile robot 1 and the information station 2 is detected by energization (details will be described later).

The configuration of the connection unit 14 of the information station 2 is the same as that of the mobile robot 1. The transmission unit 44 and the reception unit 45 connected to the control unit 11 and the transmission unit 44 and the reception unit 45 Contacts 23a, 23b, 23c, 23 connected via a pair of pair wires
d. Receiver 45 and contacts 23c, 2
A resistor 46 for detecting the connection between the mobile robot 1 and the information station 2 by energization is connected in parallel between the paired wires 3d. The structures of the connecting portions 9 and 14 and the contacts 21 and 23 are actually the structures shown in FIG.

When the mobile robot 1 is connected to the information station 2, the contact 23 of the information station 2
a, 23b and the contacts 21a, 2 of the mobile robot 1
1b are connected to each other, and a signal is transmitted from the information station 2 to the mobile robot 1 by a signal line formed by the connection.

On the other hand, the contact 21 of the mobile robot 1
c and 21d are the contacts 23 of the information station 2
c, 23d, and a signal is transmitted from the mobile robot 1 to the information station 2.

More specifically, the mobile robot 1 and the information station 2 transmit and receive a connection confirmation signal through the connection units 9 and 14. That is, the control unit 11 of the information station 2 sends an inquiry signal for detecting contact of the mobile robot 1 to the transmission unit 44 at a constant cycle. Then
The transmission unit 44 turns on (5v) as an inquiry signal,
An off (0 v) pulse signal is transmitted.

If the mobile robot 1 is in contact, the control unit 6 of the mobile robot 1 can receive the inquiry signal from the information station 2 through the receiving unit 41. Is returned to the information station 2 through the transmission unit 42. The control unit 11 of the information station 2 can detect that the mobile robot 1 is in contact with the information station 2 by receiving the confirmation signal. In this case, the control units 6, 11 and the connection units 9, 14 function as contact detection means.

The inquiry signal may be transmitted from the mobile robot 1 to the information station 2, and a confirmation signal as a response may be transmitted from the information station 2 to the mobile robot 1.

Instead of transmitting and receiving the connection confirmation signal, the mutual contact may be detected by, for example, energizing the mobile robot 1 from the information station 2. That is, 5V (ON signal) is always applied to the contact 23a from the transmitting unit 44 of the information station 2. At this time, if the mobile robot 1 is not connected,
The contact 23a is opened, and no current flows.

On the other hand, if the mobile robot 1 is connected and the contacts 21 and 23 are connected, a current is looped and flows from the contact 23a of the transmitting unit 44 to the contact 23b via the contact 21a and the resistor 43 contact 21b. . Thus, the contacts 21 and
By detecting the presence or absence of a current flowing through the information station 3, it can be detected that the mobile robot 1 has contacted the information station 2.

Instead of the power supply from the information station 2, the mobile robot 1 may supply power to the information station 2 to detect contact with each other.

As described above, the connection between the mobile robot 1 and the information station 2 may be confirmed by an electric method. By doing so, the mobile robot 1
It is not necessary to provide the connection detection unit 16 for detecting that the connection has been made, so that the cost can be reduced.

<Fifth Embodiment> Up to the fourth embodiment, the connecting portions 9 of the mobile robot 1 and the information station 2
In the fifth embodiment, the connection units 9 and 14 of the mobile robot 1 and the information station 2 are connected by a communication method of infrared data, so-called IRDA (Infrared). Data Associ
ation), information is exchanged without contact with each other.

FIG. 11 is a diagram showing an electrical configuration of the connecting portions 9 and 14 of the mobile robot 1 and the information station 2. As shown in FIG. The connection unit 9 of the mobile robot 1 includes a transmission unit 51 and a reception unit 52 connected to the control unit 6 and an emission LED including an infrared LED connected to the transmission unit 51 and the reception unit 52 via a pair of wires. It comprises a unit 53 and a light receiving unit 54. A current limiting resistor 55 is connected in series to one of the paired wires between the transmitting unit 51 and the light emitting unit 53.

The configuration of the connection unit 14 of the information station 2 is the same as that of the mobile robot 1, and includes a reception unit 56 and a transmission unit 57 connected to the control unit 11.
It is composed of a light receiving unit 58 and a light emitting unit 59 connected to the receiving unit 56 and the transmitting unit 57 via a pair of wires, respectively.
A current limiting resistor 60 is connected in series to one of the paired wires between the transmitting unit 57 and the light emitting unit 59. Other configurations are the same as in the first embodiment.

With this configuration, the transmitting unit 51 of the mobile robot 1 outputs the ON (5V) and OFF (0V) pulse signals (I
When an R pulse is transmitted to the light emitting unit 53, the light emitting unit 53 converts the electric signal into an optical signal, and the light emitting unit 53 emits infrared light. The light receiving unit 58 of the information station 2 that has received the infrared light converts the optical signal into an electric signal and transmits the electric signal to the receiving unit 56. Thereby, information is transmitted from the mobile robot 1 to the information station 2.

On the other hand, transmission of information from the information station 2 to the mobile robot 1 is performed in the same manner as described above.
7, through the light emitting section 59, the light receiving section 54 and the receiving section 52. In this case, the connection parts 9 and 14 function as non-contact delivery means.

By doing so, as shown in FIG. 12, when the mobile robot 1 approaches the information station 2 within a certain range (for example, a light emitting angle of 60 degrees and a distance of 1 m) where infrared light can reach, the connecting portion is connected. It is possible to exchange information without physically connecting the terminals 9 and 14 to each other. Therefore, when the mobile robot 1 moves to the information station 2, information can be easily transmitted even if the positions of the opposed connecting portions 9, 14 are slightly shifted. Therefore, there is no need to finely adjust the positions of the connection portions 9 and 14, so that the movement control of the mobile robot 1 is facilitated.

The present invention is not limited to the above embodiments, and many modifications and changes can be made to the above embodiments within the scope of the present invention. For example, in the above embodiment, when the mobile robot detects an obstacle, the mobile robot has moved to the information station, but the mobile robot is provided with an ultrasonic sensor to detect the obstacle,
Work such as cleaning may be continued while avoiding obstacles. Further, the mobile robot may include a map memory.

The connecting portion of the mobile robot may be provided so as to be able to come and go so that it comes out when needed.
In this way, there is usually no damage inside.

As shown in FIG. 13, a plurality of replenishment stations 61 for replenishing power with the information station 2 are provided, and the stations 2 and 61 are connected by a communication line W. When moving to a station, the user may move to the nearest station.

[0086]

As described above, according to the present invention, when a mobile robot performing self-standing movement and working reaches a predetermined time, moves a predetermined distance, or surrounds a mobile robot or a mobile robot. When an external or internal action such as detecting its own abnormal condition is received, work can be interrupted and moved to the management device, and information can be exchanged with the management device. Information can be easily transmitted from the management device to the mobile robot even during the process.

Therefore, it is possible to appropriately give an instruction such as a change or stop of the work, it is possible to eliminate useless operation of the mobile robot, and it is possible to perform the work efficiently and reduce energy consumption. Further, since the mobile robot does not need to mount a wireless communication device or the like, the mobile robot can be reduced in size and weight, and can be manufactured at low cost.

Further, since the mobile robot can also transmit information such as the surrounding situation obtained by the mobile robot and the contents of the work to the management device, the management device responds to the information with instructions and corresponding information. Processing can be performed,
A mobile robot can be used as a sensor.

When the mobile robot has insufficient power, for example, the capacity of the battery during the work, the mobile robot detects the shortage by itself and notifies the management device of the state, and supplies the power to the mobile robot from the supply device. can do.
That is, since the mobile robot can automatically supply power, it is not necessary for the user to be aware of the power shortage of the mobile robot, and a highly reliable system that does not interrupt the work on the way can be provided.

When information is exchanged between the mobile robot and the management device, the two robots can exchange information without contact with each other. Therefore, the mobile robot can transfer information without completely connecting to the management device. This makes it possible to omit delicate positioning when connecting. Therefore, the movement control of the mobile robot becomes easy.

Further, since the mutual contact is detected by transmitting and receiving a connection confirmation signal via the connecting body or by energizing from one to the other, it is not necessary to provide a separate contact detecting mechanism. Cost can be reduced.

If one connecting body of the management device and the mobile robot is formed in a convex shape, the other connecting body is formed in a concave shape having a taper, or the base end of one connecting body is made movable. The connecting bodies are smoothly guided and connected to each other. This also eliminates the need for delicate positioning movement, thus facilitating movement control.

Further, since the other connecting member is provided with a protective member for covering the connecting member so as not to be exposed to the outside, it is possible to prevent dust or the like from adhering to the connecting member and to perform good communication.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a mobile robot system according to a first embodiment of the present invention.

FIG. 2 is a schematic side view of a mobile robot and an information station.

FIG. 3 is a perspective view of a connecting portion between the mobile robot and the information station.

FIG. 4 is a schematic plan view of a mobile robot and an information station.

FIG. 5 is a schematic side view of a mobile robot and an information station.

FIG. 6 is a diagram showing a movement route of the mobile robot to the information station.

7A and 7B show a connection detection unit, where FIG. 7A shows a state before a switch is pressed, and FIG. 7B shows a state where a switch is pressed.

FIG. 8 is a diagram showing a configuration of a mobile robot system according to a third embodiment.

FIG. 9 is a diagram showing a configuration of a mobile robot system according to a fourth embodiment.

FIG. 10 is a diagram showing an electrical configuration of a connection unit.

FIG. 11 is a diagram showing an electrical configuration of a connection unit when transmitting wirelessly.

FIG. 12 is a schematic plan view of a mobile robot and an information station during non-contact transmission.

FIG. 13 is a diagram showing a modification in the case where power is supplied to a mobile robot.

FIG. 14 is a diagram showing a traveling pattern of a conventional mobile robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Mobile robot 2 Information station 5 Independent running sensor 6,11 Control part 8 Charging part 9,14 Connection part 10 Timer 15 Power supply part 30 Protective cover 35 Abnormal state detection part

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI A47L 11/24 A47L 11/24 B25J 13/00 B25J 13/00 Z

Claims (14)

[Claims] 1. A mobile robot that moves independently and performs a task,
A management device for giving a work instruction to the mobile robot,
The mobile robot includes a control unit that moves to the management device when subjected to an external or internal action, and an information transmission unit that exchanges information with the management device. Robot system. 2. The mobile robot system according to claim 1, wherein the mobile robot includes a timing unit that counts time, and the control unit interrupts the operation and moves to the management device when a predetermined time is reached. . 3. The mobile robot according to claim 1, further comprising a distance measuring unit for measuring a moving distance, wherein the control unit interrupts the operation when the predetermined moving distance is measured and moves to the management device. Mobile robot system. 4. The mobile robot includes state detection means for detecting a situation surrounding the mobile robot or an abnormal state of the mobile robot itself, and the control means interrupts the work when the abnormal state is detected, and controls the management apparatus. The mobile robot system according to claim 1, wherein the mobile robot system is moved to a position where the mobile robot moves. 5. The mobile robot according to claim 1, further comprising a work continuation unit that returns to a position where the work was interrupted and then continues the work after transferring information to and from the management device. Mobile robot system. 6. A mobile robot having a power source and independently moving to perform work, a management device for giving a work instruction to the mobile robot, and a supply device for supplying power to the mobile robot, A robot that moves to the management device when subjected to an external or internal action; an information transmission device that exchanges information with the management device; And a replenishing means for replenishing power from the device. 7. The mobile robot system according to claim 6, wherein the supply device is provided in the management device. 8. The mobile robot system according to claim 1, wherein the mobile robot and the management device include a non-contact transfer unit that transfers information in a non-contact manner with each other. 9. The mobile robot according to claim 8, wherein the non-contact delivery means includes a light emitting unit that emits infrared light, and a light receiving unit that receives infrared light emitted from the light emitting unit. system. 10. One of the mobile robot and the management device has contact detection means for detecting contact with each other,
The mobile robot and the management device have a connection body that connects to a partner and exchanges information.
8. The mobile robot system according to any one of items 7 to 7. 11. The contact detecting means detects mutual contact by transmitting and receiving a connection confirmation signal through a connecting body, or by energizing from one to the other.
Mobile robot system as described. 12. One of the connecting device of the management device and the mobile robot is formed in a convex shape, and the other connecting device is formed in a concave shape having a taper for guiding the one connecting device. The mobile robot system according to claim 10 or 11, wherein: 13. The mobile robot system according to claim 12, wherein a base end of one connecting body is movable so as to be easily guided by the other connecting body. 14. A protection body for covering the other connection body so as not to be exposed to the outside, wherein the protection body is opened and closed by proximity or contact of one connection body. The mobile robot system according to 1.