Working robot

Abstract

The invention provides a work robot having a technology capable of smoothly performing work performed by the work robot. The work robot performs work while autonomously moving. The work robot includes a robot body including a base and a buffer supported by the base, a work unit supported by the base, a movement mechanism that moves the base, a movement motor that drives the movement mechanism, and a first detection unit that detects a force received by the buffer or a displacement of the buffer with respect to the base. A second detection unit for detecting the angular velocity of the base or the state of the movement motor; and a control unit. The control unit is configured so as to be able to determine whether or not the movement of the work robot is obstructed by the obstacle on the basis of the detection result of the first detection unit and the detection result of the second detection unit.

Description

Technical Field

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

[0002] Japanese Patent Publication No. 09-325812 discloses a working robot that performs work while autonomously moving. The working robot comprises: a robot body including a base and a buffer supported by the base, a working part supported by the base, a moving mechanism that moves the base, a moving motor that drives the moving mechanism, a first detection part that detects a force applied to the buffer or a displacement of the buffer relative to the base, and a control part. The control part is configured to determine whether the movement of the working robot is hindered by the obstacle based on the detection result of the first detection part. Summary of the invention

[0003] The control unit of the working robot sometimes makes the working robot perform an avoidance action to avoid the obstacle in response to determining that the movement of the working robot is obstructed by an obstacle. In this case, once the accuracy of determining whether the movement of the working robot is obstructed by the obstacle deteriorates, it becomes difficult for the working robot to avoid the obstacle. For example, it takes time for the working robot to avoid the obstacle. As a result, the work performed by the working robot may not proceed smoothly. According to the present specification, a technology is provided that enables the work performed by the working robot to proceed smoothly.

[0004] The working robot disclosed in this specification performs work while moving autonomously. The working robot comprises: a robot body including a base and a buffer supported by the base, a working part supported by the base, a moving mechanism for moving the base, a moving motor for driving the moving mechanism, a first detection part for detecting the force exerted on the buffer or the displacement of the buffer relative to the base, a second detection part for detecting the angular velocity of the base or the state of the moving motor, and a control part. The control part is configured to determine whether the movement of the working robot is hindered by the obstacle based on the detection results of the first detection part and the detection results of the second detection part.

[0005] According to the above configuration, the control unit of the working robot can determine whether the movement of the working robot is obstructed by an obstacle not only based on the force borne by the buffer or the displacement of the buffer relative to the base, but also based on the angular velocity of the base or the state of the moving motor. Accordingly, the accuracy of determining whether the movement of the working robot is obstructed by an obstacle can be improved, so that the working robot can easily avoid the obstacle. Therefore, according to the above configuration, the work performed by the working robot can be smoothly performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a diagram showing a usage example of the robot mower 2 according to the first embodiment.

[0007] Figure 2 This is a left side view of the robot lawn mower 2 according to the first embodiment.

[0008] Figure 3 This is a rear view of the robot lawn mower 2 according to the first embodiment.

[0009] Figure 4 This is a schematic diagram of the structure of the robot lawn mower 2 according to the first embodiment.

[0010] Figure 5 1 is a diagram schematically showing the structure of the robot lawn mower 2 according to the first embodiment and the vicinity of the collision detection sensor 66 .

[0011] Figure 6 1 is a diagram schematically showing the structure of the vicinity of the lift detection sensor 68 of the robot lawn mower 2 according to the first embodiment.

[0012] Figure 7 This is a flowchart of autonomous operation executed by the control unit 8 of the robot mower 2 according to the first embodiment when the automatic height adjustment function is turned on.

[0013] Figure 8 1 is a diagram schematically showing a threshold value table TT stored in the memory 36 of the control unit 8 of the robot lawn mower 2 according to the first embodiment.

[0014] Fig. 9 This is a flowchart of autonomous operation executed by the control unit 8 of the robot mower 2 according to the first embodiment when the automatic height adjustment function is turned off.

[0015] Fig.10 This is a flowchart of the process executed by the control unit 8 while the robot mower 2 according to the first embodiment is performing autonomous operation.

[0016] Fig.11This is a flowchart of the process executed by the control unit 8 while the robot mower 202 according to the second embodiment is performing autonomous operation.

[0017] Fig.12 This is a flowchart of the process executed by the control unit 8 while the robot mower 302 according to the third embodiment is performing autonomous operation.

[0018] Fig.13 This is a flowchart of autonomous operation executed by the control unit 8 of the robot mower 402 according to the fourth embodiment when the automatic height adjustment function is turned on. DETAILED DESCRIPTION

[0019] 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.

[0020] 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.

[0021] 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 definite 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 definite matters described in the claims, the intention of disclosing their intermediate configurations.

[0022] In one or more embodiments, the control unit may also be configured to be capable of executing a first obstruction determination process, an avoidance process, and a second obstruction determination process, wherein, in the first obstruction determination process, it is determined whether the movement of the working robot is obstructed by the obstacle at least based on the detection result of the first detection unit; in the avoidance process, after it is determined in the first obstruction determination process that the movement of the working robot is obstructed by the obstacle, the moving motor is operated so that the working robot performs an avoidance action for moving away from the obstacle; in the second obstruction determination process, while the working robot performs the avoidance action, it is determined whether the movement of the working robot is obstructed by the obstacle at least based on the detection result of the second detection unit.

[0023] In the above-mentioned structure, when the working robot (specifically, the buffer) interferes with the obstacle, the control unit determines that the movement of the working robot is obstructed by the obstacle, and makes the working robot perform an avoidance action. However, sometimes, as the working robot performs an avoidance action, a part of the working robot other than the buffer interferes with the obstacle, causing the movement of the working robot to be obstructed by the obstacle. In this case, the detection result of the first detection unit (the force borne by the buffer or the displacement of the buffer relative to the base) does not show a special sign indicating that the movement of the working robot is obstructed by the obstacle. Therefore, during the period when the working robot performs an avoidance action, if the control unit determines whether the movement of the working robot is obstructed by the obstacle only based on the first detection unit, it may lead to an erroneous determination result. In this regard, according to the above-mentioned structure, during the period when the working robot performs an avoidance action, the control unit determines whether the movement of the working robot is obstructed by the obstacle based on at least the second detection unit. Accordingly, it is possible to suppress the situation where the determination result of whether the movement of the working robot is obstructed by the obstacle is erroneous. Therefore, according to the above-mentioned structure, it is possible to determine with high precision whether the movement of the working robot is obstructed by the obstacle.

[0024] In one or more embodiments, the avoidance action may include a turning action of the working robot.

[0025] According to the above configuration, the avoidance action can be made relatively complicated.

[0026] In one or more embodiments, the avoidance action may include: the working robot performing a straight movement action.

[0027] Assuming that the avoidance action is constituted by only a turning action, after the working robot contacts the obstacle, the working robot may not leave the obstacle at all. In this case, since the working robot needs time to avoid the obstacle, it is possible that the work performed by the working robot cannot be performed smoothly. According to the above configuration, since the avoidance action includes a straight-line action, the working robot will easily leave the obstacle after the working robot contacts the obstacle. Accordingly, the time required for the working robot to avoid the obstacle can be shortened, so the work performed by the working robot can be performed smoothly.

[0028] In one or more embodiments, the state of the moving motor may include a current flowing through the moving motor. The second detector may include a motor current detector that detects the current flowing through the moving motor.

[0029] When the moving motor is operated in a state where the movement of the working robot is hindered by an obstacle, the obstacle becomes a resistance and applies a greater load to the moving motor than usual. In this case, it can be expected that the current flowing through the moving motor will be greater than usual. According to the above configuration, the control unit can estimate the load applied to the moving motor based on the current flowing through the moving motor while the moving motor is operated, thereby determining whether the movement of the working robot is hindered by an obstacle.

[0030] In one or more embodiments, the control unit may determine that the movement of the working robot is hindered by the obstacle when a situation in which the detection value of the motor current detection unit reaches or exceeds a predetermined current value continues for more than a predetermined time.

[0031] The control unit sometimes causes the working robot to perform an avoidance action to move to avoid the obstacle in response to a determination that the movement of the working robot is obstructed by an obstacle. In this configuration, when the detection value of the motor current detection unit reaches or exceeds a specified current value, and it is determined that the movement of the working robot is obstructed by an obstacle, there may be no need to perform an avoidance action. This is because sometimes the obstacle can be avoided by the normal movement of the working robot even without performing an avoidance action. According to the above configuration, when the situation in which the detection value of the motor current detection unit reaches or exceeds a specified current value continues for more than a specified time, it is determined that the movement of the working robot is obstructed by an obstacle. Thus, an avoidance action is performed only when the state in which the movement of the working robot is obstructed by an obstacle continues to a certain extent. Accordingly, it is possible to suppress a situation in which an avoidance action is not required. As a result, the work performed by the working robot can be performed smoothly.

[0032] In one or more embodiments, the working unit may include a mower for mowing a lawn. The working robot may also function as a robot lawn mower.

[0033] According to the above configuration, the work performed by the robot mower can be performed smoothly.

[0034] (Example 1: Robotic lawn mower 2)

[0035] like Figure 1 As shown, the working robot of this 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, and a road 106. 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 2. The "working area WA" referred to herein is an area surrounded by the metal wire 112. The robot lawn mower 2 can detect the position of the metal wire 112 and move autonomously in a manner not to deviate from the working area WA in which the robot lawn mower 2 is located. Accordingly, the robot lawn mower 2 can move on the lawn in a manner avoiding the house 102, the pond 104, and the road 106 while performing a lawn mowing operation.

[0036] like Figure 2 , Figure 3 , Figure 4 As shown, the robot lawn mower 2 includes a robot body 4, a power supply unit 6, a control unit 8, an input operation unit 10, a communication unit 12, a display unit 14, an alarm unit 16, a moving unit 18, a working unit 20, a height adjustment unit 22, and a detection unit 24. The power supply unit 6, the control unit 8, the input operation unit 10, the communication unit 12, the display unit 14, the alarm unit 16, the moving unit 18, the working unit 20, the height adjustment unit 22, and the detection unit 24 are supported by the robot body 4, respectively.

[0037] like Figure 2 As shown in FIG. 1 , the robot body 4 includes a base frame 26 and a body 28 supported by the base frame 26. The body 28 is provided so as to cover the base frame 26 from above. The body 28 is supported by the base frame 26 so as to be movable in the front, back, up, down, left, and right directions. Normally, the body 28 is held in place by a spring. Figure 2 Position shown.

[0038] Figure 4The power supply unit 6 shown can supply power to various parts of the robot mower 2 via the power supply circuit 38 of the control unit 8. The power supply unit 6 includes a rechargeable battery 30 such as a lithium ion battery and a charging interface 32 electrically connected to the battery 30. The nominal capacity of the battery 30 is, for example, 5.0 Ah. The nominal voltage of the battery 30 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 32. Figure 1 ) docking. When the robot lawn mower 2 is docked with the charging station 110, the battery 30 can be charged by the power supplied from the charging station 110. The battery 30 can also be charged by wired charging. Specifically, the battery 30 can be charged in a state where the terminal provided at the charging station 110 and the terminal provided at the charging interface 32 are connected to each other. Alternatively, the battery 30 can be charged by wireless charging. Specifically, the power transmission coil provided at the charging station 110 can be used to generate an induced electromotive force in the power receiving coil provided at the charging interface 32, thereby charging the battery 30.

[0039] The control unit 8 includes a processor 34, a memory 36, and a power supply circuit 38. The memory 36 includes a ROM, a RAM, and the like. The ROM stores a program for autonomously controlling the robot mower 2. The RAM temporarily stores various signals input to the control unit 8 or various data (e.g., flags) generated during the processing performed by the processor 34. The processor 34 is configured to perform processing based on the information stored in the memory 36, thereby controlling the robot mower 2. In addition, the memory 36 stores settings related to the robot mower 2. The settings related to the robot mower 2 include, for example, settings related to the operating time period of the robot mower 2. The "operating time period" mentioned here refers to the time period in which the robot mower 2 can perform operations. By setting the operating time period, it is possible to suppress the situation of performing operations in a time period not intended by the user (e.g., at night). In addition, the settings related to the robot mower 2 include settings related to the height adjustment of the cutting blade 46. The settings related to the height adjustment of the cutter 46 include: in the autonomous operation described later, the settings for adjusting the height h of the cutter 46 (see Figure 2 ) to automatically adjust the height of the cutter 46. The settings related to the height adjustment of the cutter 46 also include: the initial height of the cutter 46 required when the automatic height adjustment function is turned on, the target height of the cutter 46, and the working area WA (see Figure 1 ) area setting, and the setting of the fixed height of the cutting knife 46 required when the automatic height adjustment function is turned off.

[0040] The input operation unit 10 is provided on the body 28 (see Figure 2 ) is provided with a switch and the like that can be operated by a user. The user can perform various input operations related to the robot lawn mower 2 by means of the input operation unit 10. The "input operation" mentioned here refers to, for example, an operation of switching on / off the main power supply of the robot lawn mower 2, an operation of giving instructions to the robot lawn mower 2, and an operation of changing settings related to the robot lawn mower 2.

[0041] The communication unit 12 is an interface for connecting to the Internet, for example, 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 the user through the communication unit 12. Accordingly, the control unit 8 can notify the communication terminal owned by the user of abnormal conditions of the robot mower 2, etc. In addition, the user can use the communication terminal to perform various input operations related to the robot mower 2 in the same way as the input operation unit 10.

[0042] The display unit 14 is provided on the body 28 (see Figure 2 ) on the outer surface of the robot mower 2. The display unit 14 includes, for example, a display screen (not shown) for displaying text or images, and a light source device for displaying the state of the robot mower 2 using the chromaticity or blinking pattern of light. The "state of the robot mower 2" mentioned here refers to, for example, a state in which the battery 30 is charged, or a state in which an abnormality occurs in the robot mower 2.

[0043] The alarm unit 16 includes, for example, a buzzer (not shown). The alarm unit 16 can notify the user of abnormality in the robot mower 2 by making a sound.

[0044] The moving part 18 includes a pair of left and right casters 40L and 40R, a pair of left and right driving wheels 42L and 42R, and a pair of left and right moving motors 44L and 44R. The moving motors 44L and 44R are, for example, brushless DC motors. The driving wheels 42L and 42R are connected to output shafts (not shown) of the moving motors 44L and 44R, respectively. Figure 2 , Figure 3 As shown, the robot mower 2 is placed on the ground G with the casters 40L, 40R and the drive wheels 42L, 42R in contact with the ground G. The moving unit 18 is moved by the moving motors 44L, 44R (see Figure 4) is moved to rotate the driving wheels 42L, 42R, so that the robot mower 2 can move forward, backward, and turn. In addition, in the present embodiment, the direction perpendicular to the ground G and the direction from the ground G toward the robot body 4 is set as the upward direction, and the direction from the robot body 4 toward the ground G is set as the downward direction. The direction perpendicular to the up-down direction and the direction from the driving wheel 42R toward the driving wheel 42L is set as the left direction, and the direction from the driving wheel 42L toward the driving wheel 42R is set as the right direction. The direction perpendicular to the up-down direction and the left-right direction and the direction from the driving wheels 42L, 42R toward the casters 40L, 40R is set as the front direction, and the direction from the casters 40L, 40R toward the driving wheels 42L, 42R is set as the rear direction.

[0045] like Figure 2 As shown, the working unit 20 includes a cutting blade 46 and a working motor 48. The cutting blade 46 is a rotating blade formed in a substantially disk shape. The working motor 48 is, for example, a brushless DC motor. The working motor 48 is arranged in a state of being inclined from the front to the rear as the output shaft 50 moves from the top to the bottom. The cutting blade 46 is connected to the output shaft 50 of the working motor 48. The working unit 20 can mow the lawn by operating the working motor 48 to rotate the cutting blade 46.

[0046] The height adjustment unit 22 includes a height adjustment mechanism 52 and a height adjustment motor 54. The height adjustment mechanism 52 includes an outer cylinder 58 provided with an internal thread 56 and an inner cylinder 62 provided with an external thread 60. The external thread 60 of the inner cylinder 62 is screwed into the internal thread 56 of the outer cylinder 58. The outer cylinder 58 is supported so as to be unable to move in the vertical direction relative to the base frame 26 and to be able to rotate around an axis along the vertical direction relative to the base frame 26. The inner cylinder 62 is supported so as to be able to move in the vertical direction relative to the base frame 26 and to be unable to rotate relative to the base frame 26. The working unit 20 is fixed to the inner cylinder 62. In addition, the height adjustment motor 54 is, for example, a brushless DC motor. The output shaft (not shown) of the height adjustment motor 54 is connected to the outer cylinder 58 by means of gears or the like. The height adjustment unit 22 can change the vertical position of the inner cylinder 62 by operating the height adjustment motor 54 to rotate the outer cylinder 58. Accordingly, the height adjustment unit 22 can change the height h of the cutting knife 46. In addition, in the present embodiment, the height h of the cutting knife 46 is represented by the distance between the lower end of the cutting knife 46 and the ground G. The height h of the cutting knife 46 can be changed within a range of 10 mm to 80 mm, for example, and in the present embodiment, it can be changed within a range of 20 mm to 60 mm.

[0047] like Figure 4As shown, the detection unit 24 includes a wire detection sensor 64 , a collision detection sensor 66 , a lift detection sensor 68 , an angular velocity detection sensor 70 , a motor current detection circuit 72 , and a battery voltage detection circuit 74 .

[0048] The metal wire detection sensor 64 is used to detect the metal wire 112 (refer to Figure 1 ) is a sensor for detecting. The metal wire detection sensor 64 is, for example, a Hall sensor. In this embodiment, a predetermined electrical signal is sent from the charging station 110 (refer to Figure 1 ) is applied to the metal wire 112. As a result, a magnetic signal corresponding to a predetermined electric signal is generated around the metal wire 112. The metal wire detection sensor 64 is configured to detect the magnetic signal and output it to the control unit 8. The control unit 8 can grasp the situation that the robot mower 2 is close to the metal wire 112 or the situation that the robot mower 2 is on the metal wire 112 based on the signal pattern or signal strength of the magnetic signal detected by the metal wire detection sensor 64.

[0049] The collision detection sensor 66 is a sensor for detecting whether the robot lawn mower 2 collides with an obstacle. The collision detection sensor 66 is, for example, a Hall sensor. Figure 5 As shown in FIG. 1 , the collision detection sensor 66 is provided on the base frame 26. A magnet 76 is provided at a position of the machine body 28 that is opposed to the collision detection sensor 66 in the vertical direction. The collision detection sensor 66 detects the strength of the magnetic field generated by the magnet 76 provided on the machine body 28. When the strength of the magnetic field detected by the collision detection sensor 66 is large, the collision detection sensor 66 outputs an H signal to the control unit 8 (see FIG. 1 ). Figure 4 ), when the intensity of the detected magnetic field is small, an L signal is output to the control unit 8. Figure 2 In the case of the position shown in FIG. 1 , the position of the collision detection sensor 66 in the horizontal direction and the position of the magnet 76 in the horizontal direction coincide with each other. As a result, the intensity of the magnetic field detected by the collision detection sensor 66 is large, and the collision detection sensor 66 outputs an H signal to the control unit 8. Figure 2 When the position shown moves in the horizontal direction, the position of the collision detection sensor 66 in the horizontal direction and the position of the magnet 76 in the horizontal direction are offset from each other. Accordingly, the intensity of the magnetic field detected by the collision detection sensor 66 is small, and therefore, the collision detection sensor 66 outputs an L signal to the control unit 8.

[0050] The lift detection sensor 68 is a sensor for detecting whether the robot lawn mower 2 is lifted from the ground G. The lift detection sensor 68 is, for example, an inductive sensor. Figure 6As shown in FIG. 1 , the lift detection sensor 68 is provided on the base frame 26. A metal plate 78 is provided at a position of the machine body 28 that is opposite to the lift detection sensor 68 in the vertical direction. The lift detection sensor 68 detects whether the metal plate 78 provided on the machine body 28 is in the vicinity. When the metal plate 78 is in the vicinity, the lift detection sensor 68 outputs an H signal to the control unit 8 (see FIG. 1 ). Figure 4 ), when the metal plate 78 is not in the vicinity, the L signal is output to the control unit 8. Figure 2 In the case of the position shown in FIG. 1 , since the metal plate 78 is near the lift detection sensor 68, the lift detection sensor 68 outputs an H signal to the control unit 8. Figure 2 When the position shown moves upward, the metal plate 78 leaves the lift detection sensor 68 , and therefore, the lift detection sensor 68 outputs an L signal to the control unit 8 .

[0051] Figure 4 The angular velocity detection sensor 70 shown is provided on the base frame 26 (see Figure 2 ). The angular velocity detection sensor 70 detects the angular velocity of the base frame 26 and outputs the detected angular velocity to the control unit 8.

[0052] The battery voltage detection circuit 74 detects the voltage value of the battery 30 (that is, the remaining capacity of the battery 30 ), and outputs the detected voltage value to the control unit 8 .

[0053] The motor current detection circuit 72 detects the current values ​​supplied to the movement motors 44L and 44R and the working motor 48 , and outputs the detected current values ​​to the control unit 8 .

[0054] (Autonomous operation)

[0055] The autonomous operation performed by the control unit 8 (specifically, the processor 34) will be described below. The autonomous operation of this embodiment differs in operation content depending on whether the automatic height adjustment function is turned on or off.

[0056] (Autonomous operation with automatic height adjustment function turned on)

[0057] When the automatic height adjustment function is turned on, the robot mower 2 makes the cutting blade 46 (see Figure 2 ) changes in a stepwise manner from the initial height to the target height. In this embodiment, the initial height is set to a value greater than the target height. For example, the initial height is set to 50 mm and the target height is set to 30 mm. Thus, the robot mower 2 decreases the height h of the mowing blade 46 in a stepwise manner from the initial height to the target height. Figure 7 , details the autonomous operation when the automatic height adjustment function is turned on.

[0058] When the automatic height adjustment function is turned on, the input operation unit 10 (see Figure 4 ) or the user's communication terminal and instructs the start of autonomous operation, the Figure 7 Processing shown.

[0059] In S2, the control unit 8 controls the height adjustment motor 54 (see Figure 2 ) is operated to make the height h of the cutting knife 46 consistent with the initial height preset by the user. After S2, the process enters S4.

[0060] In S4, the control unit 8 determines whether the current time is in the work time period. If the current time is not in the work time period (in the case of NO), the process proceeds to S6.

[0061] In S6, the control unit 8 causes the robot mower 2 to be placed in the charging station 110 (see Figure 1 ) standby. In addition, when the robot lawn mower 2 is not at the charging station 110 at the stage where S6 has already started, the control unit 8 returns the robot lawn mower 2 to the charging station 110. Specifically, the control unit 8 has already driven the working motor 48 (see Figure 4 ) is stopped, the moving motors 44L and 44R (refer to Figure 4 ) to return the robot mower 2 to the charging station 110 along the wire 112. Thereafter, the control unit 8 stops the working motor 48 and the moving motors 44L and 44R, and makes the robot mower 2 stand by at the charging station 110. After S6, the process returns to S4.

[0062] In S4, if the current time is in the operation time period (if YES), the process proceeds to S8. In S8, the control unit 8 starts the mowing operation performed by the robot lawn mower 2. Specifically, the control unit 8 operates the moving motors 44L and 44R to move the robot body 4, and operates the working motor 48 to perform lawn mowing by the mowing blade 46. As a result, the height of the lawn is aligned with the height h of the mowing blade 46. After S8, the process proceeds to S10.

[0063] In S10, the control unit 8 determines whether a predetermined lawn height uniformity condition is satisfied. The lawn height uniformity condition is, for example, that the work area WA (see Figure 1) is flush with the height h of the cutting blade 46 as a whole. The lawn height uniformity condition includes a first lawn height uniformity condition, and the first lawn height uniformity condition is: the cumulative value of the mowing operation time in the state where the height h of the cutting blade 46 does not change exceeds the first operation time threshold. The "mowing operation time" mentioned here means: the time after the elapsed time during which the mowing operation is interrupted is subtracted from the elapsed time from the start to the end of the mowing operation. The mowing operation time is: for example, the time for the operation motor 48 to operate during the execution of the mowing operation. And, the "cumulative value of the mowing operation time" is: when the mowing operation is performed multiple times in the state where the height h of the cutting blade 46 does not change, the value after the mowing operation time of each time is added up. In addition, the "first operation time threshold" is: a time threshold determined based on the area of ​​the operation area WA. The memory 36 of the control unit 8 stores Figure 8 The threshold table TT is as shown. The threshold table TT records: the first operation time threshold value to be determined in association with the area of ​​the operation area WA. Thus, the control unit 8 can determine: the first operation time threshold value corresponding to the area of ​​the operation area WA preset by the user. In addition, in the threshold table TT, one first operation time threshold value is allocated to each of a plurality of area ranges. In addition, the lawn height uniformity condition also includes a second lawn height uniformity condition, and the second lawn height uniformity condition is: the battery 30 (refer to Figure 4 ) exceeds a predetermined second operation time threshold. The second operation time threshold is, for example, 2.0 h or more, and in the present embodiment, is 2.5 h. Normally, when the height of the lawn is equal to the height h of the mowing blade 46, the load applied to the operation motor 48 for driving the mowing blade 46 becomes smaller, and thus the remaining amount of the battery 30 becomes longer. When the remaining amount of the battery 30 becomes longer, the cumulative value of the mowing operation time in the state where the battery 30 is not charged becomes longer. Therefore, when the cumulative value of the mowing operation time in the state where the battery 30 is not charged becomes longer, it can be inferred that the height of the lawn in the operation area WA is equal to the height h of the mowing blade 46 as a whole. In addition, when any one of the above conditions is satisfied, the control unit 8 also determines that the lawn height uniformity condition is satisfied (YES). When the lawn height uniformity condition is satisfied (YES), the process enters S12.

[0064] In S12, the control unit 8 turns on the lawn height uniform flag. In other words, the control unit 8 stores information indicating that the lawn height uniform condition is satisfied in S10 in the memory 36.

[0065] In S10, if the lawn height uniformity condition is not satisfied (in the case of NO), or after S12, the process proceeds to S14. In S14, the control unit 8 determines whether a predetermined return condition is satisfied. The return condition includes a first return condition, which is that the remaining amount of the battery 30 is reduced. Specifically, the first return condition is that the battery voltage detection circuit 74 (refer to Figure 4 ) The voltage value of the battery 30 detected by the control unit 8 is less than a predetermined voltage value (for example, 17.5V). In addition, the regression condition further includes a second regression condition, and the second regression condition is that the lawn height uniformity mark is ON. When any one of the above conditions is satisfied, the control unit 8 determines that the regression condition has been satisfied (YES). When the regression condition is not satisfied (in the case of NO), the process returns to S10. When the regression condition has been satisfied (in the case of YES), the process enters S16.

[0066] In S16, the control unit 8 ends the mowing operation started in S8 and returns the robot mower 2 to the charging station 110. Specifically, the control unit 8 operates the moving motors 44L and 44R while the working motor 48 is stopped, so that the robot mower 2 returns to the charging station 110 along the wire 112. After S16, the process proceeds to S18.

[0067] In S18, the control unit 8 docks the robot lawn mower 2 with the charging station 110 and starts charging the battery 30. Thereafter, the control unit 8 continues charging the battery 30 until a predetermined charging termination condition is satisfied. The charging termination condition is, for example, that the voltage value of the battery 30 detected by the battery voltage detection circuit 74 reaches a predetermined value (for example, 20V) or more. When charging of the battery 30 is completed in S18, the process proceeds to S20.

[0068] In S20, the control unit 8 determines whether the lawn height uniformity flag is on. If the lawn height uniformity flag is off (in the case of NO), the process returns to S4. If the lawn height uniformity flag is on (in the case of YES), the process proceeds to S22.

[0069] In S22, the control unit 8 determines whether the current height h of the cutter 46 reaches the target height set in advance by the user. If the height h of the cutter 46 does not reach the target height (that is, the height h of the cutter 46 is higher than the target height) (NO), the process proceeds to S24.

[0070] In S24, the control unit 8 controls the height adjustment motor 54 (see Figure 2) is performed to reduce the height h of the cutting blade 46 by a predetermined amount (e.g., 5 mm). In addition, at the stage of executing S24, the robot lawn mower 2 is in the charging station 110. Accordingly, the height h of the cutting blade 46 can be reduced in a relatively safe place. In addition, the control unit 8 turns the lawn height uniformity flag OFF in response to the reduction of the height h of the cutting blade 46. After S24, the process returns to S4.

[0071] In S22, if the height h of the mowing blade 46 reaches the target height (in the case of YES), the process proceeds to S26. In S26, the control unit 8 notifies the user that the height of the lawn in the working area WA is generally at the target height. The control unit 8 uses, for example, the communication unit 12 (see Figure 4 ) communicates with the user's communication terminal and informs the communication terminal that the height of the lawn in the working area WA is generally aligned with the target height. After S26, the process ends. Figure 7 Processing shown.

[0072] When the autonomous operation is terminated by the input operation unit 10 or the user's communication terminal, the Figure 7 In addition, when the main power of the robot mower 2 is switched OFF by the input operation unit 10 or the user's communication terminal, the process is also terminated. Figure 7 Processing shown.

[0073] (Autonomous operation with automatic altitude adjustment function turned off)

[0074] When the automatic height adjustment function is turned off, the robot lawn mower 2 will cut the blade 46 (refer to Figure 2 ) continues to maintain the fixed height h set by the user in advance. Fig. 9 , details the autonomous operation with the automatic height adjustment function turned off.

[0075] When the automatic height adjustment function is turned off, the input operation unit 10 (see Figure 4 ) or the user's communication terminal and instructs the start of autonomous operation, the Fig. 9 Processing shown.

[0076] In S32, the control unit 8 controls the height adjustment motor 54 (see Figure 2 ) is operated to make the height h of the cutting knife 46 consistent with the fixed height. After S32, the process enters S34.

[0077] In S34, the control unit 8 determines whether the current time is in the work time period. If the current time is not in the work time period (in the case of NO), the process proceeds to S36.

[0078] In S36, the control unit 8 causes the robot mower 2 to be placed in the charging station 110 (see Figure 1 ) standby. In addition, when the robot lawn mower 2 is not at the charging station 110 at the stage where S36 has already started, the control unit 8 returns the robot lawn mower 2 to the charging station 110. Specifically, the control unit 8 has already driven the working motor 48 (see Figure 4 ) is stopped, the moving motors 44L and 44R (refer to Figure 4 ) to return the robot mower 2 to the charging station 110 along the wire 112. Thereafter, the control unit 8 stops the working motor 48 and the moving motors 44L and 44R, and makes the robot mower 2 stand by at the charging station 110. After S36, the process returns to S34.

[0079] In S34, if the current time is in the operation time period (if YES), the process proceeds to S38. In S38, the control unit 8 starts the mowing operation performed by the robot lawn mower 2. Specifically, the control unit 8 operates the moving motors 44L and 44R to move the robot body 4, and operates the working motor 48 to perform lawn mowing by the mower 46. After S38, the process proceeds to S40.

[0080] In S40, the control unit 8 determines whether a predetermined return condition has been satisfied. The return condition is, for example, a voltage detected by the battery voltage detection circuit 74 (see Figure 4 ) The voltage value of the battery 30 detected is less than a predetermined voltage value (for example, 17.5 V). When the return condition is not satisfied (in the case of NO), the process repeatedly executes S40. When the return condition is satisfied (in the case of YES), the process proceeds to S42.

[0081] In S42, the control unit 8 ends the mowing operation started in S38 and returns the robot mower 2 to the charging station 110. Specifically, the control unit 8 operates the moving motors 44L and 44R while the working motor 48 is stopped, so that the robot mower 2 returns to the charging station 110 along the wire 112. After S42, the process proceeds to S44.

[0082] In S44, the control unit 8 docks the robot lawn mower 2 with the charging station 110 and starts charging the battery 30. Thereafter, the control unit 8 continues charging the battery 30 until a predetermined charging termination condition is satisfied. The charging termination condition is, for example, that the voltage value of the battery 30 detected by the battery voltage detection circuit 74 reaches a predetermined value (for example, 20V) or more. When charging of the battery 30 is terminated in S44, the process returns to S34.

[0083] When the end of the autonomous operation is instructed via the input operation unit 10 or the user's communication terminal, the Fig. 9 In addition, when the main power of the robot mower 2 is switched OFF by the input operation unit 10 or the user's communication terminal, the process is also terminated. Fig. 9 Processing shown.

[0084] (Operation of the Robot Mower 2 When Interference with an Obstacle)

[0085] Regardless of whether the automatic height adjustment function is turned on or off, the control unit 8 repeatedly executes the following steps during the autonomous operation: Fig.10 Processing shown.

[0086] In S52, the control unit 8 determines whether the machine body 28 is detected (see Figure 2 ) relative to the base frame 26 (reference Figure 2 Specifically, the control unit 8 determines whether the collision detection sensor 66 (refer to Figure 4 ) and the lift detection sensor 68 (refer to Figure 4 ) outputs an L signal. When the movement of the machine body 28 relative to the base frame 26 is not detected (in the case of NO), the process proceeds to S54.

[0087] In S54, the control unit 8 determines that the movement of the robot mower 2 is not hindered. After S54, the process returns to S52.

[0088] In S52, if the movement of the body 28 relative to the base frame 26 is detected (in the case of YES), the process proceeds to S56. In S56, the control unit 8 determines that the movement of the robot lawn mower 2 is hindered by the obstacle. Then, the control unit 8 controls the movement motors 44L and 44R (see Figure 4 ) and the working motor 48 (refer to Figure 4 ) stops, interrupting the normal operation. The normal operation here means: the mowing operation or return operation performed by the robot lawn mower 2 in autonomous operation. After S56, the process enters S58.

[0089] In S58, the control unit 8 operates the moving motors 44L and 44R, and the robot mower 2 starts to perform an avoidance action. The "avoidance action" mentioned here is, for example, any one of the forward action of the robot mower 2, the backward action of the robot mower 2, the left turning action of the robot mower 2 to the left, and the right turning action of the robot mower 2 to the right. In addition, the "turning action" mentioned here refers to not only the action of rotating the robot mower 2 in place, but also the action of rotating while moving the robot mower 2 forward or backward. In this embodiment, the control unit 8 determines the moving direction of the robot mower 2 before the normal action is interrupted in S56. Moreover, the control unit 8 determines the avoidance action started in S58 as the following action, that is, the action of the robot mower 2 moving in the direction opposite to the moving direction before the normal action is interrupted in S56. For example, if the robot mower 2 performs a forward motion before interrupting the normal motion in S56, the avoidance motion started in S58 becomes a backward motion. If the robot mower 2 performs a left turn motion before interrupting the normal motion in S56, the avoidance motion started in S58 becomes a right turn motion. After S58, the process proceeds to S60.

[0090] In S60, the control unit 8 determines whether the movement of the machine body 28 relative to the base frame 26 is detected during the execution of the avoidance action that started not long ago (in S58 or S62). Specifically, the control unit 8 determines whether the signal output from at least one of the collision detection sensor 66 and the lift detection sensor 68 is switched from the H signal to the L signal during the execution of the avoidance action. In addition, even if a sensor that continuously outputs the L signal from the start of the avoidance action is provided, the L signal output from the sensor is not a signal that switches from the H signal to the L signal during the execution of the avoidance action. Therefore, there will be no situation where the judgment is YES based on the sensor in S60. It should be noted that the YES / NO judgment in S60 is different from the YES / NO judgment in S52 in this respect. In the case where the movement of the machine body 28 relative to the base frame 26 is detected during the execution of the avoidance action (in the case of YES), the processing enters S62.

[0091] In S62, the control unit 8 causes the robot mower 2 to start an avoidance action different from the previous avoidance action. For example, when the previous avoidance action was a forward action, the control unit 8 causes the robot mower 2 to start a backward action, a left turn action, or a right turn action. After S62, the process returns to S60.

[0092] In the case where the movement of the machine body 28 relative to the base frame 26 is not detected during the execution of the avoidance action in S60 (in the case of NO), the process proceeds to S64. In S64, the control unit 8 determines whether an overload on the moving motors 44L and 44R is detected during the execution of the avoidance action that was started immediately before the determination of NO in S60. Specifically, the control unit 8 determines whether the motor current detection circuit 72 (see FIG. 1 ) detects an overload on the moving motors 44L and 44R. Figure 4 ) and whether the current value flowing through the moving motors 44L and 44R is greater than a specified current value (for example, 3.0A) for a specified time (for example, 0.1 seconds) or more. If an overload is detected for the moving motors 44L and 44R during the execution of the avoidance action (if YES), the process proceeds to S66.

[0093] At S66, the control unit 8 determines that the movement (specifically, the avoidance action) of the robot mower 2 is obstructed by an obstacle. For example, when a portion of the robot mower 2 other than the body 28 (for example, the drive wheels 42L, 42R) interferes with an obstacle, the movement of the robot mower 2 is obstructed by the obstacle even though the movement of the body 28 is not detected (NO at S60). However, in this case, the obstacle becomes a resistance, and it is foreseeable that a greater load than usual will be applied to the moving motors 44L, 44R. Therefore, the robot mower 2 of this embodiment determines that the movement of the robot mower 2 is obstructed by an obstacle when an overload is detected on the moving motors 44L, 44R (YES at S64). In addition, at S66, the control unit 8 counts the number of times the movement of the robot mower 2 is determined to be obstructed by an obstacle by +1. This count number is Fig.10 The timing of the end of the process shown is reset to zero, so that Fig.10 The timing of the processing shown is 0. After S66, the processing proceeds to S68.

[0094] In S68, the control unit 8 determines whether the counted number is greater than a predetermined number (for example, 2 times). If the counted number is less than the predetermined number (in the case of NO), the process proceeds to S62. If the counted number is greater than the predetermined number (in the case of YES), the process proceeds to S70.

[0095] In S70, the control unit 8 determines that the robot lawn mower 2 has an abnormality and stops the robot lawn mower 2. Specifically, the control unit 8 stops the moving motors 44L, 44R and the working motor 48 and makes the robot lawn mower 2 wait at the same place. In addition, the control unit 8 makes the display unit 14 (see Figure 4 ) or alarm unit 16 (refer to Figure 4) to perform an action and notify the abnormality by sound or light. Alternatively, the control unit 8 uses the communication unit 12 (refer to Figure 4 ) and communicates with the communication terminal (e.g., a smartphone) owned by the user, and notifies the communication terminal of the abnormality. After S70, the process ends. Fig.10 Processing shown.

[0096] In S64, when no overload is detected for the moving motors 44L and 44R during the execution of the avoidance action (in the case of NO), the process proceeds to S72. In S72, the control unit 8 determines whether the avoidance action started in S58 or S62 has ended. In the present embodiment, the control unit 8 predetermines how much each output shaft of the moving motors 44L and 44R rotates when performing the avoidance action. Moreover, the control unit 8 uses a rotation detection sensor (resolver, etc.) provided on the moving motors 44L and 44R to monitor the rotation amount of each output shaft of the moving motors 44L and 44R. Thus, the control unit 8 determines that the avoidance action has ended (YES) when the rotation amount of each output shaft of the moving motors 44L and 44R reaches a predetermined rotation amount after the robot mower 2 starts the avoidance action. In the case that the avoidance action has not ended (in the case of NO), the process returns to S60. In the case that the avoidance action has ended (in the case of YES), the process proceeds to S74.

[0097] In S74, the control unit 8 determines that the movement (specifically, the avoidance action) of the robot lawn mower 2 is not hindered. This is because: no overload on the movement motors 44L and 44R is detected, and it is estimated that the movement of the robot lawn mower 2 is completed smoothly. In addition, the control unit 8 restarts the normal action (mowing operation or return action) that was interrupted in S56. After S74, the end Fig.10 Processing shown.

[0098] (Example 2: Robotic lawn mower 202)

[0099] The robot lawn mower 202 has the following features: Figures 1 to 10 ) has substantially the same structure. The difference between the robot lawn mower 202 and the robot lawn mower 2 of the first embodiment is only that: Fig.10 The processing shown in the figure, the control unit 8 (refer to Figure 4 )implement Fig.11 Therefore, the following only Fig.11 The description of the processing shown is omitted.

[0100] In S102, the control unit 8 determines whether the machine body 28 is detected (see Figure 2) relative to the base frame 26 (reference Figure 2 Specifically, the control unit 8 determines whether the collision detection sensor 66 (refer to Figure 4 ) and the lift detection sensor 68 (refer to Figure 4 ) outputs an L signal. When the movement of the machine body 28 relative to the base frame 26 is not detected (in the case of NO), the process proceeds to S104.

[0101] In S104, the control unit 8 determines that the movement of the robot mower 202 is not hindered. After S104, the process returns to S102.

[0102] If the movement of the body 28 relative to the base frame 26 is detected in S102 (if YES), the process proceeds to S106. In S106, the control unit 8 determines that the movement of the robot mower 202 is hindered by an obstacle. Then, the control unit 8 controls the movement motors 44L and 44R (see Figure 4 ) and the working motor 48 (refer to Figure 4 ) stops and interrupts the normal action (mowing operation or return action). After S106, the process enters S108.

[0103] In S108, the control unit 8 operates the moving motors 44L and 44R to cause the robot mower 202 to perform a straight-movement action (i.e., a forward action or a backward action). In the present embodiment, the control unit 8 determines whether the direction of travel of the robot mower 202 before the normal action is interrupted in S106 is the forward direction or the backward direction. Moreover, the control unit 8 determines the straight-movement action performed in S108 to be the following action, namely, an action in which the robot mower 202 moves in a direction opposite to the direction of travel before the normal action is interrupted in S106. For example, in the case where the robot mower 202 performs a forward action before the normal action is interrupted in S106, the straight-movement action performed in S108 becomes a backward action. When the straight-movement action ends, the process enters S110.

[0104] In S110, the control unit 8 operates the moving motors 44L and 44R, and the robot mower 202 starts to turn (i.e., turn left or turn right). At this time, the control unit 8 randomly determines: the turning direction of the robot mower 202 and the target turning angle of the robot mower 202. The target turning angle is determined to be, for example, an angle within a range of 10 degrees to 180 degrees. The control unit 8 controls the moving motors 44L and 44R so that the robot mower 202 turns in the determined turning direction and at the determined target turning angle. After S110, the process proceeds to S112.

[0105] In S112, the control unit 8 determines whether the turning angle of the robot mower 202 after the robot mower 202 starts turning has reached the target turning angle. Figure 4 ) to measure the turning angle of the robot mower 202 after the robot mower 202 starts turning. If the turning angle of the robot mower 202 after the robot mower 202 starts turning does not reach the target turning angle (in the case of NO), the process proceeds to S114.

[0106] In S114, the control unit 8 determines whether the time elapsed after the robot mower 202 starts the turning action in S110 is a predetermined time (e.g., 6.0 seconds) or longer. If the elapsed time is less than the predetermined time (in the case of NO), the process returns to S112. If the elapsed time is more than the predetermined time (in the case of YES), the process proceeds to S116.

[0107] In S116, the control unit 8 determines that the movement (specifically, the turning action) of the robot mower 202 is obstructed by an obstacle. For example, when a portion of the robot mower 202 other than the body 28 (for example, the drive wheels 42L, 42R) interferes with an obstacle, the movement of the robot mower 202 is obstructed by the obstacle even though the movement of the body 28 is not detected (NO in S60). In this case, the obstacle becomes a resistance, and it can be expected that the turning angle of the robot mower 202 will not change at all, regardless of whether the moving motors 44L, 44R are operated or not. Therefore, the robot mower 202 of this embodiment determines that the movement of the robot mower 202 is obstructed by an obstacle when the situation in which the turning angle of the robot mower 202 does not reach the target turning angle continues (when S114 is YES). In addition, in S116, the control unit 8 counts the number of times the movement of the robot mower 202 is determined to be obstructed by an obstacle by +1. The count number is Fig.11 The timing of the end of the process shown is reset to zero, so that Fig.11 The timing of the processing shown is 0. After S116, the processing proceeds to S118.

[0108] In S118, the control unit 8 determines whether the counted number is equal to or greater than a predetermined number (for example, 2 times). If the counted number is less than the predetermined number (in the case of NO), the process proceeds to S120.

[0109] In S120, the control unit 8 starts the robot mower 202 to turn in the opposite direction to the previous turning action. For example, when the previous turning action was a left turning action, the control unit 8 starts the robot mower 202 to turn right. After S120, the process returns to S112.

[0110] In S118, if the counted number is greater than the prescribed number (if YES), the process proceeds to S122. In S122, the control unit 8 determines that an abnormality has occurred in the robot mower 202, and stops the robot mower 202. Specifically, the control unit 8 stops the moving motors 44L, 44R and the working motor 48, and makes the robot mower 202 wait at the same place. In addition, the control unit 8 makes the display unit 14 (see Figure 4 ) or alarm unit 16 (refer to Figure 4 ) to perform an action and notify the abnormality by sound or light. Alternatively, the control unit 8 uses the communication unit 12 (refer to Figure 4 ) and communicates with the communication terminal (e.g., a smartphone) owned by the user, and notifies the communication terminal of the abnormality. After S122, the process ends. Fig.11 Processing shown.

[0111] In S112 , when the turning angle of the robot mower 202 after the robot mower 202 starts the turning operation reaches the target turning angle (in the case of YES), the process proceeds to S124 .

[0112] In S124, the control unit 8 determines that the movement (specifically, the turning action) of the robot mower 202 is not hindered by an obstacle. This is because the turning angle of the robot mower 202 reaches the target turning angle, and it is estimated that the movement of the robot mower 202 has ended smoothly. In addition, the control unit 8 restarts the normal action (mowing operation or return action) that was interrupted in S106. After S124, the end Fig.11 Processing shown.

[0113] (Example 3: Robotic lawn mower 302)

[0114] The robot lawn mower 302 has the following features: Figures 1 to 10 ) has substantially the same structure. The difference between the robot lawn mower 302 and the robot lawn mower 2 of the first embodiment is that: Fig.10 The processing shown in the figure, the control unit 8 (refer to Figure 4 )implement Fig.12 In addition, Fig.12 The treatment shown is borrowed from Fig.10The processing shown in FIG. 1 is replaced by S60 and S64 by S160 and S164. Fig.12 The description of S160 and S164 among the processes shown will be described, and the other descriptions will be omitted.

[0115] S160 is executed after S58 or after S62. In S160, the control unit 8 determines whether the movement of the machine body 28 relative to the base frame 26 is detected during the execution of the avoidance action started immediately before (in S58 or S62). Specifically, the control unit 8 determines whether the movement of the machine body 28 relative to the base frame 26 is detected from the collision detection sensor 66 (refer to Figure 4 ) and the lift detection sensor 68 (refer to Figure 4 ) is switched from an H signal to an L signal during the execution of the avoidance action. In addition, even if a sensor is provided that continuously outputs an L signal from the start of the avoidance action, the L signal output from the sensor is not a signal that switches from an H signal to an L signal during the execution of the avoidance action. Thus, there will be no situation where a YES is determined based on the sensor in S160. It should be noted that the YES / NO determination in S160 is different from the YES / NO determination in S52 in this respect. In a case where the movement of the machine body 28 relative to the base frame 26 is not detected during the execution of the avoidance action (in the case of NO), the processing proceeds to S72. In a case where the movement of the machine body 28 relative to the base frame 26 is detected during the execution of the avoidance action (in the case of YES), the processing proceeds to S164.

[0116] In S164, the control unit 8 determines whether an overload on the moving motors 44L and 44R is detected during the execution of the avoidance action that was started immediately before the determination of NO in S160. Specifically, the control unit 8 determines whether the motor current detection circuit 72 (see Figure 4 ) and whether the current value flowing through the moving motors 44L and 44R is greater than a predetermined current value (for example, 3.0A) for a predetermined time (for example, 0.1 seconds) or more. If an overload on the moving motors 44L and 44R is not detected during the execution of the avoidance action (in the case of NO), the process proceeds to S62. If an overload on the moving motors 44L and 44R is detected during the execution of the avoidance action (in the case of YES), the process proceeds to S66.

[0117] Even when the movement of the body 28 is detected (YES in S160), but the overload of the moving motors 44L and 44R is not detected (NO in S164), the movement of the robot mower 302 may be hindered by an obstacle, but this is not reliable. In this case, the robot mower 302 of this embodiment temporarily puts aside the determination of whether the movement of the robot mower 302 is hindered by an obstacle and performs other avoidance actions. Moreover, when the movement of the body 28 is detected (YES in S160) and the overload of the moving motors 44L and 44R is detected (YES in S164), it is determined that the movement of the robot mower 302 is hindered by an obstacle. Accordingly, it is possible to suppress the situation where the control unit 8 makes an erroneous judgment (in fact, regardless of whether the movement of the robot mower 302 is hindered by an obstacle or not, it is determined that the movement of the robot mower 302 is hindered by an obstacle).

[0118] (Example 4: Robotic lawn mower 402)

[0119] The robot lawn mower 402 has the following features: Figures 1 to 10 ) has substantially the same structure. The difference between the robot lawn mower 402 and the robot lawn mower 2 of the first embodiment is only that: Figure 7 The processing shown in the figure, the control unit 8 (refer to Figure 4 )implement Fig.13 Therefore, the following only Fig.13 The description of the processing shown is omitted.

[0120] In S202, the control unit 8 controls the height adjustment motor 54 (see Figure 2 ) to move, so that the cutting knife 46 (refer to Figure 2 ) is consistent with the initial height pre-set by the user. After S202, the process proceeds to S204.

[0121] In S204, the control unit 8 determines whether the current time is in the work time period. If the current time is not in the work time period (NO), the process proceeds to S206.

[0122] In S206, the control unit 8 causes the robot lawn mower 402 to charge at the charging station 110 (see Figure 1 ) standby. In addition, when the robot lawn mower 402 is not at the charging station 110 at the stage where S206 has already started, the control unit 8 returns the robot lawn mower 402 to the charging station 110. Specifically, the control unit 8 has already used the working motor 48 (see Figure 4 ) is stopped, the moving motors 44L and 44R (refer to Figure 4) to return the robot mower 402 to the charging station 110 along the wire 112. Thereafter, the control unit 8 stops the working motor 48 and the moving motors 44L and 44R, and makes the robot mower 402 standby at the charging station 110. After S206, the process returns to S204.

[0123] In S204, if the current time is in the operation time period (if YES), the process proceeds to S208. In S208, the control unit 8 starts the mowing operation performed by the robot mower 402. Specifically, the control unit 8 operates the moving motors 44L and 44R to move the robot body 4, and operates the operation motor 48 to perform the mowing operation by the cutter 46 (see Figure 2 ) is used to mow the lawn. As a result, the height of the lawn will be flush with the height h of the mowing blade 46. After S208, the process proceeds to S210.

[0124] In S210, the control unit 8 determines whether a predetermined lawn height uniformity condition is satisfied. The lawn height uniformity condition mentioned here is substantially the same as the condition described in Example 1, so the description thereof is omitted. If the lawn height uniformity condition is satisfied (YES), the process proceeds to S212.

[0125] In S212, the control unit 8 determines whether the current height h of the cutter 46 has reached the target height set in advance by the user. If the height h of the cutter 46 has not reached the target height (that is, the height h of the cutter 46 is higher than the target height) (NO), the process proceeds to S214.

[0126] In S214, the control unit 8 operates the height adjustment motor 54 to lower the height h of the cutting knife 46 by a predetermined amount (eg, 5 mm).

[0127] In S212, when the height h of the cutting blade 46 reaches the target height (if YES), the process proceeds to S216. In S216, the control unit 8 turns on a target height reaching flag indicating that the height of the lawn in the work area WA as a whole reaches the target height.

[0128] In S210, when the lawn height uniformity condition is not satisfied (in the case of NO), after S214 or after S216, the process proceeds to S218. In S218, the control unit 8 determines whether the predetermined regression condition is satisfied. The regression condition mentioned here is substantially the same as the condition described in Example 1, so the description thereof is omitted. In the case that the regression condition is not satisfied (in the case of NO), the process returns to S210. In the case that the regression condition is satisfied (in the case of YES), the process proceeds to S220.

[0129] In S220, the control unit 8 ends the lawn mowing operation started in S208 and returns the robot lawn mower 402 to the charging station 110. Specifically, the control unit 8 operates the moving motors 44L and 44R while stopping the working motor 48, so that the robot lawn mower 402 returns to the charging station 110 along the wire 112. After S220, the process proceeds to S222.

[0130] In S222, the control unit 8 docks the robot mower 402 with the charging station 110 and starts charging the battery 30 (see Figure 4 ) is charged. Thereafter, the control unit 8 continues charging the storage battery 30 until a predetermined charging termination condition is satisfied. The charging termination condition is, for example, a condition detected by the storage battery voltage detection circuit 74 (see Figure 4 ) The voltage value of the battery 30 detected by the control unit 100 reaches a predetermined value (for example, 20 V) or more. When the charging of the battery 30 is completed in S222, the process proceeds to S224.

[0131] In S224, the control unit 8 determines whether the target altitude arrival flag is on. If the target altitude arrival flag is off (in the case of NO), the process returns to S204. If the target altitude arrival flag is on (in the case of YES), the process proceeds to S226.

[0132] In S226, the control unit 8 notifies the user that the height of the lawn in the work area WA is generally aligned with the target height. The control unit 8 uses, for example, the communication unit 12 (see Figure 4 ) communicates with the user's communication terminal and informs the communication terminal that the height of the lawn in the working area WA is generally aligned with the target height. After S226, the process ends. Fig.13 Processing shown.

[0133] (Variation Example)

[0134] The working robot may also be a robot other than the robot lawn mower 2, 202, 302, 402. For example, the working robot may also 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 48 may also 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 plurality of cross-sections of steel bars. In this case, the working motor 48 may also be used as a motor for driving the steel bar bundling mechanism.

[0135] The robot lawn mower 2, 202, 302, 402 may be provided with a power cord connected to an external power source (eg, a commercial power source). In this case, the robot lawn mower 2, 202, 302, 402 may be configured to operate with power supplied from the external power source via the power cord.

[0136] The robot lawn mower 2, 202, 302, 402 may not include the battery 30. 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 lawn mower 2, 202, 302, 402 may be configured to operate with power supplied from the battery pack.

[0137] The moving part 18 may also include other moving mechanisms (e.g., tracks, side steppers) instead of the casters 40L, 40R and the driving wheels 42L, 42R. The side steppers mentioned here are mechanisms that move the robot body 4 in the left-right direction. When the moving part 18 includes a side stepper, the avoidance action may also be an action that moves the robot body 4 to the left or right by the side stepper.

[0138] Figure 7 The regression condition adopted in S14 of may not include the second regression condition. Figure 7 The regression condition adopted in S14 may also include a third regression condition, and the third regression condition is: the lawn height uniformity mark is ON, and the remaining amount of the battery 30 is large (for example, the voltage value of the battery 30 is greater than 19V).

[0139] Figure 7 S24 (or Fig.13 The amount of decrease in the height h of the cutting knife 46 in S214) may not be the prescribed amount. For example, the control unit 8 may randomly determine the amount of decrease in the height h of the cutting knife 46. Alternatively, the control unit 8 may reduce the amount of decrease in the height h of the cutting knife 46 when S24 (or S214) is executed next time, relative to the amount of decrease in the height h of the cutting knife 46 when S24 (or S214) is initially executed in autonomous operation. Alternatively, the amount of decrease in the height h of the cutting knife 46 may be changed by the user via the input operation unit 10 or the communication terminal.

[0140] The robot lawn mower 2, 202, 302, 402 may also have a mapping function for constructing map information of the work area WA. For example, the control unit 8 may also use GPS to obtain the movement history of the robot lawn mower 2, 202, 302, 402 to construct the map information. The map information of the work area WA mentioned here may also include the area of ​​the work area WA. Accordingly, even if the user does not set the area of ​​the work area WA, the control unit 8 can obtain the area of ​​the work area WA.

[0141] exist Fig.10 In the process shown, after S58 or after S62, the process may skip S60 and proceed to S64. That is, the control unit 8 may determine whether the movement of the robot mower 2 is obstructed by an obstacle based only on the detection result of the motor current detection circuit 72, not based on the detection results of the collision detection sensor 66 and the lift detection sensor 68, while the robot mower 2 is performing the avoidance action.

[0142] exist Fig.10 In S60, when the movement of the body 28 relative to the base frame 26 is detected during the execution of the avoidance action (in the case of YES), the process may proceed to S66. That is, when the control unit 8 detects the movement of the body 28 during the execution of the avoidance action, it may also be determined that the movement of the robot mower 2 is hindered by the obstacle.

[0143] exist Fig.10 S60 (or Fig.12 In S160), the control unit 8 determines whether the signal output from at least one of the collision detection sensor 66 and the lift detection sensor 68 is switched from an H signal to an L signal during the execution of the avoidance action. Alternatively, it may be determined whether an L signal is output from at least one of the collision detection sensor 66 and the lift detection sensor 68. That is, even if the signal is not switched from an H signal to an L signal, the control unit 8 may determine as YES as long as the L signal is simply output.

[0144] exist Fig.10 S64 (or Fig.12 In S164), the control unit 8 determines whether the current value detected by the motor current detection circuit 72 and flowing through the moving motors 44L and 44R is greater than the specified current value for a period of time or longer. Alternatively, the control unit 8 may determine whether the current value detected by the motor current detection circuit 72 and flowing through the moving motors 44L and 44R is greater than the specified current value. That is, the control unit 8 may determine YES when the current value detected by the motor current detection circuit 72 and flowing through the moving motors 44L and 44R is greater than the specified current value.

[0145] The robot lawn mower 2, 202, 302, 402 may further include an inclination angle detection sensor (for example, a gyro sensor) for detecting the inclination angle of the base frame 26 relative to the horizontal direction. Fig.10 S52, S60 (or Fig.11 S102, Fig.12 The control unit 8 may also determine whether the tilt angle of the base frame 26 detected by the tilt angle detection sensor exceeds a predetermined angle threshold (e.g., 90 degrees). Alternatively, the control unit 8 may also determine whether the collision detection sensor 66 (see S52 and S160) detects that the base frame 26 has a tilt angle greater than a predetermined angle threshold (e.g., 90 degrees). Figure 4 ) and the lift detection sensor 68 (refer to Figure 4 ) outputs an L signal, and the inclination angle of the base frame 26 detected by the inclination angle detection sensor exceeds a predetermined angle threshold. Fig.10 S64 (or Fig.12 In S164), the control unit 8 may also determine whether the inclination angle of the base frame 26 detected by the inclination angle detection sensor exceeds a predetermined angle threshold (e.g., 90 degrees). Alternatively, the control unit 8 may also determine whether an overload is detected for the moving motors 44L and 44R, and the inclination angle of the base frame 26 detected by the inclination angle detection sensor exceeds a predetermined angle threshold. Accordingly, the control unit 8 may also determine that the movement of the robot mower 2, 202, 302, 402 is hindered by an obstacle when the inclination angle of the base frame 26 is found to be too large.

[0146] (Characteristics of Embodiment)

[0147] As described above, in one or more embodiments, the robot mower 2 , 202 , 302 , 402 (an example of a working robot) performs work while autonomously moving. The robot lawn mower 2, 202, 302, 402 includes: a robot body 4 including a base frame 26 (an example of a base) and a body 28 (an example of a buffer) supported by the base frame 26, a working part 20 supported by the base frame 26, drive wheels 42L, 42R (an example of a moving mechanism) for moving the base frame 26, moving motors 44L, 44R for driving the drive wheels 42L, 42R, a collision detection sensor 66 and / or a lift detection sensor 68 (an example of a first detection unit) for detecting a force exerted on the body 28 or a displacement of the body 28 relative to the base frame 26, a motor current detection circuit 72 (or an angular velocity detection sensor 70 for detecting an angular velocity of the base frame 26) (an example of a second detection unit) for detecting a state of the moving motors 44L, 44R. The control unit 8 is configured to determine whether the movement of the robot mower 2, 202, 302, 402 is hindered by an obstacle based on the detection results of the collision detection sensor 66 and / or the lift detection sensor 68, and the detection results of the motor current detection circuit 72 (or, the angular velocity detection sensor 70).

[0148] According to the above configuration, the control unit 8 of the robot mower 2, 202, 302, 402 can determine whether the movement of the robot mower 2, 202, 302, 402 is obstructed by an obstacle based not only on the force applied to the body 28 or the displacement of the body 28 relative to the base frame 26, but also on the states of the moving motors 44L, 44R (or the angular velocity of the base frame 26). As a result, the accuracy of determining whether the movement of the robot mower 2, 202, 302, 402 is obstructed by an obstacle can be improved, so that the robot mower 2, 202, 302, 402 can easily avoid obstacles. Therefore, according to the above configuration, the operation performed by the robot mower 2, 202, 302, 402 can be smoothly performed.

[0149] In one or more embodiments, the control unit 8 is configured to execute the first obstruction determination process ( Fig.10 S52, S54, S56) (or Fig.11 S102, S104, S106) (or Fig.12 S52, S54, S56), avoidance processing ( Fig.10 S58, S62) (or Fig.11 S108, S110, S120) (or Fig.12 S58, S62), and the second obstruction determination process ( Fig.10 S60, S64, S66, S72, S74) (or, Fig.11 S112, S114, S116, S124) (or Fig.12 S160, S164, S66, S72, S74), wherein, in the first obstruction determination process, it is determined whether the movement of the robot lawn mower 2, 202, 302, 402 is obstructed by an obstacle based at least on the detection results of the collision detection sensor 66 and / or the lift detection sensor 68; in the avoidance process, after it is determined in the first obstruction determination process that the movement of the robot lawn mower 2, 202, 302, 402 is obstructed by an obstacle, the movement user The motors 44L and 44R operate to cause the robot mower 2, 202, 302, 402 to perform an avoidance action to move away from an obstacle; in the above-mentioned second obstruction determination process, while the robot mower 2, 202, 302, 402 is performing the avoidance action, it is determined whether the movement of the robot mower 2, 202, 302, 402 is obstructed by an obstacle based at least on the detection result of the motor current detection circuit 72 (or, the angular velocity detection sensor 70).

[0150] In the above configuration, when the robot mower 2, 202, 302, 402 (specifically, the body 28) interferes with an obstacle, the control unit 8 determines that the movement of the robot mower 2, 202, 302, 402 is hindered by the obstacle, and causes the robot mower 2, 202, 302, 402 to perform an avoidance action. However, sometimes, as the robot mower 2, 202, 302, 402 performs an avoidance action, a portion of the robot mower 2, 202, 302, 402 other than the body 28 interferes with the obstacle, causing the movement of the robot mower 2, 202, 302, 402 to be hindered by the obstacle. In this case, the detection results of the collision detection sensor 66 and / or the lift detection sensor 68 (the force on the body 28 or the displacement of the body 28 relative to the base frame 26) do not show a special sign that the movement of the robot mower 2, 202, 302, 402 is blocked by an obstacle. Therefore, if the control unit 8 determines whether the movement of the robot mower 2, 202, 302, 402 is blocked by an obstacle only based on the collision detection sensor 66 and / or the lift detection sensor 68 during the avoidance action of the robot mower 2, 202, 302, 402, the determination result may be wrong. In contrast, according to the above configuration, during the avoidance action of the robot mower 2, 202, 302, 402, the control unit 8 determines whether the movement of the robot mower 2, 202, 302, 402 is blocked by an obstacle based on at least the motor current detection circuit 72 (or the angular velocity detection sensor 70). This can prevent the robot mower 2, 202, 302, 402 from being misjudged by an obstacle. Therefore, the above configuration can accurately determine whether the robot mower 2, 202, 302, 402 is obstructed by an obstacle.

[0151] In one or more embodiments, the avoidance maneuver includes a turning maneuver in which the robotic lawn mower 2 , 202 , 302 , 402 turns.

[0152] According to the above configuration, the avoidance action can be made relatively complicated.

[0153] In one or more embodiments, the avoidance action includes the robot mower 2 , 202 , 302 , 402 performing a straight-moving action.

[0154] If the avoidance action is constituted by only the turning action, after the robot mower 2, 202, 302, 402 contacts the obstacle, the robot mower 2, 202, 302, 402 may not leave the obstacle at all. In this case, since the robot mower 2, 202, 302, 402 needs time to avoid the obstacle, the work performed by the robot mower 2, 202, 302, 402 may not be performed smoothly. According to the above configuration, since the avoidance action includes the straight-line action, the robot mower 2, 202, 302, 402 can easily leave the obstacle after the robot mower 2, 202, 302, 402 contacts the obstacle. Accordingly, the time required for the robot mower 2, 202, 302, 402 to avoid the obstacle can be shortened, so the work performed by the robot mower 2, 202, 302, 402 can be performed smoothly.

[0155] In one or more embodiments, the state of the moving motors 44L, 44R includes the current flowing through the moving motors 44L, 44R. The second detector includes a motor current detection circuit 72 (an example of a motor current detection unit) that detects the current flowing through the moving motors 44L, 44R.

[0156] When the movement of the robot lawn mower 2, 302, 402 is blocked by an obstacle and the movement motor 44L, 44R is operated, the obstacle becomes a resistance and a load greater than usual is applied to the movement motor 44L, 44R. In this case, it is expected that the current flowing through the movement motor 44L, 44R will be greater than usual. According to the above configuration, the control unit 8 estimates the load applied to the movement motor 44L, 44R based on the current flowing through the movement motor 44L, 44R while the movement motor 44L, 44R is operated, thereby determining whether the movement of the robot lawn mower 2, 302, 402 is blocked by an obstacle.

[0157] In one or more embodiments, the control unit 8 determines that the movement of the robot mower 2 , 302 , 402 is obstructed by an obstacle when the detection value of the motor current detection circuit 72 continues to be equal to or higher than a predetermined current value for more than a predetermined time.

[0158] The control unit 8 sometimes makes the robot mower 2, 302, 402 perform an avoidance action to avoid the obstacle in response to the determination that the movement of the robot mower 2, 302, 402 is obstructed by the obstacle. In this configuration, when the detection value of the motor current detection circuit 72 is greater than the specified current value, it is determined that the movement of the robot mower 2, 302, 402 is obstructed by the obstacle, there is a possibility that the avoidance action is not required. This is because sometimes the obstacle can be avoided by the normal action of the robot mower 2, 302, 402 even if the avoidance action is not performed. According to the above configuration, when the detection value of the motor current detection circuit 72 is greater than the specified current value for more than a specified time, it is determined that the movement of the robot mower 2, 302, 402 is obstructed by the obstacle. Therefore, the avoidance action is performed only when the state in which the movement of the robot mower 2, 302, 402 is obstructed by the obstacle continues to a certain extent. According to this, it is possible to suppress the situation in which the avoidance action is not required. As a result, the work performed by the robot mower 2, 302, or 402 can be performed smoothly.

[0159] In one or more embodiments, the working unit 20 includes a mowing blade 46 for mowing the lawn. The working robot functions as a robot lawn mower 2, 202, 302, 402.

[0160] According to the above configuration, the work performed by the robot mower 2, 202, 302, 402 can be smoothly performed.

Claims

1. A working robot that performs work while autonomously moving, characterized in that: The working robot comprises: a robot body including a base and a buffer supported by the base, a working part supported by the base, a moving mechanism for moving the base, a moving motor for driving the moving mechanism, a first detection part for detecting a force applied to the buffer or a displacement of the buffer relative to the base, a second detection part for detecting an angular velocity of the base or a state of the moving motor, and a control part. The control unit is configured to be capable of determining whether the movement of the working robot is hindered by the obstacle based on a detection result of the first detection unit and a detection result of the second detection unit.

2. The working robot according to claim 1, characterized in that: The control unit is configured to be capable of executing a first obstruction determination process, an avoidance process, and a second obstruction determination process, wherein, in the first obstruction determination process, it is determined whether the movement of the working robot is obstructed by the obstacle at least based on the detection result of the first detection unit; in the avoidance process, after it is determined in the first obstruction determination process that the movement of the working robot is obstructed by the obstacle, the moving motor is operated so that the working robot performs an avoidance action for moving away from the obstacle; in the second obstruction determination process, it is determined whether the movement of the working robot is obstructed by the obstacle at least based on the detection result of the second detection unit while the working robot is performing the avoidance action.

3. The working robot according to claim 2, characterized in that: The avoidance action includes a turning action in which the working robot turns.

4. The working robot according to claim 2 or 3, characterized in that: The avoidance action includes: the working robot performing a straight movement action.

5. The working robot according to any one of claims 1 to 4, characterized in that: The state of the moving motor includes: the current flowing through the moving motor, The second detection unit includes a motor current detection unit that detects a current flowing through the moving motor.

6. The working robot according to claim 5, characterized in that: The control unit determines that the movement of the working robot is hindered by the obstacle when a situation in which the detection value of the motor current detection unit is equal to or greater than a predetermined current value continues for more than a predetermined time.

7. The working robot according to any one of claims 1 to 6, characterized in that: The working unit comprises: a cutting knife for mowing the lawn, The working robot functions as a robot lawn mower.

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