Working robot

Abstract

The invention provides a work robot capable of smoothly performing work by using the work robot. A work robot includes a robot body, a moving unit, a work unit, a magnetic sensor supported by the robot body, and a control unit. The control unit is configured so as to be able to execute a work operation in which work is performed by the work unit while the robot body is moved by the moving unit. The control unit is configured so as to execute, during execution of the work operation: an operation interruption process in which the work operation is interrupted when a predetermined operation interruption condition is satisfied; a first magnetic field search process in which, after the operation interruption process, the robot body is moved straight by a first distance in a first straight direction by the moving unit, and whether or not the wire magnetic field has been detected by the magnetic sensor is determined; and an operation resuming process in which the work operation is resumed when the wire magnetic field is detected by the magnetic sensor.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a working robot. Background Art

[0002] Patent document 1 discloses a working robot that is used in a work place where a metal wire is set, and can work while moving based on the metal wire magnetic field generated around the metal wire. The working robot includes: a robot body, a moving part that moves the robot body, a working part supported by the robot body, a magnetic sensor supported by the robot body, and a control part. The control part is configured to perform a working operation using the working part while moving the robot body through the moving part.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-207158 Summary of the invention

[0006] If an electrical signal cannot be applied to the metal wire, for example due to a power outage, the metal wire magnetic field will not be generated, and the magnetic sensor will not detect the metal wire magnetic field. Generally, if the metal wire magnetic field is not detected by the magnetic sensor during the execution of the operating operation, the operating operation will be interrupted. However, sometimes, depending on the positional relationship between the magnetic sensor and the metal wire, although the metal wire magnetic field is generated, the metal wire magnetic field is still not detected by the magnetic sensor. In this case, preferably, even if the operating operation is interrupted, the operating operation is immediately restarted. When the situation in which the metal wire magnetic field is not detected by the magnetic sensor despite the generation of the metal wire magnetic field continues, it is completely impossible to restart the operating operation, so it may not be possible to smoothly use the operating robot to perform the operation. According to the present specification, there is provided a technology that can smoothly use the operating robot to perform the operation.

[0007] The working robot disclosed in this specification is used in a working place where a metal wire is set, and can work while moving based on the metal wire magnetic field generated around the metal wire. The working robot comprises: a robot body, a moving part that moves the robot body, a working part supported by the robot body, a magnetic sensor supported by the robot body, and a control part. The control part is configured to perform a working operation using the working part while moving the robot body through the moving part. The control part is configured to perform: an operation interruption process in which the working operation is interrupted when a predetermined operation interruption condition is satisfied; a first magnetic field search process in which, after the operation interruption process, the robot body is moved straightly in a first straight direction for a first distance by the moving part, and it is determined whether the metal wire magnetic field is detected by the magnetic sensor; and an operation restart process in which the working operation is restarted when the metal wire magnetic field is detected by the magnetic sensor.

[0008] Even when it is expected that the metal wire magnetic field will not be detected by the magnetic sensor, if the positional relationship between the magnetic sensor and the metal wire is changed, the metal wire magnetic field may sometimes be detected by the magnetic sensor. According to the above configuration, when the operation interruption condition is met (when it is expected that the metal wire magnetic field will not be detected by the magnetic sensor), the control unit can change the positional relationship between the magnetic sensor and the metal wire while trying to detect the metal wire magnetic field using the magnetic sensor. Accordingly, it is possible to suppress the situation where the metal wire magnetic field is not detected by the magnetic sensor despite the generation of the metal wire magnetic field. In addition, when the metal wire magnetic field is detected by the magnetic sensor during the interruption of the operation, the control unit can automatically restart the operation. Accordingly, the operation can be restarted without the help of the user, so the operation robot can be used smoothly to perform the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a diagram showing a usage example of the robot lawn mower 2 according to the embodiment.

[0010] Figure 2 It is a left side view of the robot lawn mower 2 according to the embodiment.

[0011] Figure 3 It is a rear view of the robot lawn mower 2 according to the embodiment.

[0012] Figure 4 It is a schematic diagram of the structure of the robot lawn mower 2 according to the embodiment.

[0013] Figure 5 1 is a diagram showing the arrangement of a plurality of magnetic sensors 38 of the robot lawn mower 2 according to the embodiment.

[0014] Figure 6 1 is a diagram showing an example of magnetic signals observed by the plurality of magnetic sensors 38 of the robot mower 2 according to the embodiment.

[0015] Figure 7 1 is a diagram showing an example of the signal model SM stored in the memory 24 of the robot lawn mower 2 according to the embodiment.

[0016] Figure 8 1 is a diagram showing a metal wire magnetic field M generated around a metal wire 112 according to an embodiment and a change in the strength of the metal wire magnetic field M in the vertical direction.

[0017] Fig. 9 This is a flowchart of the process executed by the control unit 8 of the robot mower 2 according to the embodiment.

[0018] Fig.10 1 and 2 are diagrams showing a state in which the plurality of magnetic sensors 38 of the robot mower 2 according to the embodiment are located directly above the generic line 112 (that is, at the boundary of the work area WA).

[0019] Fig.11 The robot lawn mower 2 according to the embodiment is shown in FIG. Fig. 9 A diagram showing a situation in which the processing shown in the figure is performed.

[0020] Fig.12 The robot lawn mower 2 according to the embodiment is shown in FIG. Fig. 9 A diagram showing a situation in which the processing shown in the figure is performed. DETAILED DESCRIPTION

[0021] Hereinafter, representative but non-limiting specific examples of the present invention will be described in detail with reference to the accompanying drawings. This detailed description is intended only to show the details of the preferred examples for implementing the present invention to those skilled in the art, and is not intended to limit the scope of the present invention. In addition, the additional features and inventions disclosed are intended to provide a further improved working robot, and can be used alone or in conjunction with other features or inventions.

[0022] In addition, the combination of features or processes disclosed in the following detailed description is not necessary to practice the invention in the broadest sense, and in particular is only described for the purpose of illustrating representative specific examples of the invention. In addition, the individual features of the following representative specific examples and the individual features described in the claims do not necessarily have to be combined as described below, that is, as described in the specific examples described herein, or in the order listed, to provide additional and useful embodiments of the invention.

[0023] All features described in this specification and / or claims also have the following intention: in addition to the configuration of the features described in the embodiments and / or claims, they are intended to be disclosed individually and independently of each other as limitations for the disclosure at the time of the initial application and the specific matters described in the claims. In addition, all numerical ranges and groupings or group-related records have the following intention: as limitations for the disclosure at the time of the initial application and the specific matters described in the claims, the intention of disclosing their intermediate configurations.

[0024] In one or more embodiments, the operation interruption condition may include: the metal wire magnetic field is not detected by the magnetic sensor.

[0025] According to the above configuration, even if a metal wire magnetic field is generated, if the metal wire magnetic field is not detected by the magnetic sensor, the operation interruption condition is met, and the operation is interrupted. However, when the operation interruption condition is met, the control unit can change the positional relationship between the magnetic sensor and the metal wire while trying to detect the metal wire magnetic field. Accordingly, it is possible to suppress the situation where the metal wire magnetic field is not detected by the magnetic sensor despite the generation of the metal wire magnetic field.

[0026] In one or more embodiments, the working robot may include a plurality of magnetic sensors. The operation interruption condition may include: a predetermined number or more of the magnetic sensors among the plurality of magnetic sensors fail to detect the metal wire magnetic field. The predetermined number may be greater than half of the total number of the magnetic sensors.

[0027] Regarding the metal wire magnetic field generated around the metal wire, the strength of the magnetic field in the up-down direction is approximately zero at the position directly above or directly below the metal wire. Accordingly, in the case where the magnetic sensor is configured to observe the vertical magnetic field (magnetic field in the up-down direction), if the magnetic sensor is directly above the metal wire, the magnetic sensor will not detect the metal wire magnetic field. There is the following technology, namely: using this property, when the magnetic sensor does not detect the metal wire magnetic field, it is determined that the magnetic sensor is directly above the metal wire. In view of this technology, even if the metal wire magnetic field is not detected by a part of the magnetic sensors among the multiple magnetic sensors, if the number of magnetic sensors that do not detect the metal wire magnetic field is small, it is considered that the possibility of generating the metal wire magnetic field is high. Until this situation, if a series of processing after the operation interruption processing is performed, the operation will be interrupted unnecessarily, so it will lead to the inability to smoothly use the working robot to perform the operation. According to the above-mentioned structure, when the number of magnetic sensors that do not detect the metal wire magnetic field is large, the operation interruption condition is established, thereby performing a series of processing after the operation interruption processing. In the case where the number of magnetic sensors that do not detect the metal wire magnetic field is small, the operation interruption condition will not be met, and a series of processes following the operation interruption process will not be executed. Therefore, a series of processes following the operation interruption process are executed only when the possibility of the metal wire magnetic field being generated is low, so it is possible to suppress the situation where the operation operation is interrupted unnecessarily. Accordingly, the operation robot can be used to perform the operation more smoothly.

[0028] In one or more embodiments, the metal wire magnetic field may include: a metal wire magnetic signal generated by applying a predetermined electrical signal to the metal wire. The control unit may pre-store a signal model of the metal wire magnetic signal. The control unit may determine that the magnetic sensor has detected the metal wire magnetic field when the magnetic signal observed by the magnetic sensor is consistent with or similar to the signal model of the metal wire magnetic signal.

[0029] According to the above configuration, it is possible to determine whether or not the metal wire magnetic field is detected by the magnetic sensor using a simple method.

[0030] In one or more embodiments, the control unit may determine the moving direction of the robot body before interrupting the operation, and set the opposite direction of the determined moving direction as the first straight direction in the first magnetic field search process.

[0031] In the example of determining the area surrounded by metal wires as the working area of ​​the working robot, there is a situation where the magnetic sensor reaches the position directly above the metal wire, so that the magnetic sensor does not detect the metal wire magnetic field, and thus the operation interruption condition is satisfied. In this case, it can be considered that the robot body is located near the boundary of the working area, so if the robot body is moved randomly in the first magnetic field search process performed later, the robot body may go out of the working area. According to the above-mentioned structure, the control unit moves the robot body in the first magnetic field search process so as to return it to the position immediately before the operation interruption condition is satisfied. Since the metal wire magnetic field should be detected by the magnetic sensor until immediately before the operation interruption condition is satisfied, it can be considered that the robot body is in the working area. Therefore, the robot body can be moved in a manner toward the working area, so that the situation where the robot body goes out of the working area can be suppressed.

[0032] In one or more embodiments, the control unit can be configured to perform a second magnetic field search process after the first magnetic field search process. In the second magnetic field search process, the robot body is moved a second distance in a second straight direction opposite to the first straight direction through the moving unit, and it is determined whether the metal wire magnetic field is detected by the magnetic sensor.

[0033] According to the above configuration, after the first magnetic field search process, the positional relationship between the magnetic sensor and the metal wire can be changed again while trying to detect the metal wire magnetic field using the magnetic sensor. This can more reliably eliminate the situation where the metal wire magnetic field is generated but still not detected by the magnetic sensor.

[0034] In one or more embodiments, the control unit may not execute the second magnetic field search process when the metal wire magnetic field is detected in the first magnetic field search process, and may execute the second magnetic field search process when the metal wire magnetic field is not detected in the first magnetic field search process.

[0035] According to the above configuration, when the wire magnetic field is detected in the first magnetic field search process, the control unit can skip the second magnetic field search process and immediately resume the working operation. This allows the working robot to perform work more smoothly.

[0036] In one or more embodiments, the second distance may be the same distance as the first distance.

[0037] If the operation is restarted from a position different from the position where the operation was interrupted, the operation may be terminated in a state where there is still a part (non-operated part) where the operation robot has not performed the operation. According to the above configuration, from the position of the robot body when the operation was interrupted, the position of the robot body at the end of the second magnetic field search process is almost not displaced. Accordingly, by restarting the operation after the second magnetic field search process is completed, the operation can be restarted from the position where the operation was interrupted. Accordingly, it is possible to suppress the situation where the operation is terminated in a state where there is still an unoperated part.

[0038] In one or more embodiments, the second distance may be shorter than the first distance.

[0039] There is a situation where the magnetic sensor reaches the position directly above the metal wire, so that the magnetic sensor does not detect the metal wire magnetic field, and thus the operation interruption condition is established. In this case, if the position of the robot body at the end of the second magnetic field search process is not displaced at all from the position of the robot body when the metal wire magnetic field is not detected by the magnetic sensor, the magnetic sensor will be in the position directly above the metal wire again. Accordingly, even if the metal wire magnetic field is detected in the first magnetic field search process or the second magnetic field search process, it is possible that the magnetic sensor does not detect the metal wire magnetic field after the second magnetic field search process is completed. As a result, even if the operation is restarted, the operation will be interrupted immediately, so that it may not be possible to smoothly use the operation robot to perform the operation. According to the above-mentioned structure, the position of the robot body at the end of the second magnetic field search process can be displaced from the position of the robot body when the metal wire magnetic field is not detected by the magnetic sensor. Accordingly, it is possible to suppress the situation where the magnetic sensor is directly above the metal wire at the end of the second magnetic field search process. Accordingly, if a metal wire magnetic field is generated, the metal wire magnetic field can be detected by the magnetic sensor even after the second magnetic field search process is completed. Therefore, it is possible to suppress the situation where the working operation is interrupted immediately after the working operation is resumed, so that the working robot can smoothly perform the work.

[0040] In one or more embodiments, the first distance may be a distance of less than 1000 mm.

[0041] If the robot body is moved significantly after the magnetic sensor fails to detect the metal wire magnetic field, the robot body may reach a non-standard location (for example, a location where an obstacle exists). According to the above configuration, it is possible to suppress the situation where the robot body is moved significantly after the magnetic sensor fails to detect the metal wire magnetic field. Accordingly, it is possible to suppress the situation where the robot body reaches a non-standard location.

[0042] In one or more embodiments, the first distance may be a distance less than or equal to a total length of the working robot.

[0043] If the robot body is moved significantly after the magnetic sensor fails to detect the metal wire magnetic field, the robot body may reach a non-standard location (for example, a location where an obstacle exists). According to the above configuration, it is possible to suppress the situation where the robot body is moved significantly after the magnetic sensor fails to detect the metal wire magnetic field. Accordingly, it is possible to suppress the situation where the robot body reaches a non-standard location.

[0044] In one or more embodiments, the control unit may be configured to further perform a notification process of notifying an abnormal situation by means of a notification interface. The control unit may perform the notification process after a predetermined time has passed without performing the operation restart process after the first magnetic field search process is completed.

[0045] According to the above configuration, even after the first magnetic field search process, the magnetic sensor has not detected the metal wire magnetic field, and the operation has not been restarted, so that the user can be informed of this fact.

[0046] In one or more embodiments, the control unit may be configured to further perform a notification process of notifying an abnormal situation by means of a notification interface. The control unit may perform the notification process after a predetermined time has passed without performing the operation restart process after the second magnetic field search process is completed.

[0047] According to the above configuration, even after the first magnetic field search process and the second magnetic field search process, when the magnetic sensor has not detected the wire magnetic field and the operation has not been restarted, this fact can be notified to the user.

[0048] In one or more embodiments, the working unit may include a mower for mowing the lawn. The working robot may function as a robot lawn mower capable of autonomous movement.

[0049] According to the above configuration, lawn mowing work can be smoothly performed using the robot lawn mower.

[0050] (Example)

[0051] like Figure 1As shown, the working robot of the present embodiment is, for example, a robot lawn mower 2 used in a field 100 with a lawn. The field 100 is provided with, for example, a house 102, a pond 104, a road 106, and a fence 108. In addition, the field 100 is provided with a charging station 110 connected to an external power source (for example, a commercial power source), and a metal wire 112 defining a working area WA of the robot lawn mower. The working area WA mentioned here refers to an area surrounded by the metal wire 112. The working area WA of the robot lawn mower 2 is divided into a main area MA including the charging station 110, and a sub-area SA not including the charging station 110. The robot lawn mower 2 is capable of detecting the position of the metal wire 112 so as not to be out of the working area WA (in the case of the robot lawn mower 2) where the robot lawn mower 2 is located. Figure 1 In the example of FIG. 1 , the robot mower 2 autonomously moves in a manner that it escapes from the main area MA. Accordingly, the robot mower 2 can move on the lawn in a manner that it avoids the house 102, the pond 104, the road 106, and the fence 108 while performing the mowing operation.

[0052] The total length of the robot lawn mower 2 is, for example, in the range of 500 mm to 1000 mm, and is 700 mm in the present embodiment. The total width of the robot lawn mower 2 is, for example, in the range of 300 mm to 600 mm, and is 560 mm in the present embodiment. The total height of the robot lawn mower 2 is, for example, in the range of 200 mm to 300 mm, and is 270 mm in the present embodiment.

[0053] like Figure 2 , Figure 3 , Figure 4 As shown, the robot mower 2 includes a robot body 4, a power supply unit 6, a control unit 8, an operation unit 10, a display unit 11, a moving unit 12, a working unit 14, a detection unit 16, a communication unit 50, and an alarm unit 52. The power supply unit 6, the control unit 8, the operation unit 10, the display unit 11, the moving unit 12, the working unit 14, the detection unit 16, the communication unit 50, and the alarm unit 52 are supported by the robot body 4, respectively.

[0054] Figure 4 The power supply unit 6 shown can supply power to various parts of the robot mower 2 via the power supply circuit 26 of the control unit 8. The power supply unit 6 includes: a rechargeable battery 18 such as a lithium ion battery, and a charging interface 20 electrically connected to the battery 18. The nominal capacity of the battery 18 is, for example, 5.0 Ah. The nominal voltage of the battery 18 is, for example, 18 V. The robot mower 2 can be connected to the charging station 110 (see FIG. 1 ) by means of the charging interface 20. Figure 1) is connected to the charging station 110. The storage battery 18 can be charged by the power supplied from the charging station 110 when the robot lawn mower 2 is connected to the charging station 110. The charging method of the storage battery 18 can be wired charging. Specifically, the storage battery 18 can be charged in a state where the terminal provided at the charging station 110 and the terminal provided at the charging interface 20 are connected to each other. Alternatively, the charging method of the storage battery 18 can be wireless charging. Specifically, the storage battery 18 can be charged by using the power transmission coil provided at the charging station 110 to generate an induced electromotive force in the power receiving coil provided at the charging interface 20.

[0055] The control unit 8 includes a processor 22, a memory 24, and a power supply circuit 26. The memory 24 includes a ROM, a RAM, etc. The memory 24 stores a program for autonomously controlling the robot lawn mower 2. The processor 22 is configured to autonomously control the robot lawn mower 2 according to the program stored in the memory 24. In addition, the memory 24 stores settings related to the robot lawn mower 2 (for example, the mowing height of the lawn). The settings related to the robot lawn mower 2 also include settings related to the action mode of the robot lawn mower 2. The action mode settings of the robot lawn mower 2 include: including settings related to the main area MA (refer to Figure 1 ) corresponding to the main area corresponding mode, and the sub-area SA (refer to Figure 1 ) any one of multiple modes including the sub-area corresponding mode.

[0056] The operation unit 10 is provided, for example, on the robot body 4 (see Figure 2 ) and is provided with switches and the like that can be operated by a user. The user can perform various operations related to the robot lawn mower 2 by means of the operation unit 10. The various operations mentioned here refer to, for example, operations for switching on / off the main power supply of the robot lawn mower 2, operations for inputting instructions to the robot lawn mower 2, and operations for changing settings related to the robot lawn mower 2.

[0057] The display unit 11 includes, for example, a display (not shown) that displays text or images, or a light source device that displays the state of the robot mower 2 based on the chromaticity of light or a flickering pattern. The state of the robot mower 2 mentioned here includes, for example, a state in which the battery 18 is being charged, or a state in which the robot mower 2 is abnormal.

[0058] The moving part 12 includes a pair of left and right casters 28L and 28R, a pair of left and right drive wheels 30L and 30R, and a pair of left and right moving motors 32L and 32R. The moving motors 32L and 32R are, for example, brushless DC motors. The drive wheels 30L and 30R are connected to the output shafts of the moving motors 32L and 32R, respectively. Figure 2 , Figure 3 As shown, the robot lawn mower 2 is placed on the ground G with the casters 28L, 28R and the drive wheels 30L, 30R in contact with the ground G. The moving unit 12 is moved by the moving motors 32L, 32R (see Figure 4 ) is moved to rotate the driving wheels 30L, 30R, so that the robot body 4 can move forward, backward, and turn. In addition, in the present embodiment, in the direction perpendicular to the ground G, the direction from the ground G toward the robot body 4 is set as the upper direction, and the direction from the robot body 4 toward the ground G is set as the lower direction. In the direction perpendicular to the up-down direction, the direction from the driving wheel 30R toward the driving wheel 30L is set as the left direction, and the direction from the driving wheel 30L toward the driving wheel 30R is set as the right direction. In the direction perpendicular to the up-down direction and the left-right direction, the direction from the driving wheels 30L, 30R toward the casters 28L, 28R is set as the front direction, and the direction from the casters 28L, 28R toward the driving wheels 30L, 30R is set as the rear direction.

[0059] like Figure 2 As shown, the working unit 14 includes a cutting blade 34 and a working motor 36. The cutting blade 34 is a rotating blade formed in a substantially disk shape. The working motor 36 is, for example, a brushless DC motor. The working motor 36 is supported by the robot body 4 in a state in which the output shaft is tilted from the front to the rear as it moves from the top to the bottom. The cutting blade 34 is connected to the output shaft of the working motor 36. The working unit 14 can mow the lawn by operating the working motor 36 to rotate the cutting blade 34.

[0060] like Figure 4 As shown, the detection unit 16 includes a plurality of magnetic sensors 38 and a battery voltage detection circuit 42 .

[0061] like Figure 5As shown, the plurality of magnetic sensors 38 include four magnetic sensors 38a, 38b, 38c, and 38d. The magnetic sensor 38a is arranged at: the front left portion of the robot body 4. The magnetic sensor 38b is arranged at: the front center portion of the robot body 4. The magnetic sensor 38c is arranged at: the front right portion of the robot body 4. The magnetic sensor 38d is arranged at: the rear center portion of the robot body 4. The plurality of magnetic sensors 38 are, for example, Hall sensors. The plurality of magnetic sensors 38 are respectively configured to: use the temporal change of the intensity of the vertical magnetic field (magnetic field in the up and down directions) as Figure 6 (a) or Figure 6 (b) and outputs the observation result to the control unit 8 (refer to Figure 4 ).

[0062] Figure 4 The battery voltage detection circuit 42 shown is configured to detect the voltage value of the battery 18 and output it to the control unit 8 . Thus, the control unit 8 can grasp the voltage value of the battery 18 .

[0063] The communication unit 50 is, for example, an interface for connecting to the Internet via a base station (not shown) of mobile communication (3G, 4G, 5G, etc.) or a router (not shown) installed in the house 102. The control unit 8 can wirelessly communicate with a communication terminal (e.g., a smartphone) owned by a user via the communication unit 50. Accordingly, the control unit 8 can notify the communication terminal owned by the user that an abnormality has occurred in the robot mower 2, etc.

[0064] The alarm unit 52 includes, for example, a buzzer (not shown). The alarm unit 52 can notify that an abnormality has occurred in the robot mower 2 by emitting a sound.

[0065] Hereinafter, the mowing operation executed by the control unit 8 (specifically, the processor 22) will be described.

[0066] The mowing operation is: the main operation of the robot lawn mower 2. For example, when the power of the robot lawn mower 2 is turned on, the mowing operation is started when the start of the mowing operation is indicated by the operating unit 10. When the mowing operation starts, the control unit 8 will start the mowing operation using the robot lawn mower 2 after confirming that there is no abnormality in the robot lawn mower 2. That is, the control unit 8 drives the cutting blade 34 through the working motor 36 and drives the driving wheels 30L and 30R through the moving motors 32L and 32R, thereby mowing the lawn. In addition, when the action mode of the robot lawn mower 2 is set to the main area corresponding mode, the control unit 8 will return the robot body 4 to the charging station 110 (refer to Figure 1) to charge the storage battery 18. The control unit 8 terminates the mowing operation when a predetermined operation termination condition is satisfied. The operation termination condition mentioned here includes, for example, that the elapsed time from the start of the mowing operation reaches a time preset by the user.

[0067] A predetermined electric signal is applied from the charging station 110 to the metal wire 112 shown. As a result, a magnetic field (metal wire magnetic field M) including a magnetic signal (metal wire magnetic signal) corresponding to the predetermined electric signal is generated around the metal wire 112. Figure 4 ) pre-stored with: Figure 7 The signal model SM of the metal wire magnetic signal as shown. The control unit 8 (refer to Figure 4 ) is configured to: during the execution of the mowing operation, determine the signal model SM and the signal generated by the plurality of magnetic sensors 38 (refer to Figure 5 ) are consistent or similar. As a method for determining whether two signals are consistent or similar, for example, correlation analysis is used. For example, when the magnetic sensor 38 observes Figure 6 In the case of a magnetic signal such as that shown in (a), it is determined that the magnetic signal is Figure 7 On the other hand, when the magnetic sensor 38 observes Figure 6 (b) shows a magnetic signal, it is determined that the magnetic signal is Figure 7 The signal pattern SM shown is neither consistent nor similar. In the present embodiment, when the magnetic sensor 38 observes a magnetic signal consistent with or similar to the signal pattern SM, the control unit 8 determines that the metal wire magnetic field M is detected by the magnetic sensor 38 .

[0068] Figure 8 As shown, the metal wire magnetic field M is generated by winding around the metal wire 112 according to the right-hand screw rule. As a result, the direction of the metal wire magnetic field M generated inside the working area WA and the direction of the metal wire magnetic field M generated outside the working area WA become opposite to each other. That is, the phase of the metal wire magnetic signal generated inside the working area WA and the phase of the metal wire magnetic signal generated outside the working area WA become opposite to each other. Using this property, the control unit 8 (refer to Figure 4 ) is detected by the magnetic sensor 38 (refer to Figure 5) detects the metal wire magnetic field M, it is determined based on the phase of the magnetic signal observed by the magnetic sensor 38: whether the magnetic sensor 38 is inside or outside the working area WA. In addition, at the position directly above the metal wire 112 (that is, the boundary of the working area WA), the intensity of the metal wire magnetic field M in the up and down directions is approximately zero. Accordingly, when the magnetic sensor 38 is located directly above the metal wire 112 (that is, the boundary of the working area WA), the metal wire magnetic field M will not be detected by the magnetic sensor 38. Using this property, the control unit 8 determines that the magnetic sensor 38 is at the boundary of the working area WA when the metal wire magnetic field M is not detected by the magnetic sensor 38. The control unit 8 determines for each of the multiple magnetic sensors 38: where the magnetic sensor 38 is inside, at the boundary, or outside the working area WA, and accordingly determines: the robot body 4 (refer to Figure 5 ) and the metal wire 112. The control unit 8 moves the robot body 4 based on the determined positional relationship between the robot body 4 and the metal wire 112 so that the robot body 4 does not escape from the working area WA. Figure 8 In the graph shown, the distance D between the metal wire 112 and the magnetic sensor 38 in the front-rear, left-right directions is the horizontal axis, and the intensity H of the magnetic field detected by the magnetic sensor 38 is the vertical axis.

[0069] However, if the wire 112 is disconnected or no electrical signal is applied to the wire 112 due to a power outage, the wire magnetic field M will not be generated. If the wire magnetic field M is not generated, the magnetic sensor 38 will not detect the wire magnetic field M even if the magnetic sensor 38 is located inside, at the boundary, or outside the working area WA. As a result, the control unit 8 cannot determine the positional relationship between the robot body 4 and the wire 112. In view of this situation, the control unit 8 repeatedly executes the mowing operation. Fig. 9 Processing shown.

[0070] In S2, the control unit 8 determines whether a predetermined operation interruption condition is satisfied. The operation interruption condition is, for example, a condition for estimating that the metal wire magnetic field M is not generated. In this embodiment, the metal wire magnetic field M is not detected by three or more magnetic sensors 38 among the four magnetic sensors 38a, 38b, 38c, and 38d. When the operation interruption condition is not satisfied (NO), S2 is repeatedly executed. When the operation interruption condition is satisfied, the process proceeds to S4.

[0071] In S4, the control unit 8 interrupts the mowing operation being executed. Specifically, the control unit 8 stops the moving motors 32L and 32R and the working motor 36. After S4, the process proceeds to S6.

[0072] In S6, the control unit 8 operates the moving motors 32L and 32R to move the robot body 4 forward or backward a first distance. At this time, the control unit 8 determines the moving direction of the robot body 4 before the mowing operation is interrupted in S4, and moves the robot body 4 in the opposite direction of the determined moving direction. For example, if the control unit 8 moves the robot body 4 forward before the mowing operation is interrupted in S4, the robot body 4 will be moved backward in S6, and if the robot body 4 is moved backward before the mowing operation is interrupted in S4, the robot body 4 will be moved forward in S6. In addition, the first distance is set to a distance less than 1000 mm and less than the total length of the robot mower 2. In the present embodiment, the first distance is set to 100 mm. After S6, the process enters S8.

[0073] In S8, the control unit 8 determines whether the metal wire magnetic field M has been detected by the magnetic sensors 38a, 38b, 38c, and 38d during the movement of the robot body 4 in S6. Specifically, the control unit 8 determines whether the number of magnetic sensors 38 that have detected the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is two or more. If the number of magnetic sensors 38 that have detected the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is not two or more (in the case of NO), the process proceeds to S10.

[0074] In S10, the control unit 8 operates the moving motors 32L and 32R to move the robot body 4 forward or backward a second distance. At this time, the control unit 8 moves the robot body 4 in a direction opposite to the moving direction of the robot body 4 in S6. For example, if the control unit 8 moves the robot body 4 forward in S6, it will move the robot body 4 backward in S8, and if the control unit 8 moves the robot body 4 backward in S6, it will move the robot body 4 forward in S8. In addition, the second distance is set to a distance that is less than 1000 mm, less than the total length of the robot mower 2, and less than the first distance. In the present embodiment, the second distance is set to 50 mm. After S10, the process enters S12.

[0075] In S12, the control unit 8 determines whether the metal wire magnetic field M has been detected by the magnetic sensors 38a, 38b, 38c, and 38d during the movement of the robot body 4 in S10. Specifically, the control unit 8 determines whether the number of magnetic sensors 38 that have detected the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is two or more. If the number of magnetic sensors 38 that have detected the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is not two or more (in the case of NO), the process proceeds to S14.

[0076] In S14, the control unit 8 stops the movement motors 32L and 32R and the working motor 36 and makes the robot body 4 wait at the same place. After S14, the process proceeds to S16.

[0077] In S16, the control unit 8 determines whether the metal wire magnetic field M has been detected by the magnetic sensors 38a, 38b, 38c, and 38d. Specifically, the control unit 8 determines whether the number of magnetic sensors 38 that have detected the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is two or more. If the number of magnetic sensors 38 that have detected the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is not two or more (in the case of NO), the process proceeds to S18.

[0078] In S18, the control unit 8 determines whether the elapsed time from the standby time in S14 has reached a predetermined time (e.g., 15 minutes) or more. If the elapsed time from the standby time in S14 is less than the predetermined time (in the case of NO), the process returns to S16. If the elapsed time from the standby time in S14 has reached a predetermined time or more (in the case of YES), the process proceeds to S20.

[0079] In S20, the control unit 8 operates the display unit 11 or the alarm unit 52 provided in the robot body 4, thereby notifying the occurrence of an abnormality through sound or light. Alternatively, the control unit 8 may communicate with a communication terminal (e.g., a smart phone) owned by the user via the communication unit 50, thereby causing the communication terminal to notify the occurrence of an abnormality. For example, the control unit 8 may also cause the communication terminal owned by the user to display a message indicating that an abnormality has occurred. In addition, the abnormality mentioned here specifically refers to: the magnetic sensor 38 does not detect the metal wire magnetic field M. After S20, Fig. 9 The shown processing ends.

[0080] In S8, S12, or S16, when it is determined that the number of magnetic sensors 38 that detect the metal wire magnetic field M among the four magnetic sensors 38a, 38b, 38c, and 38d is two or more (in the case of YES), the process proceeds to S22. In S22, the control unit 8 restarts the mowing operation that was interrupted in S4. Specifically, the control unit 8 activates the moving motors 32L and 32R and the working motor 36 to restart the mowing operation using the robot mower 2. After S22, Fig. 9 The shown processing ends.

[0081] For example, Fig.10 As shown in FIG. 1 , when the plurality of magnetic sensors 38 are located directly above the metal wire 112 (i.e., at the boundary of the working area WA), even if the metal wire magnetic field M (see FIG. 1 ) is generated, Figure 8 ), the metal wire magnetic field M will not be detected by the multiple magnetic sensors 38. In this situation, the operation interruption condition is met, so the mowing operation is interrupted. Assuming that after the mowing operation is interrupted, if the robot body 4 is not moved but is put on standby, it is impossible to eliminate the situation where the multiple magnetic sensors 38 are respectively located directly above the metal wire 112. Therefore, it is possible that each of the multiple magnetic sensors 38 cannot detect the metal wire magnetic field M at all. In this case, since the mowing operation is not restarted at all, it may not be possible to smoothly use the robot mower 2 to perform mowing operations. In contrast, according to Fig. 9 The process shown, after interrupting the mowing operation, can be performed, for example, Fig.11 As shown in FIG. 1 , the robot body 4 is moved backward while trying to detect the metal wire magnetic field M using a plurality of magnetic sensors 38. Then, it is also possible to Fig.12 As shown in the figure, the robot body 4 is moved forward while trying to detect the metal wire magnetic field M using the multiple magnetic sensors 38. According to this, the situation where the multiple magnetic sensors 38 are located directly above the metal wire 112 is eliminated. Therefore, if the metal wire magnetic field M is generated, the multiple magnetic sensors 38 can detect the metal wire magnetic field M respectively and restart the mowing operation. Fig. 9 The processing shown enables smooth lawn mowing work using the robot mower 2 .

[0082] However, if the metal wire 112 is broken and the metal wire magnetic field M cannot be generated, even if the robot body 4 is moved while trying to detect the metal wire magnetic field M using multiple magnetic sensors 38, the metal wire magnetic field M cannot be detected by the magnetic sensors 38. Therefore, if the metal wire magnetic field M is not generated, the situation where the metal wire magnetic field M cannot be detected by the magnetic sensors 38 will continue. Fig. 9The process shown here notifies that an abnormality has occurred when the situation in which the metal wire magnetic field M cannot be detected by the magnetic sensor 38 continues. Therefore, when the metal wire magnetic field M is not generated, the user can be made aware of this situation.

[0083] (Variation Example)

[0084] The working robot may be a robot other than the robot lawn mower 2. For example, the working robot may be a robot vacuum cleaner having a brush and / or a suction mechanism for collecting dust and other garbage. In this case, the working motor 36 may be used as a motor for driving the brush and / or the suction mechanism. In addition, the working robot may also be a steel bar bundling robot having a steel bar bundling mechanism for bundling a portion where a plurality of steel bars intersect. In this case, the working motor 36 may also be used as a motor for driving the steel bar bundling mechanism.

[0085] A power cord connected to an external power source (for example, a commercial power source) may be installed in the robot mower 2. In this case, the robot mower 2 may be configured to operate by power supplied from the external power source through the power cord.

[0086] The robot mower 2 may not include the battery 18. Instead, a rechargeable battery pack such as a lithium-ion battery may be detachably mounted on the robot body 4. In this case, the robot mower 2 may be configured to operate with power supplied from the battery pack.

[0087] The robot mower 2 may not operate while moving in the operation area WA surrounded by the metal wire 112. For example, the robot mower 2 may operate while moving along the metal wire 112. In this case, the control unit 8 may calculate the distance between the magnetic sensor 38 and the metal wire 112 based on the strength of the metal wire magnetic field M detected by the magnetic sensor 38, thereby moving the robot body 4 in a manner such that the magnetic sensor 38 does not leave the metal wire 112.

[0088] The control unit 8 can Fig. 9 In the processing S6 shown in FIG. 1 , instead of making the robot body 4 move forward or backward, the driving wheels 30L and 30R are rotated at different speeds to make the robot body 4 turn (or rotate) to the left or right. Alternatively, the control unit 8 may Fig. 9In the process S6 shown in FIG. 1 , the driving wheels 30L and 30R are rotated at the same speed to make the robot body 4 move forward or backward, and then the driving wheels 30L and 30R are rotated at different speeds to make the robot body 4 turn (or rotate) to the left or right. Fig. 9 In the process S10 shown in FIG. 1 , instead of moving the robot body 4 forward or backward, the driving wheels 30L and 30R are rotated at different speeds to make the robot body 4 turn (or rotate) to the left or right. Alternatively, the control unit 8 may Fig. 9 In the process S10 shown, the driving wheels 30L and 30R are rotated at the same speed to make the robot body 4 move forward or backward, and then the driving wheels 30L and 30R are rotated at different speeds to make the robot body 4 turn (or rotate) to the left or right.

[0089] The moving part 12 may further include a steering mechanism for rotating the driving wheels 30L and 30R around axes along the vertical direction. The steering mechanism may be used to arrange the rotation axes of the driving wheels 30L and 30R in a direction different from the left-right direction (e.g., the front-back direction). In this case, the control unit 8 may Fig. 9 In the processes S6 and S10 shown, the driving wheels 30L and 30R are rotated at equal speeds with the rotation axes of the driving wheels 30L and 30R arranged along the front-rear direction by the steering mechanism, thereby making the robot body 4 move straight to the left or right.

[0090] The moving part 12 may be provided with other moving mechanisms (e.g., tracks, side steppers) instead of the casters 28L, 28R and the driving wheels 30L, 30R. The side steppers mentioned here refer to mechanisms that enable the robot body 4 to move in the left-right direction. In the case where the moving part 12 is provided with the side steppers, the control part 8 may Fig. 9 In S6 and S10 of the illustrated process, the side stepper is driven to make the robot body 4 move straight in the left direction or the right direction.

[0091] The operation interruption condition may be different from the embodiment. For example, the operation interruption condition may be that all the magnetic sensors 38 of the four magnetic sensors 38a, 38b, 38c, and 38d do not detect the metal wire magnetic field M. In this case, the control unit 8 may Fig. 9In the processing S8, S12, and S16 shown in FIG. 1 , if more than one magnetic sensor 38 does not detect the metal wire magnetic field M, the judgment is YES. In addition, the operation interruption condition may be that more than two magnetic sensors 38 among the four magnetic sensors 38a, 38b, 38c, and 38d do not detect the metal wire magnetic field M. In this case, the control unit 8 may Fig. 9 In S8 , S12 , and S16 of the illustrated process, when three or more magnetic sensors 38 detect the metal wire magnetic field M, a YES determination is made.

[0092] exist Fig. 9 In the process shown, the control unit 8 may skip S8 and execute S10 after S6. That is, the control unit 8 may be configured to move the robot body 4 again regardless of whether the wire magnetic field M is detected by the magnetic sensor 38 during the movement of the robot body 4 in S6.

[0093] exist Fig. 9 In the process shown, the control unit 8 may skip S10 and S12 and execute S12 if the judgment in S8 is NO. That is, the control unit 8 may be configured to stop moving the robot body 4 until the magnetic sensor 38 detects the metal wire magnetic field M after interrupting the mowing operation and moving the robot body 4 the first distance.

[0094] exist Fig. 9 In the process shown, the control unit 8 can skip S14, S16, and S18 and execute S20 when the determination result in S12 is NO. That is, the control unit 8 can immediately report that an abnormality has occurred without waiting when the magnetic sensor 38 still fails to detect the metal wire magnetic field M even though the robot body 4 has been moved.

[0095] exist Fig. 9 In the process S20 shown in the figure, the control unit 8 may not report that an abnormality has occurred. Instead, the control unit 8 may turn off the main power supply of the robot mower 2.

[0096] The total number of magnetic sensors 38 provided in the robot lawn mower 2 may be 4 or more, or may be less than 4. In this case, the operation interruption condition may also be that more than half of the magnetic sensors 38 do not detect the metal wire magnetic field M. In addition, the control unit 8 may Fig. 9 In S8 , S12 , and S16 of the illustrated process, when more than half of the magnetic sensors 38 detect the metal wire magnetic field M, a YES determination is made.

[0097] Fig. 9The moving distance (first distance) of the robot body 4 in S6 of the process shown can be set to a distance different from that in the embodiment. For example, the first distance can be set to a distance exceeding 1000 mm, or a distance exceeding the total length of the robot mower 2. In addition, the moving distance (second distance) of the robot body 4 in S10 can be set to a distance different from that in the embodiment. For example, the second distance can be set to a distance exceeding 1000 mm, or a distance exceeding the total length of the robot mower 2, or a distance greater than the first distance. For example, the second distance can be set to the same distance as the first distance.

[0098] Fig. 9 The moving direction of the robot body 4 in S6 of the process shown may not be the opposite direction of the moving direction of the robot body 4 before the mowing operation is interrupted in S4. For example, the control unit 8 may randomly determine in S6 whether to make the robot body 4 move forward or backward. In addition, the moving direction of the robot body 4 in S10 may not be the opposite direction of the moving direction of the robot body 4 in S6. For example, the control unit 8 may randomly determine in S10 whether to make the robot body 4 move forward or backward.

[0099] (Features of the Embodiment)

[0100] As described above, in one or more embodiments, the robot lawn mower 2 is used in a field 100 (an example of a work site) where a metal wire 112 is provided, and can work while moving based on the metal wire magnetic field M generated around the metal wire 112. The robot lawn mower 2 includes: a robot body 4, a moving part 12 that moves the robot body 4, a working part 14 supported by the robot body 4, a magnetic sensor 38 supported by the robot body 4, and a control part 8. The control part 8 is configured to be able to perform a mowing operation (an example of a working operation) using the working part 14 while moving the robot body 4 through the moving part 12. The control part 8 is configured to execute, during the execution of the mowing operation: an operation interruption process (refer to Fig. 9 In the operation interruption process, when the specified operation interruption condition is met, the mowing operation is interrupted; the first magnetic field search process (refer to Fig. 9 In the first magnetic field search process, after the operation interruption process, the robot body 4 is moved straightly by the moving unit 12 toward the front direction or the rear direction (for example, the first straight direction) for a first distance, and it is determined whether the metal wire magnetic field M is detected by the magnetic sensor 38; and the operation restart process (refer to Fig. 9In the operation restart process, when the wire magnetic field M is detected by the magnetic sensor 38, the mowing operation is restarted.

[0101] Even when it is expected that the magnetic sensor 38 will not detect the metal wire magnetic field M, if the positional relationship between the magnetic sensor 38 and the metal wire 112 is changed, the metal wire magnetic field M may be detected by the magnetic sensor 38. According to the above configuration, when the operation interruption condition is satisfied (when it is expected that the magnetic sensor 38 will not detect the metal wire magnetic field M), the control unit 8 can change the positional relationship between the magnetic sensor 38 and the metal wire 112 while trying to detect the metal wire magnetic field M using the magnetic sensor 38. Thus, it is possible to suppress the situation where the metal wire magnetic field M is not detected by the magnetic sensor 38 despite the generation of the metal wire magnetic field M. In addition, when the metal wire magnetic field M is detected by the magnetic sensor 38 during the interruption of the mowing operation, the control unit 8 can automatically restart the mowing operation. Thus, the mowing operation can be restarted without the help of the user, so that the robot mower 2 can be used for smooth operation.

[0102] In one or more embodiments, the operation interruption condition includes: the magnetic sensor 38 does not detect the metal wire magnetic field M.

[0103] According to the above configuration, even if the metal wire magnetic field M is generated, if the metal wire magnetic field M is not detected by the magnetic sensor 38, the operation interruption condition is met, and the mowing operation is interrupted. However, when the operation interruption condition is met, the control unit 8 can change the positional relationship between the magnetic sensor 38 and the metal wire 112 while trying to detect the metal wire magnetic field M. According to this, it is possible to prevent the situation where the metal wire magnetic field M is not detected by the magnetic sensor 38 despite the generation of the metal wire magnetic field M from continuing.

[0104] In one or more embodiments, the robot lawn mower 2 includes four magnetic sensors 38a, 38b, 38c, and 38d (an example of a plurality of magnetic sensors). The operation interruption condition includes: a predetermined number (three) or more of the magnetic sensors 38 among the four magnetic sensors 38a, 38b, 38c, and 38d fail to detect the metal wire magnetic field M. The predetermined number (three) is greater than half (two) of the total number (four) of the plurality of magnetic sensors 38.

[0105] Regarding the wire magnetic field M generated around the wire 112, the strength of the magnetic field in the vertical direction is substantially zero at a position directly above or directly below the wire 112. Accordingly, in the case where the magnetic sensor 38 is configured to observe the vertical magnetic field, if the magnetic sensor 38 is located directly above the wire 112, the magnetic sensor 38 will not detect the wire magnetic field M. There is a technology that utilizes this property to determine that the magnetic sensor 38 is located directly above the wire 112 when the magnetic sensor 38 does not detect the wire magnetic field M. In view of this technology, even if the wire magnetic field M is not detected by a part of the magnetic sensors 38 among the plurality of magnetic sensors 38, if the number of magnetic sensors 38 that do not detect the wire magnetic field M is small, it is considered that the possibility of the wire magnetic field M being generated is high. Until this situation, if a series of processes subsequent to the operation interruption process are executed, the mowing operation will be unnecessarily interrupted, so that the robot mower 2 cannot be smoothly operated. According to the above configuration, when the number of magnetic sensors 38 that do not detect the wire magnetic field M is large, the operation interruption condition is satisfied, and a series of processes following the operation interruption process are executed. When the number of magnetic sensors 38 that do not detect the wire magnetic field M is small, the operation interruption condition is not satisfied, and a series of processes following the operation interruption process are not executed. Therefore, a series of processes following the operation interruption process are executed only when the possibility of the wire magnetic field M being generated is low, so that it is possible to suppress the situation where the mowing operation is interrupted unnecessarily. According to this, the robot mower 2 can be used for operation more smoothly.

[0106] In one or more embodiments, the metal wire magnetic field M includes: a metal wire magnetic signal generated by applying a predetermined electrical signal to the metal wire 112. The control unit 8 pre-stores a signal model SM of the metal wire magnetic signal. When the magnetic signal observed by the magnetic sensor 38 is consistent with or similar to the signal model SM of the metal wire magnetic signal, the control unit 8 determines that the magnetic sensor 38 has detected the metal wire magnetic field M.

[0107] According to the above configuration, whether or not the metal wire magnetic field M is detected by the magnetic sensor 38 can be determined by a simple method.

[0108] In one or more embodiments, the control unit 8 determines the moving direction of the robot body 4 before interrupting the mowing operation, and sets the opposite direction of the determined moving direction as the first straight direction in the first magnetic field search process.

[0109] In the example where the area surrounded by the metal wire 112 is determined as the working area WA of the robot mower 2, there is a case where the magnetic sensor 38 reaches the position directly above the metal wire 112, so that the magnetic sensor 38 does not detect the metal wire magnetic field M, and thus the operation interruption condition is satisfied. In this case, it can be considered that the robot body 4 is located near the boundary of the working area WA, so if the robot body 4 is randomly moved in the first magnetic field search process performed later, the robot body 4 may go out of the working area WA. According to the above configuration, the control unit 8 moves the robot body 4 in the first magnetic field search process so as to return it to the position immediately before the operation interruption condition is satisfied. Since the metal wire magnetic field M should be detected by the magnetic sensor 38 until immediately before the operation interruption condition is satisfied, it can be considered that the robot body 4 is in the working area WA. Therefore, the robot body 4 can be moved in a manner toward the inside of the working area WA, so it is possible to suppress the situation where the robot body 4 goes out of the working area WA.

[0110] In one or more embodiments, the control unit 8 is configured to execute a second magnetic field search process after the first magnetic field search process (see Fig. 9 In the processing S10 and S12 shown in the figure, in the second magnetic field search processing, the robot body 4 is moved straight for a second distance in the rearward direction or the forward direction (an example of a second straight direction opposite to the first straight direction) by the moving unit 12, and it is determined whether the metal wire magnetic field M is detected by the magnetic sensor 38.

[0111] According to the above configuration, after the first magnetic field search process, the positional relationship between the magnetic sensor 38 and the metal wire 112 can be changed again while trying to detect the metal wire magnetic field M using the magnetic sensor 38. This can more reliably eliminate the situation where the metal wire magnetic field M is not detected by the magnetic sensor 38 despite the generation of the metal wire magnetic field M.

[0112] In one or more embodiments, the control unit 8 does not execute the second magnetic field search process when the metal wire magnetic field M is detected in the first magnetic field search process, and executes the second magnetic field search process when the metal wire magnetic field M is not detected in the first magnetic field search process.

[0113] According to the above configuration, when the wire magnetic field M is detected in the first magnetic field search process, the control unit 8 can skip the second magnetic field search process and immediately resume the mowing operation. This allows the robot mower 2 to perform work more smoothly.

[0114] In one or more embodiments, the second distance is the same distance as the first distance.

[0115] If the mowing operation is restarted from a position different from the position where the mowing operation was interrupted, the mowing operation may be terminated in a state where a portion (non-operated portion) where the robot mower 2 has not performed an operation remains. According to the above configuration, the position of the robot body 4 at the end of the second magnetic field search process is almost not displaced from the position of the robot body 4 when the mowing operation was interrupted. Accordingly, by restarting the mowing operation after the second magnetic field search process is completed, the mowing operation can be restarted from the position where the mowing operation was interrupted. Accordingly, it is possible to suppress the situation where the mowing operation is terminated in a state where a non-operated portion remains.

[0116] In one or more embodiments, the second distance is shorter than the first distance.

[0117] There is a case where the magnetic sensor 38 reaches the position directly above the metal wire 112, and the magnetic sensor 38 does not detect the metal wire magnetic field M, and thus the operation interruption condition is satisfied. In this case, if the position of the robot body 4 at the end of the second magnetic field search process is not shifted at all from the position of the robot body 4 when the metal wire magnetic field M is not detected by the magnetic sensor 38, the magnetic sensor 38 will be located directly above the metal wire 112 again. Accordingly, even if the metal wire magnetic field M is detected in the first magnetic field search process or the second magnetic field search process, it is possible that the magnetic sensor 38 does not detect the metal wire magnetic field M after the second magnetic field search process is completed. As a result, even if the mowing operation is restarted, the mowing operation will be interrupted immediately, and there is a possibility that the robot mower 2 cannot be used to work smoothly. According to the above configuration, the position of the robot body 4 at the end of the second magnetic field search process can be shifted from the position of the robot body 4 when the metal wire magnetic field M is not detected by the magnetic sensor 38. Accordingly, it is possible to suppress the situation where the magnetic sensor 38 is located directly above the metal wire 112 at the end of the second magnetic field search process. According to this, if the wire magnetic field M is generated, the magnetic sensor 38 can detect the wire magnetic field M even after the second magnetic field search process is completed. Therefore, it is possible to prevent the mowing operation from being interrupted immediately after the mowing operation is restarted, so that the robot mower 2 can be used to operate smoothly.

[0118] In one or more embodiments, the first distance is a distance of 1000 mm or less.

[0119] If the robot body 4 is moved greatly after the metal wire magnetic field M is not detected by the magnetic sensor 38, the robot body 4 may reach a non-standard location (for example, a location where an obstacle exists). According to the above configuration, it is possible to suppress the robot body 4 from being moved greatly after the metal wire magnetic field M is not detected by the magnetic sensor 38. Accordingly, it is possible to suppress the robot body 4 from reaching a non-standard location.

[0120] In one or more embodiments, the first distance is a distance that is less than or equal to the total length of the robotic lawn mower 2 .

[0121] If the robot body 4 is moved greatly after the metal wire magnetic field M is not detected by the magnetic sensor 38, the robot body 4 may reach a non-standard location (for example, a location where an obstacle exists). According to the above configuration, it is possible to suppress the robot body 4 from being moved greatly after the metal wire magnetic field M is not detected by the magnetic sensor 38. Accordingly, it is possible to suppress the robot body 4 from reaching a non-standard location.

[0122] In one or more embodiments, the control unit 8 is configured to be able to perform a notification process of notifying the magnetic sensor 38 of a situation where the metal wire magnetic field M is not detected (an example of a situation where an abnormality has occurred) by means of the display unit 11, the alarm unit 52, and / or the communication unit 50 (an example of a notification interface) (refer to Fig. 9 The control unit 8 performs the notification process when 15 minutes (for example, a predetermined time period) have passed after the first magnetic field search process is completed without performing the operation restart process.

[0123] According to the above configuration, even after the first magnetic field search process, when the wire magnetic field M is not detected by the magnetic sensor 38 and the mowing operation is not restarted, the user can be informed of this fact.

[0124] In one or more embodiments, the control unit 8 is configured to be able to perform: a notification process for notifying the magnetic sensor 38 of a situation where the magnetic field M of the metal wire is not detected (an example of an abnormal situation) by means of the display unit 11, the alarm unit 52, and / or the communication unit 50 (an example of a notification interface) (refer to Fig. 9 The control unit 8 performs the notification process when 15 minutes (for example, a predetermined time period) have passed after the second magnetic field search process is completed without performing the operation restart process.

[0125] According to the above configuration, even after the first magnetic field search process and the second magnetic field search process, when the wire magnetic field M is not detected by the magnetic sensor 38 and the mowing operation is not restarted, this fact can be notified to the user.

[0126] In one or more embodiments, the working unit 14 includes a cutting blade 34 for mowing the lawn. The working robot functions as a robot lawn mower 2 that can move autonomously.

[0127] According to the above configuration, the lawn mowing work can be smoothly performed using the robot lawn mower 2 .

Claims

1. A working robot which is used in a work place where a metal wire is installed and can perform work while moving based on a metal wire magnetic field generated around the metal wire, It is characterized in that The working robot includes: a robot body, a moving unit for moving the robot body, a working unit supported by the robot body, a magnetic sensor supported by the robot body, and a control unit. The control unit is configured to move the robot body by the moving unit while executing a working operation using the working unit. The control unit is configured to execute, during the execution of the operation operation: An operation interruption process in which, when a predetermined operation interruption condition is satisfied, the operation of the operation is interrupted; a first magnetic field search process, in which, after the operation interruption process, the robot body is moved straightly by the moving unit in a first straight direction for a first distance, and it is determined whether the metal wire magnetic field is detected by the magnetic sensor; as well as An operation restart process is performed in which, when the magnetic sensor detects the magnetic field of the metal wire, the operation operation is restarted.

2. The working robot according to claim 1, characterized in that: The operation interruption condition includes: the magnetic sensor does not detect the metal wire magnetic field.

3. The working robot according to claim 1, characterized in that: The working robot includes a plurality of magnetic sensors. The operation interruption condition includes: a predetermined number or more of the magnetic sensors among the plurality of magnetic sensors fail to detect the metal wire magnetic field; The prescribed number is greater than half of the total number of the magnetic sensors.

4. The working robot according to any one of claims 1 to 3, characterized in that: The metal wire magnetic field includes: a metal wire magnetic signal generated by applying a predetermined electrical signal to the metal wire, The control unit stores a signal model of the metal wire magnetic signal in advance. The control unit determines that the magnetic sensor has detected the metal wire magnetic field when the magnetic signal observed by the magnetic sensor is consistent with or similar to the signal model of the metal wire magnetic signal.

5. The working robot according to any one of claims 1 to 4, characterized in that: The control unit determines a moving direction of the robot main body before interrupting the working operation, and sets a direction opposite to the determined moving direction as the first straight direction in the first magnetic field search process.

6. The working robot according to any one of claims 1 to 5, characterized in that: The control unit is configured to be able to perform a second magnetic field search process after the first magnetic field search process. In the second magnetic field search process, the robot body is moved a second distance in a second straight direction opposite to the first straight direction by the moving unit, and it is determined whether the metal wire magnetic field is detected by the magnetic sensor.

7. The working robot according to claim 6, characterized in that: The control unit does not execute the second magnetic field search process when the metal wire magnetic field is detected in the first magnetic field search process, and executes the second magnetic field search process when the metal wire magnetic field is not detected in the first magnetic field search process.

8. The working robot according to claim 6 or 7, characterized in that: The second distance is the same distance as the first distance.

9. The working robot according to claim 6 or 7, characterized in that: The second distance is a distance shorter than the first distance.

10. The working robot according to any one of claims 1 to 9, characterized in that: The first distance is: a distance less than 1000 mm.

11. The working robot according to any one of claims 1 to 10, characterized in that: The first distance is a distance less than the total length of the working robot.

12. The working robot according to any one of claims 1 to 11, characterized in that: The control unit is configured to further execute: a notification process for notifying that an abnormality has occurred via a notification interface; The control unit executes the notification process when a predetermined time has passed without executing the operation restart process after the first magnetic field search process is completed.

13. The working robot according to any one of claims 6 to 9, characterized in that: The control unit is configured to further execute: a notification process for notifying that an abnormality has occurred via a notification interface; The control unit executes the notification process when a predetermined time has passed without executing the operation resuming process after the second magnetic field search process is completed.

14. The working robot according to any one of claims 1 to 13, characterized in that: The working unit comprises: a cutting knife for mowing the lawn, The working robot functions as a robot lawn mower capable of autonomous movement.

Images