Autonomous mobile system

Abstract

The invention provides an autonomous mobile system. This autonomous movement system is provided with: a work robot that performs work while autonomously moving within a work area; a charging station that charges the work robot; a boundary metal wire that defines a work area and generates a magnetic field when energized; and a station wire that is disposed in the charging station, is electrically connected to the boundary wire, and generates a magnetic field when energized. This work robot is provided with: a magnetic detection unit that detects a magnetic field generated by a boundary wire and a magnetic field generated by a site wire; and a control unit that detects the site wire on the basis of the detection result of the magnetic detection unit. The charging station is provided with: a charging terminal electrically connected to the work robot; and a signal generator which applies the same electric signal to the boundary metal line and the site metal line.

Description

Technical Field

[0001] The technology disclosed in this specification relates to an autonomous mobile system. Background Art

[0002] An autonomous mobile system is disclosed in Japanese Patent Publication No. 2017-182635. The autonomous mobile system comprises: a working robot that performs work while autonomously moving in a working area; a charging station that charges the working robot; a boundary wire that divides the working area and generates a magnetic field when powered; and a station wire that is arranged at the charging station and generates a magnetic field when powered. The working robot comprises: a working part that performs work; a working motor that moves the working part; a moving part that moves the working robot; a moving motor that moves the moving part; a battery that is charged at the charging station and supplies power to the working motor and the moving motor; a magnetic detection part that detects the magnetic field generated by the boundary wire and the magnetic field generated by the station wire; and a control part that controls the working motor and the moving motor and detects the station wire based on the detection result of the magnetic detection part. The charging station includes: a charging terminal electrically connected to the working robot; a first signal generator applying a first electrical signal to the boundary wire; and a second signal generator applying a second electrical signal to the station wire. Summary of the invention

[0003] In the above-mentioned autonomous mobile system, in order to detect the station metal wire, a second signal generator for adding a second electrical signal to the station metal wire is required. As a result, the configuration of the charging station becomes complicated. In this specification, a technology capable of detecting the station metal wire by a simple configuration of the charging station is provided.

[0004] The present specification discloses an autonomous mobile system. The autonomous mobile system comprises: a working robot that performs work while autonomously moving in a working area; a charging station that charges the working robot; a boundary wire that divides the working area and generates a magnetic field when powered; and a station wire that is arranged at the charging station, electrically connected to the boundary wire, and generates a magnetic field when powered. The working robot comprises: a working part that performs work; a working motor that causes the working part to move; a moving part that causes the working robot to move; a moving motor that causes the moving part to move; a storage battery that is charged at the charging station and supplies power to the working motor and the moving motor; a magnetic detection part that detects the magnetic field generated by the boundary wire and the magnetic field generated by the station wire; and a control part that controls the working motor and the moving motor and detects the station wire based on the detection result of the magnetic detection part. The charging station comprises: a charging terminal that is electrically connected to the working robot; and a signal generator that applies the same electrical signal to the boundary wire and the station wire.

[0005] According to the above configuration, one signal generator applies the same electrical signal to the boundary wire and the station wire, thereby making it possible to detect the station wire with a simple configuration of the charging station. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 1 is a schematic diagram of an autonomous mobile system 10 according to an embodiment.

[0007] Figure 2 It is a side view of the working robot 12 and the charging station 14 according to the embodiment.

[0008] Figure 3 It is a rear view of the working robot 12 of the embodiment.

[0009] Figure 4 It is a top view of the working robot 12 of the embodiment.

[0010] Figure 5 1 is an electrical block diagram of the working robot 12 according to the embodiment.

[0011] Figure 6 1 is a schematic diagram of the autonomous mobile system 10 in the vicinity of the charging station 14 according to the embodiment.

[0012] Figure 7 1 is a diagram showing a current waveform CW1 of a first electric signal and a current waveform CW2 of a second electric signal according to the embodiment.

[0013] Figure 8 The diagrams show waveforms of the intensity of the magnetic field inside and outside the working area WA and waveforms of the intensity of the magnetic field inside and outside the guide area GA according to the embodiment.

[0014] Fig. 9 It is a diagram showing waveforms of the intensity of the magnetic field inside and outside the station metal wire 20 of the embodiment.

[0015] Fig.10 Detailed description of the invention is given in the following figure.

[0016] Fig.11 1 is a flowchart showing the disengagement process according to the embodiment.

[0017] Fig.12 : is a flowchart showing the return process of the embodiment.

[0018] Fig.13 1 and 2 are diagrams showing the positional relationship between the working robot 12 and the guide wire 18 or the first boundary wire portion 16 a when the working robot 12 according to the embodiment moves in the return direction D3 .

[0019] Fig.14 1 is a diagram showing the positional relationship between the working robot 12 and the boundary wire 16 when the working robot 12 according to the embodiment moves in the return direction D4.

[0020] Fig.15 It is a flowchart showing the docking process of the embodiment.

[0021] Fig.16 It is a diagram showing the movement of the working robot 12 in the docking process according to the embodiment.

[0022] Fig.17 : is a flowchart showing the avoidance process of the embodiment. DETAILED DESCRIPTION

[0023] 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 further improved autonomous mobile systems, methods of manufacturing and methods of using the same, and may be used alone or in conjunction with other features or inventions.

[0024] 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.

[0025] 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.

[0026] In one or more embodiments, the station metal wire may include a magnetic field enhancement structure that generates a magnetic field having a higher intensity than the magnetic field generated in the boundary metal wire when current is passed between the station metal wire and the boundary metal wire.

[0027] According to the above configuration, since the intensity of the magnetic field generated at the station wire is higher than the intensity of the magnetic field generated at the boundary wire, the station wire can be easily detected.

[0028] In one or more embodiments, the control unit may detect the station wire based on at least the strength of a magnetic field generated at the station wire when power is supplied.

[0029] According to the above configuration, the station wire can be detected with a simple configuration using the strength of the magnetic field.

[0030] In one or more embodiments, the site metal line may be electrically connected in series with the boundary metal line.

[0031] According to the above configuration, the same electrical signal can be applied to the boundary metal line and the site metal line with a simple configuration.

[0032] In one or more embodiments, the control unit may store the strength of the magnetic field of the station metal wire when the working robot is located at the charging station, and detect the station metal wire based on the stored strength of the magnetic field and the strength of the magnetic field of the station metal wire detected by the magnetic detection unit.

[0033] According to the above-mentioned configuration, the station metal wire can be accurately detected compared to a configuration in which the control unit does not store the strength of the magnetic field of the station metal wire when the working robot is located at the charging station, a configuration in which the strength of the magnetic field is pre-stored when the working robot is manufactured, or a configuration in which the user sets the strength of the magnetic field.

[0034] In one or more embodiments, the control unit may perform a disengagement process to disengage the working robot electrically connected to the charging terminal from the charging station. When performing the disengagement process, the control unit may obtain the strength of the magnetic field of the metal wire of the station after the working robot leaves the charging terminal.

[0035] In the configuration in which the control unit obtains the strength of the magnetic field of the station metal wire before the working robot leaves the charging terminal, the control unit needs to obtain the strength of the magnetic field of the station metal wire while determining that the working robot leaves the charging terminal. According to the above configuration, the control unit can respectively perform: the process of determining that the working robot leaves the charging terminal, and the process of obtaining the strength of the magnetic field of the station metal wire.

[0036] In one or more embodiments, the separation process may include a turning process of causing the working robot to turn after the working robot is separated from the charging terminal. The control unit may acquire the strength of the magnetic field of the station wire during the turning process.

[0037] According to the above configuration, the distance between the working robot and the charging station is less likely to change when the working robot is turning compared to when the working robot is moving in a straight line from the charging station. By obtaining the strength of the magnetic field of the metal wire of the station during the turning process by the control unit, the deviation of the magnetic field strength can be reduced compared to when the working robot is moving in a straight line from the charging station.

[0038] In one or more embodiments, the magnetic detection unit may include a plurality of magnetic sensors for detecting magnetic fields generated by boundary wires and magnetic fields generated by station wires. The control unit may obtain the strength of the magnetic fields of the station wires detected by the plurality of magnetic sensors during the turning process.

[0039] According to the above configuration, even when one of the plurality of magnetic sensors fails, the station wire can be detected.

[0040] In one or more embodiments, the control unit may store the peak value of the intensity of the magnetic field of the station metal wire.

[0041] According to the above configuration, the station wire can be accurately detected by using the peak value of the intensity of the magnetic field of the station wire.

[0042] In one or more embodiments, the control unit may set a threshold value reaching 80% or more of the stored peak value, and detect the station metal wire based on the set threshold value and the strength of the magnetic field of the station metal wire detected by the magnetic detection unit.

[0043] The intensity of the magnetic field detected by the magnetic detection unit decreases as the working robot separates from the station wire. According to the above configuration, since the threshold is a predetermined ratio of the peak value of the intensity of the magnetic field, the station wire can be detected even if the working robot separates from the station wire.

[0044] In one or more embodiments, the station wire may include: a first ring portion for increasing the absolute value of the positive value of the strength of the magnetic field of the station wire; and a second ring portion for increasing the absolute value of the negative value of the strength of the magnetic field of the station wire. The control unit may control the moving motor based on the strength of the magnetic field generated by the first ring portion, so that the working robot moves along the first ring portion.

[0045] Generally speaking, a configuration in which the control unit detects the station wire based on the strength of the magnetic field as a positive value has a higher detection accuracy of the station wire than a configuration in which the control unit detects the station wire based on the strength of the magnetic field as a negative value. According to the above configuration, the working robot can accurately move along the first ring portion by using the strength of the magnetic field of the first ring portion.

[0046] In one or more embodiments, if the station wire is detected when the working robot returns to the charging station, the control unit may perform a docking process to electrically connect the working robot to the charging terminal.

[0047] In a configuration in which the docking process is performed by a method other than detection of the station wire, for example, by the position of the working robot detected by GPS, when there is a difference between the detected position of the working robot and the actual position of the working robot, the working robot may collide with the charging station before the docking process is performed. According to the above configuration, since the station wire is detected, it is possible to suppress the situation in which the working robot collides with the charging station before the docking process is performed.

[0048] In one or more embodiments, if a station wire is detected while the working robot is working, the control unit may execute a moving direction changing process for changing the moving direction of the working robot.

[0049] According to the above configuration, it is possible to suppress the working robot from colliding with the charging station.

[0050] (Example)

[0051] like Figure 1 As shown, the autonomous mobile system 10 includes: a working robot 12, a charging station 14, a boundary wire 16, a guide wire 18, and a station wire 20. The working robot 12 is, for example, a lawn mower. The working robot 12 is used in a state of being placed on the ground. The working robot 12 moves autonomously in the working area WA surrounded by the boundary wire 16, while mowing the lawn growing from the ground. Hereinafter, the vehicle length direction of the working robot 12 is referred to as the front-rear direction, the vehicle width direction of the working robot 12 is referred to as the left-right direction, and the direction orthogonal to the front-rear direction and the left-right direction is referred to as the up-down direction.

[0052] like Figure 2 As shown, the working robot 12 includes: a housing 24, a power supply unit 26, a working motor 28, a working unit 30, and a right motor 32 for movement (see Figure 3 )、The left moving motor 34 (refer to Figure 3 )、moving unit 36、operating unit 38 (refer to Figure 3 )、Display unit 39a (refer to Figure 3 )、Notification section 39b (refer to Figure 3 )、Magnetic detection unit 40 (refer to Figure 4 ), and the control unit 42 (refer to Figure 5 ).

[0053] The power supply unit 26 is housed in the housing 24. The power supply unit 26 includes a battery 46 and a charging interface 48. The battery 46 is a secondary battery including a lithium ion battery. The battery 46 cannot be removed from the housing 24. The charging interface 48 is disposed at the front end of the housing 24. The charging interface 48 is electrically connected to the battery 46. The working robot 12 can be connected to the charging station 14 (see Figure 1 When the working robot 12 is docked with the charging station 14, the battery 46 is supplied with power from the external power source 78 via the charging station 14 and the charging interface 48, thereby being able to be charged.

[0054] The working motor 28 is supported by the housing 24 . The working motor 28 is, for example, a brushless motor. The working motor 28 is operated by the power of the battery 46 .

[0055] The working unit 30 includes a cutting blade 30a having a substantially disk shape. The cutting blade 30a is fixed to the output shaft of the working motor 28. The output shaft is inclined with respect to the vertical direction. The cutting blade 30a is rotated by the operation of the working motor 28. Thus, the grass growing from the ground is cut.

[0056] like Figure 3 As shown, the right motor 32 for movement and the left motor 34 for movement are supported by the housing 24. The right motor 32 for movement and the left motor 34 for movement are, for example, brushless motors. The right motor 32 for movement and the left motor 34 for movement are driven by a battery 46 (see Figure 2 ) to operate.

[0057] The moving part 36 includes a right front auxiliary wheel 52, a left front auxiliary wheel 54, a right rear drive wheel 56, and a left rear drive wheel 58. The right front auxiliary wheel 52 and the left front auxiliary wheel 54 are rotatably mounted on the housing 24. The right rear drive wheel 56 is fixed to the output shaft of the right motor 32 for movement. The left rear drive wheel 58 is fixed to the output shaft of the left motor 34 for movement. The output shaft of the right motor 32 for movement and the output shaft of the left motor 34 for movement extend in the left-right direction, and the right rear drive wheel 56 is rotated by the operation of the right motor 32 for movement, and the left rear drive wheel 58 is rotated by the operation of the left motor 34 for movement. Accordingly, the working robot 12 moves forward, backward, and turns.

[0058] The operation unit 38 is disposed on the outer surface of the housing 24. The operation unit 38 includes an operation switch. The user operates the operation unit 38 when, for example, switching the on state and the off state of the working robot 12 or setting working conditions of the working robot 12.

[0059] The display unit 39a is, for example, a display. The display unit 39a displays various information. The operation unit 38 and the display unit 39a may be integrated as a touch panel.

[0060] The notification unit 39b is, for example, a buzzer that emits sound. In a modified example, the notification unit 39b may be a lamp that emits light. For example, when an abnormality occurs in the working robot 12, the notification unit 39b emits a sound.

[0061] like Figure 4 As shown, the magnetic detector 40 is supported by the housing 24. The magnetic detector 40 includes a plurality of (four in this embodiment) magnetic sensors 60. The magnetic sensor 60 is, for example, a search coil or a Hall sensor. The magnetic sensor 60 detects the strength of a magnetic field in the vertical direction.

[0062] The plurality of magnetic sensors 60 include a right front magnetic sensor 60a, a left front magnetic sensor 60b, a central front magnetic sensor 60c, and a rear magnetic sensor 60d. The right front magnetic sensor 60a, the left front magnetic sensor 60b, and the central front magnetic sensor 60c are arranged at a position closer to the front side than the center of the front-rear direction of the housing 24. The right front magnetic sensor 60a is arranged at the front right portion of the housing 24. The left front magnetic sensor 60b is arranged at the front left portion of the housing 24. In the left-right direction, the distance between the right front magnetic sensor 60a and the center line CL is substantially equal to the distance between the left front magnetic sensor 60b and the center line CL. The center line CL extends in the front-rear direction and is located at the center of the left-rear direction of the housing 24. The central front magnetic sensor 60c and the rear magnetic sensor 60d are arranged near the center line CL. The central front magnetic sensor 60c is arranged at the front portion of the housing 24. The rear magnetic sensor 60d is arranged at a position closer to the rear side than the center of the front-rear direction of the housing 24. The rear magnetic sensor 60 d is arranged at the rear portion of the housing 24 .

[0063] like Figure 5 As shown, the control unit 42 is electrically connected to: the power supply unit 26, the working motor 28, the right motor 32 for movement, the left motor 34 for movement, the operating unit 38, the display unit 39a, the notification unit 39b, and the magnetic detection unit 40. The control unit 42 includes: a microcomputer (omitted from the figure) and a memory (omitted from the figure). The control unit 42 controls: the rotation direction and the rotation speed of the right motor 32 for movement, and the rotation direction and the rotation speed of the left motor 34 for movement independently of each other. For example, when the control unit 42 controls the right motor 32 for movement and the left motor 34 for movement in the forward direction at the same rotation speed, the working robot 12 will move forward. When the control unit 42 controls the right motor 32 for movement and the left motor 34 for movement in the reverse direction at the same rotation speed, the working robot 12 will move backward. When the control unit 42 controls the right motor 32 for movement in the forward direction and controls the left motor 34 for movement in the reverse direction, the working robot 12 will turn in place. When the control unit 42 controls the right motor 32 and the left motor 34 for movement at different speeds in the forward direction (or reverse direction), the working robot 12 moves and turns at the same time. The control unit 42 autonomously controls the working robot 12 based on various programs stored in the memory. For example, the control unit 42 obtains signals from the operating unit 38 and the magnetic detection unit 40 to control the working motor 28, the right motor 32 for movement, and the left motor 34 for movement, so that the working robot 12 can mow the lawn while autonomously moving.

[0064] like Figure 6As shown, the charging station 14 is arranged across the inside and outside of the working area WA. The charging station 14 includes: a base 70, a bracket 72, a charging terminal 74, and a signal generator 76. The base 70 is placed on the ground. The bracket 72 is arranged on the base 70. The bracket 72 has a substantially rectangular parallelepiped shape. The bracket 72 is electrically connected to an external power source 78. The charging terminal 74 protrudes from the bracket 72 in a manner separated from the boundary metal wire 16. The charging terminal 74 is substantially orthogonal to the bracket 72. The charging terminal 74 is arranged in the working area WA. As shown in FIG. Figure 2 As shown, the charging terminal 74 can be connected to the charging interface 48 of the working robot 12. When the charging terminal 74 is connected to the charging interface 48, the working robot 12 and the charging station 14 are electrically connected. Here, the so-called working robot 12 is located at the charging station 14 means that at least a part of the working robot 12 overlaps with the charging station 14 (base 70, bracket 72, charging terminal 74, signal generator 76) in the vertical direction.

[0065] like Figure 6 As shown, the signal generator 76 is housed in the bracket 72. The signal generator 76 can apply a first electrical signal to the boundary metal wire 16 and the station metal wire 20. In addition, the signal generator 76 can also apply a second electrical signal to the boundary metal wire 16 and the guide metal wire 18. The second electrical signal is different from the first electrical signal. Figure 7 As shown, the current waveform CW1 of the first electrical signal is different from the current waveform CW2 of the second electrical signal. For example, the phase of the current waveform CW1 of the first electrical signal is different from the phase of the current waveform CW2 of the second electrical signal. The first electrical signal and the second electrical signal are applied, for example, alternately, through the signal generator 76. The first electrical signal and the second electrical signal are applied, for example, at a predetermined period, through the signal generator 76.

[0066] like Figure 1 As shown, the boundary wire 16 divides the working area WA. The boundary wire 16 is, for example, buried underground near the surface of the ground. The boundary wire 16 is connected to the signal generator 76 (see FIG. 1 ) of the charging station 14 via the station wire 20. Figure 6 ) are electrically connected. When current flows through the boundary metal wire 16, a magnetic field is generated in a manner that surrounds the boundary metal wire 16 according to the right-hand spiral rule. The direction of the magnetic field generated in the working area WA is opposite to the direction of the magnetic field generated outside the working area WA. Figure 8 As shown, the strength of the magnetic field in the vertical direction is zero on the boundary metal wire 16, shows a positive value in the working area WA, and shows a negative value outside the working area WA. The strength of the magnetic field changes according to the distance from the boundary metal wire 16. The control unit 42 obtains the strength of the magnetic field from the magnetic detection unit 40 to determine whether the working robot 12 is located in the working area WA.

[0067] like Figure 1 As shown, the guide metal wire 18 is, for example, buried underground near the surface of the ground. The material and wire diameter of the guide metal wire 18 are the same as the material and wire diameter of the boundary metal wire 16. The guide metal wire 18 is electrically connected to the first point 17 of the boundary metal wire 16. The first point 17 is arranged at an arbitrary position between one end and the other end of the boundary metal wire 16. Hereinafter, in the boundary metal wire 16, the portion between one end and the first point 17 is sometimes referred to as the first boundary metal wire portion 16a, and the portion between the first point 17 and the other end is sometimes referred to as the second boundary metal wire portion 16b. In addition, the guide metal wire 18 is connected to the signal generator 76 (refer to Figure 6 ) are electrically connected. The guide area GA is divided by the guide metal wire 18 and the first boundary metal wire portion 16a. When current flows through the guide metal wire 18 and the first boundary metal wire portion 16a, a magnetic field is generated in a manner that surrounds the guide metal wire 18 and the first boundary metal wire portion 16a according to the right-hand spiral rule. In this embodiment, the electrical signal applied to the boundary metal wire 16 (the first boundary metal wire portion 16a and the second boundary metal wire portion 16b) is different from the electrical signal applied to the guide metal wire 18 and the first boundary metal wire portion 16a. The control unit 42 obtains the strength of the magnetic field from the magnetic detection unit 40 to determine whether the working robot 12 is located in the guide area GA.

[0068] like Figure 6 As shown, the station metal wire 20 is configured at the base 70 of the charging station 14. The station metal wire 20 is electrically connected to the boundary metal wire 16 in series. The station metal wire 20 is connected to the signal generator 76 (see Figure 6 ) are electrically connected. The material and wire diameter of the station metal wire 20 are the same as the material and wire diameter of the boundary metal wire 16. The station metal wire 20 has a magnetic field enhancement structure 80. The magnetic field enhancement structure 80 generates a magnetic field with an intensity higher than the absolute value of the peak value of the intensity of the magnetic field generated by the boundary metal wire 16 and the absolute value of the peak value of the intensity of the magnetic field generated by the guide metal wire 18.

[0069] The magnetic field enhancement structure 80 includes: a first ring portion 82 having a ring shape, and a second ring portion 84 having a ring shape. The first ring portion 82 and the second ring portion 84 are arranged adjacent to each other. The charging terminal 74 of the charging station 14 is arranged on the boundary between the first ring portion 82 and the second ring portion 84. The first ring portion 82 and the second ring portion 84 are formed by winding a station metal wire 20 multiple times (for example, 2 times). The first winding number of the station metal wire 20 in the first ring portion 82 is the same as the second winding number of the station metal wire 20 in the second ring portion 84. When current flows through the station metal wire 20, the current flows through the first ring portion 82 in the counterclockwise direction D1, and flows through the second ring portion 84 in the clockwise direction D2. As Fig. 9 As shown, the strength of the magnetic field in the vertical direction near the base 70 is zero near the boundary between the first ring portion 82 and the second ring portion 84, shows a positive value in the first ring portion 82, and shows a negative value in the second ring portion 84. The absolute value of the peak value of the strength of the magnetic field caused by the first ring portion 82 is substantially the same as the absolute value of the peak value of the strength of the magnetic field caused by the second ring portion 84. The absolute value of the peak value of the strength of the magnetic field caused by the first ring portion 82 is greater than the absolute value of the peak value of the strength of the magnetic field in the working area WA caused by the boundary metal wire 16 and the absolute value of the peak value of the strength of the magnetic field in the guide area GA caused by the guide metal wire 18, and increases, for example, in accordance with the first winding number of the station metal wire 20 in the first ring portion 82. In addition, the absolute value of the peak value of the intensity of the magnetic field caused by the second ring portion 84 is greater than the absolute value of the peak value of the intensity of the magnetic field caused by the boundary wire 16 outside the working area WA and the absolute value of the peak value of the intensity of the magnetic field caused by the guide wire 18 outside the guide area GA, and increases, for example, in accordance with the second winding number of the station wire 20 in the second ring portion 84. The control unit 42 obtains the intensity of the magnetic field from the magnetic detection unit 40 to determine whether the working robot 12 is located in the first ring portion 82 or the second ring portion 84, and detects whether the working robot 12 crosses the station wire 20.

[0070] (Autonomous Mobile Processing)

[0071] The control unit 42 executes Fig.10 The autonomous movement process is performed to make the working robot 12 detach from the charging station 14, make the working robot 12 perform mowing work in the working area WA, and make the working robot 12 return to the charging station 14 to dock with the charging station 14.

[0072] In execution Fig.10 Prior to S2 shown, the charging interface 48 of the working robot 12 is connected to the charging terminal 74 of the charging station 14. As a result, the working robot 12 is electrically connected to the charging station 14. In S2, the control unit 42 executes a separation process.

[0073] exist Fig.11 In the illustrated separation process, in S102 , the control unit 42 controls the right movement motor 32 and the left movement motor 34 in opposite directions and at the same rotation speed so that the charging interface 48 of the working robot 12 moves backward in a direction away from the charging terminal 74 .

[0074] In S104, the control unit 42 determines whether the docking (electrical connection) between the charging interface 48 and the charging terminal 74 has been released. If the control unit 42 determines that the docking between the charging interface 48 and the charging terminal 74 has been released (YES in S104), the process proceeds to S106.

[0075] In S106, the control unit 42 controls the magnetic detection unit 40. In the present embodiment, the control unit 42 controls the right front magnetic sensor 60a, the left front magnetic sensor 60b, and the center front magnetic sensor 60c to start acquiring the intensity of the magnetic field of the first ring portion 82 detected by each of the magnetic sensors 60a, 60b, 60c.

[0076] In S108, the control unit 42 controls the right motor 32 for movement and the left motor 34 for movement so that the working robot 12 turns on the spot. For example, the control unit 42 controls the right motor 32 for movement in the forward direction (or reverse direction) and controls the left motor 34 for movement in the reverse direction (or forward direction). When the working robot 12 turns 180 degrees on the spot, the control unit 42 stops the right motor 32 for movement and the left motor 34 for movement.

[0077] In S112, the control unit 42 selects one magnetic sensor 60 from the three magnetic sensors 60a, 60b, and 60c based on the waveform of the intensity of the magnetic field of the first ring portion 82 detected by each magnetic sensor 60a, 60b, and 60c. The control unit 42 obtains the peak value of the intensity of the magnetic field of the first ring portion 82 based on the waveform of the intensity of the magnetic field of the first ring portion 82 detected by the selected magnetic sensor 60. The control unit 42 stores the obtained peak value. In a modified example, the control unit 42 may also select one magnetic sensor 60 from the three magnetic sensors 60a, 60b, and 60c based on the waveform of the intensity of the magnetic field of the second ring portion 84 detected by each magnetic sensor 60a, 60b, and 60c, and store the peak value of the intensity of the magnetic field of the second ring portion 84.

[0078] In S114, the control unit 42 sets a threshold value based on the stored peak value. The threshold value is a value greater than or equal to 80% of the stored peak value. Alternatively, the threshold value is a value less than or equal to 100% of the stored peak value. The control unit 42 stores the set threshold value.

[0079] In S116, the control unit 42 controls the right moving motor 32 and the left moving motor 34 in the forward direction so that the working robot 12 moves away from the charging station 14. The rotation speed of the right moving motor 32 may be the same as or different from that of the left moving motor 34.

[0080] In S118, the control unit 42 determines whether the strength of the magnetic field of the first ring portion 82 detected by each magnetic sensor 60a, 60b, 60c, 60d is a value below the reference value. When the strength of the magnetic field of the first ring portion 82 is a value below the reference value, the working robot 12 will move away from the charging station 14 by a predetermined distance, for example, more than 1 meter. If the control unit 42 determines that the strength of the magnetic field of the first ring portion 82 detected is a value below the reference value (YES in S118), it enters the Fig.10 S4 of the autonomous movement processing is shown.

[0081] Fig.10 In S4 shown, the control unit 42 executes the mowing process. Specifically, the control unit 42 controls the working motor 28, the right moving motor 32, and the left moving motor 34. Accordingly, the working robot 12 moves in the working area WA while rotating the mower 30a, thereby mowing the lawn in the working area WA.

[0082] In S6, the control unit 42 determines whether the return condition is satisfied. For example, when the remaining amount of the battery 46 is less than a predetermined amount, the control unit 42 determines that the return condition is satisfied. Alternatively, when a time set by the user has passed, or when an abnormality occurs in at least one of the working motor 28, the right motor 32 for movement, and the left motor 34 for movement, the control unit 42 may determine that the return condition is satisfied. If the control unit 42 determines that the return condition is satisfied (YES in S6), it proceeds to the return process in S8.

[0083] exist Fig.12 In the return process shown, the control unit 42 continues to control the working motor 28, the right moving motor 32, and the left moving motor 34. As a result, the working robot 12 moves in the working area WA while rotating the mowing blade 30a. As a result, the lawn in the working area WA is also mowed in the return process.

[0084] In S202, the control unit 42 determines whether the rear magnetic sensor 60d crosses the guide wire 18 or the first boundary wire portion 16a within a specified period. When the intensity of the magnetic field of the guide wire 18 and the first boundary wire portion 16a detected by the rear magnetic sensor 60d changes from a positive value to a negative value, the control unit 42 determines that the rear magnetic sensor 60d crosses the guide wire 18 or the first boundary wire portion 16a. If the control unit 42 determines that the rear magnetic sensor 60d crosses the guide wire 18 or the first boundary wire portion 16a within the specified period (YES in S202), the control unit 42 proceeds to S204. On the other hand, if the control unit 42 determines that the rear magnetic sensor 60d does not cross the guide wire 18 or the first boundary wire portion 16a within the specified period (NO in S202), the control unit 42 proceeds to S206.

[0085] In S204, the control unit 42 controls the right moving motor 32 and the left moving motor 34 so that the working robot 12 moves in the return direction D3 along the guide wire 18 and the first boundary wire portion 16a. Figure 1 As shown in FIG. 1 , the return direction D3 is counterclockwise. The return direction D3 is the same as the direction of the current flowing through the guide metal wire 18 and the first boundary metal wire portion 16 a.

[0086] like Fig.13As shown, when the working robot 12 moves toward the return direction D3 along the guide wire 18 and the first boundary wire portion 16a, the control unit 42 controls the right motor 32 for movement and the left motor 34 for movement so that the intensity of the magnetic field of the guide wire 18 or the first boundary wire portion 16a detected by the central front magnetic sensor 60c is zero. Accordingly, the working robot 12 moves in a manner such that the central front magnetic sensor 60c is located directly above the guide wire 18 or the first boundary wire portion 16a. When the intensity of the magnetic field of the guide wire 18 or the first boundary wire portion 16a detected by the central front magnetic sensor 60c is a positive value, since the central front magnetic sensor 60c is located at a position further to the left than the guide wire 18 or the first boundary wire portion 16a, the control unit 42 makes the rotation speed of the left motor 34 greater than the rotation speed of the right motor 32 for movement. Accordingly, the working robot 12 turns toward the right direction. When the intensity of the magnetic field of the guide wire 18 or the first boundary wire portion 16a detected by the central front magnetic sensor 60c is a negative value, since the central front magnetic sensor 60c is located at a position closer to the right side than the guide wire 18 or the first boundary wire portion 16a, the control unit 42 makes the rotation speed of the right motor 32 for movement greater than the rotation speed of the left motor 34 for movement. Accordingly, the working robot 12 turns toward the left direction. In addition, the control unit 42 controls the right motor 32 for movement and the left motor 34 for movement so that the intensity of the magnetic field detected by the rear magnetic sensor 60d is a positive value.

[0087] exist Fig.12 In S206 shown, the control unit 42 determines whether the rear magnetic sensor 60d crosses the boundary metal wire 16 (that is, the first boundary metal wire portion 16a and the second boundary metal wire portion 16b). When the intensity of the magnetic field of the boundary metal wire 16 detected by the rear magnetic sensor 60d changes from a positive value to a negative value, the control unit 42 determines that the rear magnetic sensor 60d crosses the boundary metal wire 16. In S206, the control unit 42 obtains the intensity of the magnetic field of the boundary metal wire 16 from a magnetic sensor 60 different from the magnetic sensor 60 used in S202. If the control unit 42 determines that the rear magnetic sensor 60d crosses the boundary metal wire 16 (YES in S206), it proceeds to S208.

[0088] In S208, the control unit 42 controls the right moving motor 32 and the left moving motor 34 so that the working robot 12 moves along the boundary wire 16 (that is, the first boundary wire portion 16a and the second boundary wire portion 16b) toward the return direction D4. Figure 1 As shown, the return direction D4 is counterclockwise and the return direction D4 is the same as the direction of the current flowing through the boundary metal line 16 .

[0089] like Fig.14 As shown, when the working robot 12 moves along the boundary metal wire 16 toward the return direction D4, the control unit 42 controls the moving right motor 32 and the moving left motor 34 so that the intensity of the magnetic field of the boundary metal wire 16 detected by the right front magnetic sensor 60a is zero. Accordingly, the working robot 12 moves in a manner such that the right front magnetic sensor 60a is located directly above the boundary metal wire 16. By locating the right front magnetic sensor 60a directly above the boundary metal wire 16, compared with a configuration in which the magnetic sensors 60 other than the right front magnetic sensor 60a are located directly above the boundary metal wire 16, it is possible to suppress the situation in which the working robot 12 is exposed from the outside of the working area WA. In a modified example, when the return direction D4 (refer to Figure 1 ) is in the clockwise direction, the control unit 42 can control the right motor 32 for movement and the left motor 34 for movement so that the intensity of the magnetic field of the boundary metal wire 16 detected by the left front magnetic sensor 60b is zero. The right front magnetic sensor 60a located just above the boundary metal wire 16 in S208 is different from the central front magnetic sensor 60c located just above the guide metal wire 18 or the first boundary metal wire portion 16a in S204. When the intensity of the magnetic field of the boundary metal wire 16 detected by the right front magnetic sensor 60a is a positive value, since the right front magnetic sensor 60a is located at a position closer to the left side than the boundary metal wire 16, the control unit 42 will make the rotation speed of the left motor 34 for movement greater than the rotation speed of the right motor 32 for movement. Accordingly, the working robot 12 is turned toward the right direction. When the intensity of the magnetic field of the boundary metal wire 16 detected by the right front magnetic sensor 60a is a negative value, since the right front magnetic sensor 60a is located at a position closer to the right side than the boundary metal wire 16, the control unit 42 makes the rotation speed of the right moving motor 32 greater than the rotation speed of the left moving motor 34. Accordingly, the working robot 12 turns toward the left direction. In addition, the control unit 42 controls the right moving motor 32 and the left moving motor 34 so that the intensity of the magnetic field detected by the left front magnetic sensor 60b is a positive value.

[0090] like Fig.10As shown, in S10 after S8, the control unit 42 determines whether the intensity of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40 reaches a value above the threshold. At this time, the control unit 42 may use only the intensity of the magnetic field detected by the magnetic sensor 60 (hereinafter, sometimes referred to as the magnetic sensor 60') used when determining the threshold, or may use the intensity of the magnetic field detected by a magnetic sensor 60 other than the magnetic sensor 60', or may use the intensity of the magnetic field detected by more than two magnetic sensors 60. In a modified example, the control unit 42 may also monitor the intensity of the magnetic field of the second ring portion 84 detected by the magnetic detection unit 40. If the control unit 42 determines that the intensity of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40 reaches a value above the threshold (YES in S10), it enters the docking process of S12. On the other hand, if the control unit 42 determines that the strength of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40 is less than the threshold value (NO in S10), it moves the working robot 12 in the return directions D3 and D4 until it is determined that the strength of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40 reaches a value above the threshold value.

[0091] exist Fig.15 In the docking process S302 shown in FIG. 1 , the control unit 42 controls the right movement motor 32 and the left movement motor 34 based on the strength of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40, so that the working robot 12 moves along the first ring portion 82. Through the process of S302, the working robot 12 is moved as shown in FIG. Fig.16 As shown in FIG. 1 , the first ring portion 82 moves in the clockwise direction.

[0092] exist Fig.15 In S304, the control unit 42 determines whether the working robot 12 has reached the center of the charging station 14 based on the strength of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40. The center of the charging station 14 is the position where the strength of the magnetic field of the station wire 20 is zero, that is, the boundary between the first ring portion 82 and the second ring portion 84. If the control unit 42 determines that the working robot 12 has reached the center of the charging station 14 (YES in S304), it proceeds to S306. Through the processing of S304, the front end of the working robot 12 is Fig.16 As shown, it is arranged near the boundary between the first ring portion 82 and the second ring portion 84 .

[0093] exist Fig.15In S306 of the embodiment, the control unit 42 controls the right moving motor 32 to move in the forward direction (or reverse direction) and controls the left moving motor 34 to move in the reverse direction (or forward direction) so that the working robot 12 turns on the spot. When the working robot 12 turns a predetermined angle, the control unit 42 stops the right moving motor 32 and the left moving motor 34. Through the processing of S306, the front end of the working robot 12 is turned as shown in FIG. Fig.16 As shown, the first ring portion 82 and the second ring portion 84 are separated from each other.

[0094] exist Fig.15 In S308, the control unit 42 controls the right motor 32 and the left motor 34 for movement so that the working robot 12 moves and turns. Fig.16 Next, the working robot 12 is made to turn on the spot. In this way, the posture of the working robot 12 relative to the charging station 14 can be adjusted.

[0095] exist Fig.15 In S310, the control unit 42 determines whether the intensity of the magnetic field detected by the magnetic detection unit 40 is zero. If the control unit 42 determines that the intensity of the magnetic field detected by the magnetic detection unit 40 is zero (YES in S310), it proceeds to S312. Through the processing of S310, the charging interface 48 is Fig.16 As shown, it is arranged at the boundary between the first ring portion 82 and the second ring portion 84 and faces the charging terminal 74 of the charging station 14 .

[0096] exist Fig.15 In S312 , the control unit 42 controls the right moving motor 32 and the left moving motor 34 in the forward direction and at the same rotation speed so that the working robot 12 moves forward. As a result, the working robot 12 approaches the charging terminal 74 .

[0097] In S314, the control unit 42 determines whether the charging interface 48 is docked with the charging terminal 74. If the control unit 42 determines that the charging interface 48 is docked with the charging terminal 74 (YES in S314), the process proceeds to S316.

[0098] In S316, the control unit 42 stops the right moving motor 32 and the left moving motor 34. By processing S316, the working robot 12 is Fig.16 As shown, the charging interface 48 stops in the state of being in contact with the charging terminal 74 .

[0099] (Avoidance Process)

[0100] The working robot 12 may pass near the charging station 14 when performing the mowing process in S4. In such a case, in order to prevent the working robot 12 from colliding with the charging station 14, the control unit 42 executes Fig.17 Avoidance treatment shown.

[0101] like Fig.17 As shown, in S402 of the avoidance process, the control unit 42 determines whether the intensity of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40 reaches a value above the threshold. If the control unit 42 determines that the intensity of the magnetic field of the first ring portion 82 detected by the magnetic detection unit 40 reaches a value above the threshold (YES in S402), it proceeds to S404.

[0102] In S404, the control unit 42 stops the right moving motor 32 and the left moving motor 34. As a result, the working robot 12 stops.

[0103] In S406, the control unit 42 controls the right moving motor 32 in the forward direction (or reverse direction) and controls the left moving motor 34 in the reverse direction (or forward direction) so that the working robot 12 turns on the spot. The control unit 42 stops the right moving motor 32 and the left moving motor 34 when the working robot 12 turns a predetermined angle. The predetermined angle is an arbitrary angle set for each turning action.

[0104] In S408 , the control unit 42 controls the right movement motor 32 and the left movement motor 34 in the forward direction so that the working robot 12 moves in a direction away from the charging station 14 .

[0105] (Effect)

[0106] The autonomous mobile system 10 of this embodiment includes: a working robot 12, which performs work while moving autonomously in a working area WA; a charging station 14, which charges the working robot 12; a boundary metal wire 16, which divides the working area WA and generates a magnetic field when powered; and a station metal wire 20, which is arranged at the charging station 14, is electrically connected to the boundary metal wire 16, and generates a magnetic field when powered. The working robot 12 includes: a working unit 30 that performs work; a working motor 28 that moves the working unit 30; a moving unit 36 ​​that moves the working robot 12; moving motors 32 and 34 that move the moving unit 36; a storage battery 46 that is charged at the charging station 14 and supplies power to the working motor 28 and the moving motors 32 and 34; a magnetic detection unit 40 that detects the magnetic field generated by the boundary wire 16 and the magnetic field generated by the station wire 20; and a control unit 42 that controls the working motor 28 and the moving motors 32 and 34 and detects the station wire 20 based on the detection result of the magnetic detection unit 40. The charging station 14 includes: a charging terminal 74 that is electrically connected to the working robot 12; and a signal generator 76 that applies the same first electrical signal (an example of an electrical signal) to the boundary wire 16 and the station wire 20.

[0107] According to the above configuration, one signal generator 76 applies the same first electrical signal to the boundary wire 16 and the station wire 20. Thus, the station wire 20 can be detected with a simple configuration of the charging station 14.

[0108] Furthermore, the station metal wire 20 includes a magnetic field enhancement structure 80 that generates a magnetic field having a higher intensity than the magnetic field generated in the boundary metal wire 16 when current is passed between the station metal wire 20 and the boundary metal wire 16 .

[0109] According to the above configuration, since the intensity of the magnetic field generated at the site metal wire 20 is higher than the intensity of the magnetic field generated at the boundary metal wire 16 , the site metal wire 20 can be easily detected.

[0110] Furthermore, the control unit 42 detects the station wire 20 based on at least the intensity of the magnetic field generated at the station wire 20 when power is supplied.

[0111] According to the above configuration, the station wire 20 can be detected with a simple configuration using the strength of the magnetic field.

[0112] In addition, the site metal line 20 is electrically connected in series with the boundary metal line 16 .

[0113] According to the above configuration, the same first electrical signal can be applied to the boundary metal line 16 and the site metal line 20 with a simple configuration.

[0114] In addition, the control unit 42 stores the strength of the magnetic field of the station metal wire 20 when the working robot 12 is located at the charging station 14, and detects the station metal wire 20 based on the stored magnetic field strength and the magnetic field strength of the station metal wire 20 detected by the magnetic detection unit 40.

[0115] According to the above-mentioned configuration, the station metal wire 20 can be accurately detected compared to a configuration in which the control unit 42 does not store the strength of the magnetic field of the station metal wire 20 when the working robot 12 is located at the charging station 14, a configuration in which the strength of the magnetic field is pre-stored when the working robot 12 is manufactured, or a configuration in which the strength of the magnetic field is set by the user.

[0116] The control unit 42 also executes the separation process of S2 to separate the working robot 12 electrically connected to the charging terminal 74 from the charging station 14. When executing the separation process of S2, the control unit 42 obtains the strength of the magnetic field of the station wire 20 after the working robot 12 leaves the charging terminal 74.

[0117] In the configuration in which the control unit 42 obtains the strength of the magnetic field of the station wire 20 before the working robot 12 leaves the charging terminal 74, the control unit 42 needs to obtain the strength of the magnetic field of the station wire 20 while determining that the working robot 12 leaves the charging terminal 74. According to the above configuration, the control unit 42 can separately perform the process of determining that the working robot 12 leaves the charging terminal 74 and the process of obtaining the strength of the magnetic field of the station wire 20.

[0118] The separation process of S2 includes a turning process of S108 for turning the working robot 12 after the working robot 12 separates from the charging terminal 74. The control unit 42 acquires the intensity of the magnetic field of the station wire 20 during the turning process of S108.

[0119] According to the above configuration, the distance between the working robot 12 and the charging station 14 is less likely to change when the working robot 12 makes a turn than when the working robot 12 moves in a straight line from the charging station 14. By acquiring the strength of the magnetic field of the station wire 20 during the turning process by the control unit 42, the deviation of the strength of the magnetic field can be reduced compared to when the working robot 12 moves in a straight line from the charging station 14.

[0120] The magnetic detector 40 includes a plurality of magnetic sensors 60 for detecting magnetic fields generated by the boundary wires 16 and the station wires 20. The controller 42 acquires the strength of the magnetic field of the station wires 20 detected by the plurality of magnetic sensors 60 during the turning process in S108.

[0121] According to the above configuration, even when one of the plurality of magnetic sensors 60 fails, the station wire 20 can be detected.

[0122] In addition, the control unit 42 stores the peak value of the intensity of the magnetic field of the station wire 20 .

[0123] According to the above configuration, the station wire 20 can be accurately detected by using the peak value of the intensity of the magnetic field of the station wire 20 .

[0124] The control unit 42 sets a threshold value that is 80% or more of the stored peak value, and detects the station wire 20 based on the set threshold value and the intensity of the magnetic field of the station wire 20 detected by the magnetic detection unit 40 .

[0125] The intensity of the magnetic field detected by the magnetic detection unit decreases as the working robot separates from the station wire. According to the above configuration, since the threshold is a predetermined ratio of the peak value of the intensity of the magnetic field, the station wire can be detected even if the working robot separates from the station wire.

[0126] In addition, the station wire 20 includes a first ring portion 82 for increasing the absolute value of the positive value of the strength of the magnetic field of the station wire 20, and a second ring portion 84 for increasing the absolute value of the negative value of the strength of the magnetic field of the station wire 20. The control unit 42 controls the moving motors 32 and 34 based on the strength of the magnetic field generated by the first ring portion 82, so that the working robot 12 moves along the first ring portion 82.

[0127] Generally speaking, the configuration in which the control unit 42 detects the station wire 20 based on the strength of the magnetic field as a positive value is higher than the configuration in which the control unit 42 detects the station wire 20 based on the strength of the magnetic field as a negative value. According to the above configuration, the working robot 12 can accurately move along the first ring portion 82 by using the strength of the magnetic field of the first ring portion 82.

[0128] Furthermore, when the working robot 12 returns to the charging station 14 and detects the station wire 20 , the control unit 42 executes the docking process of S12 for electrically connecting the working robot 12 to the charging terminal 74 .

[0129] In a configuration in which the docking process is performed by a method other than detection of the station wire 20, for example, by the position of the working robot 12 detected by GPS or the like, if there is an error between the detected position of the working robot 12 and the actual position of the working robot 12, the working robot 12 may collide with the charging station 14 before the docking process is performed. According to the above configuration, since the station wire 20 is detected, it is possible to suppress the situation in which the working robot 12 collides with the charging station 14 before the docking process is performed.

[0130] Furthermore, when the working robot 12 detects the station wire 20 while the working robot 12 is working, the control unit 42 executes the moving direction changing process of S404 , S406 , and S408 to change the moving direction of the working robot 12 .

[0131] According to the above configuration, it is possible to suppress the working robot 12 from colliding with the charging station 14 .

[0132] (Variation Example)

[0133] The working robot 12 according to one embodiment may be a vacuum cleaner that removes foreign matter such as dust from the floor.

[0134] In the working robot 12 according to one embodiment, the battery 46 may be configured to be attachable to and detachable from the casing 24 .

[0135] In the working robot 12 according to one embodiment, the moving unit 36 ​​may include crawlers instead of the right front auxiliary wheel 52 , the left front auxiliary wheel 54 , the right rear drive wheel 56 , and the left rear drive wheel 58 .

[0136] The site metal line 20 according to one embodiment may be electrically connected to the boundary metal line 16 in parallel.

[0137] In the separation process according to one embodiment, the control unit 42 may obtain the intensity of the magnetic field of the station wire 20 before the working robot 12 separates from the charging terminal 74 .

[0138] In the return process according to one embodiment, the magnetic sensor 60 used in S204 may be the same as the magnetic sensor 60 used in S206 .

[0139] In the avoidance process according to one embodiment, the process of S404 may be omitted.

[0140] In the separation process according to one embodiment, the threshold value set in S114 may be a value greater than or equal to 50% of the stored peak value.

[0141] The control unit 42 according to one embodiment can detect the station wire 20 based on the strength of the magnetic field detected when power is supplied to the station wire 20, the correlation (i.e., the consistency) between the waveform of the electric signal applied to the signal generator 76 and the waveform of the detected magnetic field. In addition, the control unit 42 can detect the station wire 20 by adding the product of the correlation and the strength of the detected magnetic field for a predetermined period of time.

Claims

1. An autonomous mobile system, characterized in that: The autonomous mobile system comprises: a working robot that performs work while autonomously moving in a working area; a charging station that charges the working robot; a boundary wire that divides the working area and generates a magnetic field when powered; and a station wire that is arranged at the charging station, electrically connected to the boundary wire, and generates a magnetic field when powered. The working robot comprises: a working unit that performs working; a working motor that moves the working unit; a moving unit that moves the working robot; a moving motor that moves the moving unit; a battery that is charged at the charging station and supplies power to the working motor and the moving motor; a magnetic detection unit that detects the magnetic field generated by the boundary metal wire and the magnetic field generated by the station metal wire; and a control unit that controls the working motor and the moving motor and detects the station metal wire based on the detection result of the magnetic detection unit, The charging station includes: a charging terminal electrically connected to the working robot; and a signal generator for applying the same electrical signal to the boundary wire and the station wire.

2. The autonomous mobile system according to claim 1, characterized in that: The station metal wire has a magnetic field strengthening structure that generates the magnetic field having a higher intensity than the magnetic field generated at the boundary metal wire when electricity is passed between the station metal wire and the boundary metal wire.

3. The autonomous mobile system according to claim 1 or 2, characterized in that: The control unit detects the station wire based on at least the intensity of the magnetic field generated at the station wire when power is supplied.

4. The autonomous mobile system according to any one of claims 1 to 3, characterized in that: The site metal line is electrically connected to the boundary metal line in series.

5. The autonomous mobile system according to any one of claims 1 to 4, characterized in that: The control unit stores the strength of the magnetic field of the station metal wire when the working robot is located at the charging station, and detects the station metal wire based on the stored strength of the magnetic field and the strength of the magnetic field of the station metal wire detected by the magnetic detection unit.

6. The autonomous mobile system according to claim 5, characterized in that: The control unit executes a detachment process of detaching the working robot electrically connected to the charging terminal from the charging station, When executing the separation process, the control unit acquires the intensity of the magnetic field of the station wire after the working robot separates from the charging terminal.

7. The autonomous mobile system according to claim 6, characterized in that: The separation process includes: a turning process of causing the working robot to turn after the working robot separates from the charging terminal; The control unit acquires the intensity of the magnetic field of the station wire during the turning process.

8. The autonomous mobile system according to claim 7, characterized in that: The magnetic detection unit includes: a plurality of magnetic sensors for detecting the magnetic field generated by the boundary metal wire and the magnetic field generated by the station metal wire; The control unit acquires, during the turning process, the strength of the magnetic field of the station metal wire detected by each of the plurality of magnetic sensors.

9. The autonomous mobile system according to any one of claims 5 to 8, characterized in that: The control unit stores the peak value of the intensity of the magnetic field of the station wire.

10. The autonomous mobile system according to claim 9, characterized in that: The control unit sets a threshold value that reaches 80% or more of the stored peak value, and detects the station metal wire based on the set threshold value and the intensity of the magnetic field of the station metal wire detected by the magnetic detection unit.

11. The autonomous mobile system according to any one of claims 1 to 10, characterized in that: The station metal wire comprises: a first loop portion for increasing the absolute value of the positive value of the intensity of the magnetic field of the station metal wire; and a second loop portion for increasing the absolute value of the negative value of the intensity of the magnetic field of the station metal wire. The control unit controls the movement motor based on the intensity of the magnetic field generated by the first ring portion, thereby moving the working robot along the first ring portion.

12. The autonomous mobile system according to any one of claims 1 to 11, characterized in that: If the station wire is detected when the working robot returns to the charging station, the control unit performs a docking process of electrically connecting the working robot to the charging terminal.

13. The autonomous mobile system according to any one of claims 1 to 12, characterized in that: If the station wire is detected while the working robot is working, the control unit executes a moving direction changing process of changing a moving direction of the working robot.

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