Autonomous mobile system

Abstract

The invention provides an autonomous mobile system. This work robot is provided with: a moving unit that moves the work robot; a moving motor for driving the moving part; a storage battery; a control unit that controls the movement motor; and a robot power receiving unit. A charging station is provided with: a station power transmission unit; and a station board which is placed on the ground. In a state in which the work robot is docked with the charging station, when the work robot is in a non-chargeable state in which charging of the storage battery cannot be started, the control unit executes a docking retry process in which the work robot is moved by the moving unit and the work robot is docked again with the charging station. When the work robot moves during the execution of the docking retry process and when the work robot is viewed in a direction orthogonal to the ground, at least a portion of the work robot is disposed on the site board.

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 U.S. Patent Application Publication No. 2013 / 0006418. The autonomous mobile system includes: a working robot that performs work while autonomously moving in a working area; and a charging station that can dock with the working robot and charge the working robot. The working robot includes: a working unit that performs work; a moving unit that moves the working robot; a moving motor that drives the moving unit; a storage battery that is charged at the charging station and supplies power to the moving motor; a control unit that controls the moving motor; and a robot power receiving unit that receives power for charging the storage battery from the charging station when the working robot docks with the charging station. The charging station includes: a site power transmission unit that supplies power for charging the storage battery to the robot power receiving unit; and a site board that is placed on the ground. When the working robot is docked with the charging station and is in a non-chargeable state where charging of the storage battery cannot be started, the control unit executes a docking retry process in which the working robot moves by the moving unit and docks the working robot with the charging station again. Summary of the invention

[0003] In such an autonomous mobile system as described above, it is desirable to be able to perform an efficient docking retry process. According to the present specification, a technique capable of performing an efficient docking retry process is provided.

[0004] This specification discloses an autonomous mobile system. The autonomous mobile system includes: a working robot that performs work while autonomously moving in a working area; and a charging station that can dock with the working robot and charge the working robot. The working robot includes: a working part that performs work; a moving part that moves the working robot; a moving motor that drives the moving part; a storage battery that is charged at the charging station and supplies power to the moving motor; a control unit that controls the moving motor; and a robot power receiving unit that receives power for charging the storage battery from the charging station when the working robot docks with the charging station. The charging station includes: a site power transmission unit that supplies power for charging the storage battery to the robot power receiving unit; and a site board that is placed on the ground. When the working robot is docked with the charging station and is in a non-chargeable state where charging of the storage battery cannot be started, the control unit executes a docking retry process in which the working robot moves by the moving part and the working robot docks with the charging station again. When the working robot moves during the execution of the docking retry process, at least a part of the working robot is arranged on the station plate when the working robot is viewed in a direction perpendicular to the ground.

[0005] According to the above configuration, during the docking retry process, while the working robot is moving, at least a portion of the working robot is maintained on the station board. Thus, compared with a configuration in which the working robot moves away from the station board, the moving distance of the working robot is shorter. Thus, an effective docking retry process can be performed. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0009] Figure 4 It is a rear view of the working robot 12 according to the first embodiment.

[0010] Figure 5 It is a top view of the working robot 12 according to the first embodiment.

[0011] Figure 6 This is an electrical block diagram of the working robot 12 according to the first embodiment.

[0012] Figure 7 This is a schematic diagram of the autonomous mobile system 10 in the vicinity of the charging station 14 according to the first embodiment.

[0013] Figure 8 It is an enlarged perspective view of the docking portion 98 of the charging station 14 according to the first embodiment.

[0014] Fig. 9 This is a cross-sectional view of the working robot 12 and the charging station 14 in the autonomous mobile system 10 according to the first embodiment when docking.

[0015] Fig.10 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 first embodiment.

[0016] Fig.11 It is a diagram showing waveforms of the intensity of the magnetic field inside and outside the working area WA in the first embodiment.

[0017] Fig.12 It is a diagram showing waveforms of the intensity of the magnetic field inside and outside the site metal wire 20 in the first embodiment.

[0018] Fig.13 This is a flowchart showing the autonomous control process of the first embodiment.

[0019] Fig.14 This is a flowchart showing the docking process of the first embodiment.

[0020] Fig.15 It is a plan view showing the working robot 12 and the charging station 14 after the retraction process of the docking retry process in the first embodiment.

[0021] Fig.16 It is a top view of the working robot 12 and the charging station 14 after the forward processing of the docking retry processing in the first embodiment.

[0022] Fig.17 This is a flowchart showing the docking process of the second 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 robot power receiving unit may also be: a robot charging terminal that can be electrically connected to the charging station when the working robot is docked with the charging station. The station power transmitting unit may also be: a station charging terminal that can be electrically connected to the robot charging terminal. The docking retry process may also include: a separation process that causes the working robot to separate from the charging station. After the separation process, the robot charging terminal may also separate from the station charging terminal.

[0027] Sometimes, foreign matter is stuck between the robot charging terminal and the station charging terminal, which makes it impossible for the robot charging terminal to be electrically connected to the station charging terminal. According to the above configuration, since the robot charging terminal is separated from the station charging terminal, the foreign matter can be dropped from between the robot charging terminal and the station charging terminal. Thus, the robot charging terminal can be electrically connected to the station charging terminal.

[0028] In one or more embodiments, in the docking retry process, the control unit may drive the moving motor a predetermined number of rotations.

[0029] In a configuration in which the number of rotations of the moving motor changes each time the docking retry process is executed, the control performed by the control unit becomes complicated. According to the above configuration, it is possible to suppress the control performed by the control unit from becoming complicated.

[0030] In one or more embodiments, during the docking retry process, when the working robot is viewed in a direction perpendicular to the ground, an area corresponding to more than 50% of the length of the working robot in the vehicle length direction may be arranged on the station plate.

[0031] According to the above configuration, the distance that the working robot moves in the docking retry process can be shortened.

[0032] In one or more embodiments, the working robot may have a first area when the working robot is viewed in a direction perpendicular to the ground. During the docking retry process, an area corresponding to more than 50% of the first area of ​​the working robot when the working robot is viewed in a direction perpendicular to the ground may be arranged on the station plate.

[0033] According to the above configuration, the distance that the working robot moves in the docking retry process can be shortened.

[0034] In one or more embodiments, the docking retry process may include a retreat process for retreating the working robot, and an advance process for advancing the working robot after the retreat process.

[0035] According to the above configuration, the working robot can be docked with the charging station more easily than in a configuration in which the working robot is turned.

[0036] In one or more embodiments, in the retreat process, the retreat distance of the working robot may be greater than or equal to 50 mm and less than or equal to 650 mm.

[0037] According to the above configuration, the docking between the working robot and the charging station can be released, and the working robot can be prevented from leaving the station board.

[0038] In one or more embodiments, the setback distance may be greater than or equal to 150 mm and less than or equal to 300 mm.

[0039] According to the above configuration, the docking between the working robot and the charging station can be released, and the working robot can be further prevented from leaving the station board.

[0040] In one or more embodiments, the autonomous mobile system may further include: a notification unit for notifying a user. The control unit may execute docking retry processing more than once, and may control the notification unit when the number of docking retry processing that has been executed is greater than a reference number.

[0041] According to the above configuration, when the number of docking retry processes that have been executed is greater than the reference number, abnormalities often occur, for example, abnormalities often occur between the robot power receiving unit and the station power transmitting unit. The notification of the notification unit can make the user aware of the abnormality.

[0042] In one or more embodiments, the control unit may stop the moving motor when the number of docking retry processes that have been executed is equal to or greater than a reference number of times.

[0043] According to the above configuration, the working robot can be stopped until the user approaches the working robot.

[0044] (First embodiment)

[0045] 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 grass growing from the ground. Hereinafter, the vehicle length direction of the working robot 12 is referred to as the front-to-back direction, the vehicle width direction of the working robot 12 is referred to as the left-to-right direction, and the direction orthogonal to the front-to-back direction and the left-to-right direction is referred to as the up-down direction. In addition, the up-down direction is orthogonal to the ground.

[0046] The length of the working robot 12 in the vehicle length direction is greater than or equal to 500 mm and less than or equal to 1000 mm. Figure 2 As shown, the working robot 12 includes: a housing 24, a battery 26, a terminal unit 28, a working motor 30, a working unit 32, and a right motor 34 for movement (see Figure 4 )、The left moving motor 36 (refer to Figure 4 )、moving unit 38、operating unit 40 (refer to Figure 4 )、the display unit 42 (refer to Figure 4 )、Notification unit 44 (refer to Figure 4 )、Magnetic detection unit 46 (refer to Figure 5 )、collision detection unit 48 (refer to Figure 5 ), and the control unit 50 (refer to Figure 6 ).

[0047] The battery 26 is housed in the housing 24 . The battery 46 is a secondary battery including a lithium ion battery. The battery 46 cannot be attached to or detached from the housing 24 .

[0048] The terminal unit 28 is arranged near the front end of the housing 24. The housing 24 has a docking opening 24a. The docking opening 24a penetrates the front end of the housing 24 in the front-to-back direction. The docking opening 24a is located at the center of the housing 24 in the left-right direction. Figure 3 As shown, when observing the working robot 12 from the front, the user visually confirms the terminal unit 28 through the docking opening 24a. The terminal unit 28 is arranged on the rear side of the docking opening 24a. The terminal unit 28 includes: a first robot charging terminal 54, a first force applying member 56, a second robot charging terminal 58, a second force applying member 60, a robot communication terminal 62, and a third force applying member 64.

[0049] The first robot charging terminal 54 corresponds to the robot power receiving unit. The first robot charging terminal 54 and the battery 26 (see Figure 2 ) is electrically connected. The first robot charging terminal 54 is supported by the housing 24 in a manner that allows movement in the left-right direction. The first robot charging terminal 54 is urged in the left direction by the first urging member 56. The first urging member 56 is, for example, a compression spring.

[0050] The second robot charging terminal 58 corresponds to the robot power receiving unit. The second robot charging terminal 58 is connected to the battery 26 (see Figure 2) are electrically connected. The second robot charging terminal 58 is opposite to the first robot charging terminal 54 in the left-right direction. The second robot charging terminal 58 is supported by the housing 24 in a manner that is movable in the left-right direction. The second robot charging terminal 58 is forced in the right direction by the second force applying member 60. The first robot charging terminal 54 is forced in a direction approaching the second robot charging terminal 58 by the first force applying member 56, and the second robot charging terminal 58 is forced in a direction approaching the first robot charging terminal 54 by the second force applying member 60. The second force applying member 60 is, for example, a compression spring.

[0051] The robot communication terminal 62 and the control unit 50 (see Figure 6 ) are electrically connected. The robot communication terminal 62 is arranged at a position that is closer to the upper side than the first robot charging terminal 54 and the second robot charging terminal 58. In the left-right direction, the robot communication terminal 62 is arranged at a center position between the first robot charging terminal 54 and the second robot charging terminal 58. The robot communication terminal 62 is supported by the housing 24 in a manner that allows movement in the up-down direction. The robot communication terminal 62 is urged in the downward direction by the third urging member 64. The third urging member 64 is, for example, a compression spring.

[0052] The working robot 12 can be connected to the charging station 14 (see Figure 1 ) docking. When the working robot 12 is docked with the charging station 14, the first robot charging terminal 54 or the second robot charging terminal 58 receives power from the external power source 100 via the charging station 14. The power received by the first robot charging terminal 54 or the second robot charging terminal 58 is supplied to the battery 26. Accordingly, the battery 26 is charged.

[0053] like Figure 2 As shown, the working motor 30 is supported by the housing 24 . The working motor 30 is, for example, a brushless motor. The working motor 30 is operated by the power of the battery 26 .

[0054] The working unit 32 includes a cutting blade 32a having a substantially disk shape. The cutting blade 32a is fixed to the output shaft of the working motor 30. The output shaft is inclined with respect to the vertical direction. The cutting blade 32a is rotated by the operation of the working motor 30. Thus, the grass growing from the ground is cut.

[0055] like Figure 4 As shown, the right motor 34 for movement and the left motor 36 for movement are supported by the housing 24. The right motor 34 for movement and the left motor 36 for movement are, for example, brushless motors. The right motor 34 for movement and the left motor 36 for movement are driven by the battery 26 (see Figure 2 ) to operate.

[0056] The moving part 38 includes a right front auxiliary wheel 68, a left front auxiliary wheel 70, a right rear drive wheel 72, and a left rear drive wheel 74. The right front auxiliary wheel 68 and the left front auxiliary wheel 70 are mounted on the housing 24. The right front auxiliary wheel 68 and the left front auxiliary wheel 70 can rotate around a rotation axis extending in the left-right direction, and can rotate around a rotation axis extending in the up-down direction. The right rear drive wheel 72 is fixed to the output shaft of the right motor 34 for movement. The left rear drive wheel 74 is fixed to the output shaft of the left motor 36 for movement. The output shaft of the right motor 34 for movement and the output shaft of the left motor 36 for movement extend in the left-right direction. The right rear drive wheel 72 rotates by the action of the right motor 34 for movement, and the left rear drive wheel 74 rotates by the action of the left motor 36 for movement. According to this, the working robot 12 moves forward, moves backward, and turns.

[0057] The operation unit 40 is disposed on the outer surface of the housing 24. The operation unit 40 includes an operation switch. The user operates the operation unit 40 when switching the on state and the off state of the working robot 12 or setting working conditions of the working robot 12, for example.

[0058] The display unit 42 is, for example, a display. The display unit 42 displays various information. The operation unit 40 and the display unit 42 may be integrated as a touch panel.

[0059] The notification unit 44 is, for example, a buzzer that emits sound. In a modified example, the notification unit 44 may be a lamp that emits light. For example, when an abnormality occurs in the working robot 12, the notification unit 44 emits a sound.

[0060] like Figure 5 As shown, the magnetic detector 46 is supported by the housing 24. The magnetic detector 46 includes a plurality of (four in this embodiment) magnetic sensors 78. The magnetic sensor is, for example, a search coil, a Hall sensor, etc. The magnetic sensor 78 detects the strength of the magnetic field in the vertical direction.

[0061] The plurality of magnetic sensors 78 include a right front magnetic sensor 78a, a left front magnetic sensor 78b, a central front magnetic sensor 78c, and a rear magnetic sensor 78d. The right front magnetic sensor 78a, the left front magnetic sensor 78b, and the central front magnetic sensor 78c 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 78a is arranged at the front right portion of the housing 24. The left front magnetic sensor 78b is arranged at the front left portion of the housing 24. In the left-right direction, the distance between the right front magnetic sensor 78a and the center line CL is substantially equal to the distance between the left front magnetic sensor 78b 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 78c and the rear magnetic sensor 78d are arranged near the center line CL. The central front magnetic sensor 78c is arranged at the front portion of the housing 24. The rear magnetic sensor 78d 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 78 d is arranged at the rear of the housing 24 .

[0062] The housing 24 includes a base 24b (see Figure 2 ), and a buffer 24c installed to be movable relative to the base 24b, and the collision detection unit 48 is supported by the base 24b and the buffer 24c. Normally, the buffer 24c is located at an initial position relative to the base 24b. In addition, the docking opening 24a (refer to Figure 2 ) is arranged at the front end of the buffer 24c. The collision detection unit 48 includes: a plurality of (three in this embodiment) collision detection sensors 80. The collision detection sensor 80 detects the collision of the housing 24 with an obstacle or the like by detecting the displacement of the buffer 24c from the initial position. When the displacement of the buffer 24c from the initial position is greater than a predetermined amount (that is, when the housing 24 collides with an obstacle or the like), the collision detection sensor 80 is turned on, and when the displacement of the buffer 24c from the initial position is less than a predetermined amount (that is, when the housing 24 does not collide with an obstacle or the like), the collision detection sensor 80 is turned off.

[0063] The collision detection sensor 80 includes a central collision detection sensor 80a, a right collision detection sensor 80b, and a left collision detection sensor 80c. The central collision detection sensor 80a is arranged directly above the central front magnetic sensor 78c. The right collision detection sensor 80b is arranged directly above the right motor 34 for movement. The left collision detection sensor 80c is arranged directly above the left motor 36 for movement. The distance between the right collision detection sensor 80b and the center line CL is substantially equal to the distance between the left collision detection sensor 80c and the center line CL.

[0064] like Figure 6As shown, the control unit 50 is electrically connected to: the battery 26, the first robot charging terminal 54, the second robot charging terminal 58, the robot communication terminal 62, the working motor 30, the right motor 34 for movement, the left motor 36 for movement, the operation unit 40, the display unit 42, the notification unit 44, the magnetic detection unit 46, and the collision detection unit 48. The control unit 50 includes: a microcomputer (omitted from the figure) and a memory (omitted from the figure). The control unit 50 controls: the rotation direction and rotation speed of the right motor 34 for movement, and the rotation direction and rotation speed of the left motor 36 for movement independently of each other. For example, when the control unit 50 controls the right motor 34 for movement and the left motor 36 for movement at the same rotation speed in the forward direction, the working robot 12 will move forward. When the control unit 50 drives the right motor 34 for movement and the left motor 36 for movement at the same rotation speed in the reverse direction, the working robot 12 will move backward. When the control unit 50 drives the right moving motor 34 in the forward direction and drives the left moving motor 36 in the reverse direction, the working robot 12 will turn on the spot. When the control unit 50 drives the right moving motor 34 and the left moving motor 36 in the forward direction (or reverse direction) at different speeds, the working robot 12 will turn while moving forward (or backward). The control unit 50 autonomously controls the working robot 12 based on various programs stored in the memory. For example, the control unit 50 obtains signals from the operating unit 40 and the magnetic detection unit 46 to drive the working motor 30, the right moving motor 34, and the left moving motor 36, so that the working robot 12 can mow the lawn while moving autonomously.

[0065] like Figure 7 As shown in FIG. 1 , the charging station 14 is arranged across the inside and outside of the work area WA. The charging station 14 includes a station plate 84, a stand body 86, and a first station charging terminal 88 (see FIG. 1 ). Figure 8 )、Second station charging terminal 90 (refer to Figure 8 )、Station communication terminal 92 (refer to Figure 8 ), and a signal generator 94. The station plate 84 is placed on the ground. When the station plate 84 is viewed from below, the station plate 84 has a substantially rectangular parallelepiped shape. The length of the long side of the station plate 84 is, for example, greater than 700 mm and less than 1200 mm. The length of the long side of the station plate 84 is greater than that of the working robot 12 (see Figure 5 ) is longer in the vehicle length direction.

[0066] The stand body 86 is disposed on the station plate 84. The stand body 86 includes a base 96 and a docking portion 98. The base 96 extends upward from the station plate 84. The docking portion 98 can be connected to the working robot 12 (see Figure 2) docking. The docking portion 98 protrudes from the base 96 in a manner away from the boundary metal wire 16. The protruding direction of the docking portion 98 from the base 96 is substantially the same as the long side direction of the site plate 84. The docking portion 98 is substantially orthogonal to the base 96. The docking portion 98 is substantially parallel to the ground. The docking portion 98 is arranged in the working area WA. Figure 8 As shown, the docking portion 98 includes: a lower wall 98a opposite to the ground, an upper wall 98b opposite to the lower wall 98a, a first side wall 98c connecting the lower wall 98a and the upper wall 98b, a second side wall 98d opposite to the first side wall 98c, and a contact portion 98e protruding upward from the upper wall 98b.

[0067] The first station charging terminal 88, the second station charging terminal 90, and the station communication terminal 92 are connected to the external power supply 100 (see Figure 7 ) are electrically connected. The first site charging terminal 88 and the second site charging terminal 90 correspond to the site power transmission unit. The first site charging terminal 88 is arranged on the first side wall 98c of the docking portion 98. A portion of the first site charging terminal 88 is exposed from the first side wall 98c. The second site charging terminal 90 is arranged on the second side wall 98d of the docking portion 98. A portion of the second site charging terminal 90 is exposed from the second side wall 98d. The site communication terminal 92 is arranged on the upper wall 98b of the docking portion 98. A portion of the site communication terminal 92 is exposed from the upper wall 98b. The first site charging terminal 88, the second site charging terminal 90, and the site communication terminal 92 extend along the protruding direction of the docking portion 98.

[0068] like Fig. 9 As shown, when the charging station 14 is docked with the working robot 12, the docking portion 98 is inserted into the docking opening 24a (see Figure 3 ), the upper wall 98b of the docking portion 98 is opposite to the robot communication terminal 62 in the vertical direction, the first side wall 98c of the docking portion 98 is opposite to the first robot charging terminal 54 in the left-right direction, the second side wall 98d of the docking portion 98 is opposite to the second robot charging terminal 58 in the left-right direction, and the abutting portion 98e of the stand body 86 (refer to Figure 8 ) abuts against the housing 24. In this state, the first station charging terminal 88 abuts against the first robot charging terminal 54, the second station charging terminal 90 abuts against the second robot charging terminal 58, and the station communication terminal 92 abuts against the robot communication terminal 62. The first robot charging terminal 54 is abutted by the first force applying member 56 (refer to Figure 3 ) is pressed against the first station charging terminal 88, thereby maintaining the contact between the first station charging terminal 88 and the first robot charging terminal 54. The second robot charging terminal 58 is pressed against the first station charging terminal 88 by the second force applying member 60 (see Figure 3) is pressed against the second site charging terminal 90 by the force of the third force-applying component 64, thereby maintaining the abutment between the second site charging terminal 90 and the second robot charging terminal 58. The robot communication terminal 62 is pressed against the site communication terminal 92 by the force of the third force-applying component 64, thereby maintaining the abutment between the site communication terminal 92 and the robot communication terminal 62. Accordingly, the first site charging terminal 88 is electrically connected to the first robot charging terminal 54, the second site charging terminal 90 is electrically connected to the second robot charging terminal 58, and the site communication terminal 92 is electrically connected to the robot communication terminal 62. In this state, current flows from the first site charging terminal 88 to the first robot charging terminal 54, or, flows from the second site charging terminal 90 to the second robot charging terminal 58. Accordingly, it is used to charge the battery 26 (refer to Figure 6 ) is charged by an external power source 100 (refer to Figure 7 ) is supplied from the first station charging terminal 88 to the first robot charging terminal 54, or, is supplied from the second station charging terminal 90 to the second robot charging terminal 58.

[0069] like Figure 7 As shown, the signal generator 94 is housed in the base 96. The signal generator 94 can apply a first electrical signal to the boundary metal wire 16 and the station metal wire 20. In addition, the signal generator 94 can also apply a second electrical signal to the boundary metal wire 16 and the guide metal wire 18. Fig.10 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 pulse length and the number of pulses of the current waveform CW1 of the first electrical signal are different from the pulse length and the number of pulses of the current waveform CW2 of the second electrical signal. In a modified example, the phase of the current waveform CW1 of the first electrical signal may also be 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 94. The first electrical signal and the second electrical signal are applied, for example, at a predetermined period, through the signal generator 94.

[0070] 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. The boundary wire 16 is connected to the signal generator 94 (see FIG. 1 ) of the charging station 14 via the station wire 20. Figure 7 ) 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. Fig.11As 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 50 obtains the strength of the magnetic field from the magnetic detection unit 46 to determine whether the working robot 12 is located in the working area WA.

[0071] like Figure 1 As shown, the guide metal wire 18 is, for example, buried underground near the ground surface. 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 electrically connected to the signal generator 94 (see Figure 7 ) 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 spiral rule. In the present embodiment, when the current flows in the order of the first boundary metal wire portion 16a and the second boundary metal wire portion 16b, a first electrical signal is applied, and when the current flows in the order of the first boundary metal wire portion 16a and the guide metal wire 18, a second electrical signal is applied. The control unit 50 obtains the strength of the magnetic field from the magnetic detection unit 46 to determine whether the working robot 12 is located in the guide area GA.

[0072] like Figure 7 As shown, the station metal wire 20 is configured at the station board 84 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 94 (see Figure 7 )Electrical connection.

[0073] The station metal wire 20 includes: a first ring portion 104 having a ring shape, and a second ring portion 106 having a ring shape. The first ring portion 104 and the second ring portion 106 are arranged adjacent to each other. The docking portion 98 of the charging station 14 is arranged at the boundary between the first ring portion 104 and the second ring portion 106. The first ring portion 104 and the second ring portion 106 are formed by winding a station metal wire 20 multiple times (for example, 2 times). When current flows through the station metal wire 20, the current flows through the first ring portion 104 in the counterclockwise direction D1, and flows through the second ring portion 106 in the clockwise direction D2. Fig.12As shown, the strength of the magnetic field in the up-down direction is zero near the boundary between the first ring portion 104 and the second ring portion 106, is positive in the first ring portion 104, and is negative in the second ring portion 106. The control unit 50 obtains the strength of the magnetic field from the magnetic detection unit 46 to determine whether the working robot 12 is located in the first ring portion 104 or the second ring portion 106, and detects whether the working robot 12 crosses the station wire 20.

[0074] (Autonomous control processing)

[0075] The control unit 50 executes Fig.13 The autonomous control process is shown. The autonomous control process is executed to make the working robot 12 perform lawn mowing work in the working area WA, and to make the working robot 12 return to the charging station 14 so as to dock with the charging station 14.

[0076] exist Fig.13 In S2 shown, the control unit 50 executes lawn mowing processing. Specifically, the control unit 50 drives the working motor 30, the right moving motor 34, and the left moving motor 36. Accordingly, the working robot 12 moves in the working area WA while rotating the cutting blade 32a, thereby mowing the lawn in the working area WA.

[0077] In S4, the control unit 50 determines whether the return condition is satisfied. For example, when the remaining amount of the battery 26 is less than a specified amount, the control unit 50 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 30, the right motor 34 for movement, and the left motor 36 for movement, the control unit 50 may determine that the return condition is satisfied. If the control unit 50 determines that the return condition is satisfied (YES in S4), it proceeds to S6. On the other hand, if the control unit 50 determines that the return condition is not satisfied (NO in S4), it returns to S2.

[0078] In S6, the control unit 50 performs a return process. Specifically, the control unit 50 drives the right moving motor 34 and the left moving motor 36 based on the strength of the magnetic field detected by the magnetic sensor 78, so that the working robot 12 reaches the charging station 14. At this time, the working robot 12 moves along the guide wire 18 and the first boundary wire portion 16a toward the return direction D3, or moves along the first boundary wire portion 16a and the second boundary wire portion 16b toward the return direction D4. Figure 1As shown in FIG. 1 , when the working robot 12 is viewed from above, the return directions D3 and D4 are counterclockwise. The control unit 50 continues to drive the working motor 30 until the working robot 12 reaches the charging station 14. As a result, the working robot 12 moves while rotating the mower 32a. In this way, the lawn in the working area WA is also mowed during the return process.

[0079] In S8, the control unit 50 executes Fig.14 The docking process shown. Fig.14 In the docking process S102 shown, the control unit 50 drives the right movement motor 34 and the left movement motor 36 based on the strength of the magnetic field of the first ring 104 detected by the magnetic sensor 78, so that the working robot 12 moves along the first ring 104. The working robot 12 moves along the first ring 104 in the clockwise direction.

[0080] In S104, the control unit 50 determines whether the working robot 12 has reached the center position of the charging station 14 based on the strength of the magnetic field of the first ring portion 104 detected by the magnetic sensor 78. The center position 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 104 and the second ring portion 106. When the control unit 50 determines that the working robot 12 has reached the center position of the charging station 14 (YES in S104), the control unit 50 proceeds to S106. On the other hand, when the control unit 50 determines that the working robot 12 has not reached the center position of the charging station 14 (NO in S104), the control unit 50 returns to S102.

[0081] In S106 , the control unit 50 drives the right movement motor 34 and the left movement motor 36 to adjust the posture of the working robot 12 . As a result, the docking opening 24 a faces the docking portion 98 of the charging station 14 and is disposed on the boundary between the first ring portion 104 and the second ring portion 106 .

[0082] In S108 , the control unit 50 drives the right movement motor 34 and the left movement motor 36 in the forward direction at the same rotation speed so that the working robot 12 moves forward on the boundary between the first ring 104 and the second ring 106 . As a result, the working robot 12 approaches the docking portion 98 .

[0083] In S110, the control unit 50 determines whether at least one of the plurality of collision detection sensors 80 is on. When at least one of the plurality of collision detection sensors 80 is on in S110, the docking portion 98 abuts against the front end of the housing 24 (bumper 24c), and the docking portion 98 faces the docking opening 24a. When the control unit 50 determines that at least one of the plurality of collision detection sensors 80 is on (YES in S110), the process proceeds to S112. On the other hand, when the control unit 50 determines that all of the plurality of collision detection sensors 80 are off (NO in S110), the process returns to S108.

[0084] In S112, the control unit 50 drives the right motor 34 for movement and the left motor 36 for movement in the forward direction and at the same rotation speed for a prescribed number of rotations, so that the working robot 12 moves forward. When the working robot 12 does not collide with an obstacle, etc., when the right motor 34 for movement and the left motor 36 for movement are driven in the forward direction and at the same rotation speed for a prescribed number of rotations, the working robot 12 will move forward a first distance. The first distance is, for example, greater than 50 mm and less than 650 mm. The first distance can also be, for example, greater than 150 mm and less than 300 mm. The first distance is, for example, 200 mm. The first distance is longer than the length of the protruding direction of the docking portion 98. By driving the right motor 34 for movement and the left motor 36 for movement in the forward direction and at the same rotation speed for a prescribed number of rotations, the docking portion 98 is inserted into the docking opening 24a, and the front end of the housing 24 is pressed against the abutment portion 98e of the docking portion 98.

[0085] exist Fig.14 In S114 shown, the control unit 50 determines whether the working robot 12 is in a non-chargeable state where the battery 26 cannot be charged at the charging station 14. For example, when a foreign object such as grass cut by the mower 32a is caught between the first station charging terminal 88 and the first robot charging terminal 54, and / or between the second station charging terminal 90 and the second robot charging terminal 58, and / or between the station communication terminal 92 and the robot communication terminal 62, the working robot 12 becomes in a non-chargeable state. The control unit 50 determines that the working robot 12 is in a non-chargeable state when the working robot 12 cannot communicate with the charging station 14 (when the second station charging terminal 90 is not electrically connected to the second robot charging terminal 58, and / or the station communication terminal 92 is not electrically connected to the robot communication terminal 62). In a modified example, the control unit 50 may also determine that the working robot 12 is in a non-chargeable state when the first station charging terminal 88 is not electrically connected to the first robot charging terminal 54, and / or the second station charging terminal 90 is not electrically connected to the second robot charging terminal 58. When the control unit 50 determines that the working robot 12 is not in a non-chargeable state (NO in S114), it enters Fig.13 On the other hand, when the control unit 50 determines that the working robot 12 is in a non-chargeable state (YES in S114), it proceeds to S116. The series of processes executed when S114 is YES (i.e., S116 to S122, and S108 to S114) corresponds to the docking retry process.

[0086] In S116, the control unit 50 determines whether the number of retries is greater than the benchmark number. The number of retries is: the number of docking retry processes that have been completed. Therefore, when the docking retry process is initially executed, the number of retries is zero. Each time the working robot 12 is charged at the charging station 14, the control unit 50 sets the number of retries to zero. The benchmark number is an integer greater than 1. The benchmark number is 1, for example. When the control unit 50 determines that the number of retries is greater than the benchmark number (YES in S116), it proceeds to S118. On the other hand, when the control unit 50 determines that the number of retries is less than the benchmark number (NO in S116), it proceeds to S120.

[0087] In S118, the control unit 50 switches the docking error flag from OFF to ON. The control unit 50 stores the docking error flag in the memory. Thereafter, the control unit 50 enters Fig.13 S10.

[0088] In S120, the control unit 50 drives the right moving motor 34 and the left moving motor 36 in opposite directions and at the same rotation speed for a prescribed number of rotations, so that the working robot 12 retreats. Accordingly, the working robot 12 retreats a second distance on the boundary between the first ring portion 104 and the second ring portion 106, thereby leaving the docking portion 98. The second distance is, for example, greater than 50 mm and less than 650 mm. The second distance may also be, for example, greater than 150 mm and less than 300 mm. The second distance is, for example, 200 mm. The second distance is longer than the length of the protruding direction of the docking portion 98. The second distance is, for example, approximately the same as the first distance. The retreat processing of retreating the working robot 12 in S120 corresponds to the separation processing of leaving the working robot 12 from the docking portion 98. By retreating the working robot 12 by the second distance, the first robot charging terminal 54 is separated from the first station charging terminal 88, the second robot charging terminal 58 is separated from the second station charging terminal 90, and the robot communication terminal 62 is separated from the station communication terminal 92. Accordingly, foreign matter such as lawn cut by the mower 32a will fall off from the first robot charging terminal 54, and / or, the second robot charging terminal 58, and / or, the robot communication terminal 62, and / or, the first station charging terminal 88, and / or, the second station charging terminal 90, and / or, the station communication terminal 92. In addition, the docking portion 98 is pulled out from the docking opening 24a. Accordingly, the docking between the working robot 12 and the charging station 14 is released.

[0089] like Fig.15 As shown, after the working robot 12 retreats the second distance, when the working robot 12 is viewed from the downward direction perpendicular to the ground, an area of ​​more than 50% of the length of the working robot 12 in the vehicle length direction is arranged on the station plate 84. Thus, while the working robot 12 is retreating, when the working robot 12 is viewed from below, an area of ​​more than 50% of the length of the working robot 12 in the vehicle length direction is maintained on the station plate 84. When the working robot 12 is viewed from below, the working robot 12 has a first area. After the working robot 12 retreats the second distance, when the working robot 12 is viewed from the downward direction perpendicular to the ground, an area corresponding to more than 50% of the first area of ​​the working robot 12 is arranged on the station plate 84. Thus, while the working robot 12 is retreating, when the working robot 12 is viewed from below, an area corresponding to more than 50% of the first area of ​​the working robot 12 is maintained on the station plate 84.

[0090] exist Fig.14 In S122 shown, the control unit 50 increases the number of retries by 1. Thereafter, the process returns to S108.

[0091] When S108 to S114 are executed again, the working robot 12 advances again on the boundary between the first ring portion 104 and the second ring portion 106. Accordingly, the docking portion 98 is inserted into the docking opening 24a, and the front end of the housing 24 is pressed against the abutment portion 98e of the docking portion 98. As a result, the working robot 12 docks with the charging station 14. The forward processing of advancing the working robot 12 in S108 to S114 corresponds to the approach processing of bringing the working robot 12 close to the docking portion 98. At this time, as shown in FIG. Fig.16 As shown, after the working robot 12 moves forward, when the working robot 12 is viewed from below, the entire working robot 12 is arranged on the station plate 84. Thus, while the working robot 12 is moving forward, when the working robot 12 is viewed from below, an area of ​​more than 50% of the length of the working robot 12 in the vehicle length direction is maintained on the station plate 84. In addition, while the working robot 12 is moving forward, when the working robot 12 is viewed from below, an area corresponding to more than 50% of the first area of ​​the working robot 12 is maintained on the station plate 84.

[0092] exist Fig.14 When the answer is NO in S114 and after S118, the execution Fig.13In S10, the control unit 50 determines whether the docking error flag is OFF. When the control unit 50 determines that the docking error flag is OFF (YES in S10), the control unit 50 proceeds to S12. On the other hand, when the control unit 50 determines that the docking error flag is not OFF, that is, the docking error flag is ON (NO in S10), the control unit 50 proceeds to S14.

[0093] In S12, the control unit 50 executes a charging process, thereby charging the storage battery 26. Thereafter, the control unit 50 ends the autonomous control process.

[0094] In S14, the control unit 50 stops the right motor 34 and the left motor 36 for movement. As a result, the working robot 12 stops. In addition, the control unit 50 controls the notification unit 44. The notification unit 44 emits a sound, so that the user can recognize that an abnormality has occurred in the working robot 12. Thereafter, the control unit 50 ends the autonomous control process.

[0095] (Effect)

[0096] The autonomous mobile system 10 of the present embodiment includes: a working robot 12 that performs work while autonomously moving in a working area WA; and a charging station 14 that can dock with the working robot 12 and charge the working robot 12. The working robot 12 includes: a working unit 32 that performs work; a moving unit 38 that moves the working robot 12; a right moving motor 34 and a left moving motor 36 (an example of a moving motor) that control the moving unit 38; a storage battery 26 that is charged at the charging station 14 and supplies power to the right moving motor 34 and the left moving motor 36; a control unit 50 that drives the right moving motor 34 and the left moving motor 36; and a first robot charging terminal 54 (an example of a robot power receiving unit) that receives power for charging the storage battery 26 from the charging station 14 when the working robot 12 docks with the charging station 14. The charging station 14 includes: a first station charging terminal 88 (an example of a station power transmission unit) that supplies power for charging the storage battery 26 to the first robot charging terminal 54; and a station plate 84 that is placed on the ground. When the working robot 12 is docked with the charging station 14 and is in a non-chargeable state where charging of the storage battery 26 cannot be started, the control unit 50 executes a docking retry process of moving the working robot 12 through the moving unit 38 and docking the working robot 12 with the charging station 14 again. When the working robot 12 moves during the execution of the docking retry process, when the working robot 12 is viewed in a direction perpendicular to the ground, at least a portion of the working robot 12 is arranged on the station plate 84.

[0097] According to the above configuration, during the docking retry process, while the working robot 12 is moving, at least a portion of the working robot 12 is maintained on the station plate 84. Thus, the moving distance of the working robot 12 is shorter than that of a configuration in which the working robot 12 moves away from the station plate 84. Thus, an effective docking retry process can be performed.

[0098] In addition, when the working robot 12 is docked with the charging station 14, the first robot charging terminal 54 can be electrically connected to the charging station 14. The first station charging terminal 88 can be electrically connected to the first robot charging terminal 54. The docking retry process includes: a separation process for separating the working robot 12 from the charging station 14. After the separation process, the first robot charging terminal 54 is separated from the first station charging terminal 88.

[0099] Sometimes, foreign matter is caught between the first robot charging terminal 54 and the first station charging terminal 88, causing the first robot charging terminal 54 to be not electrically connected to the first station charging terminal 88. According to the above configuration, since the first robot charging terminal 54 is separated from the first station charging terminal 88, the foreign matter can be dropped from the first robot charging terminal 54 and the first station charging terminal 88. Thus, the first robot charging terminal 54 and the first station charging terminal 88 can be electrically connected.

[0100] In addition, in the docking retry process, the control unit 50 drives the right moving motor 34 and the left moving motor 36 by a predetermined number of rotations.

[0101] In a configuration in which the rotation counts of the right moving motor 34 and the left moving motor 36 are changed each time the docking retry process is executed, the control performed by the control unit 50 becomes complicated. According to the above configuration, the control performed by the control unit 50 can be prevented from becoming complicated.

[0102] Furthermore, while the docking retry process is being executed, when the working robot 12 is viewed in a direction perpendicular to the ground, a region corresponding to 50% or more of the length of the working robot 12 in the vehicle length direction is arranged on the station plate 84 .

[0103] According to the above configuration, the distance that the working robot 12 moves in the docking retry process can be shortened.

[0104] In addition, when the working robot 12 is viewed in a direction perpendicular to the ground, the working robot 12 has a first area. During the docking retry process, when the working robot 12 is viewed in a direction perpendicular to the ground, an area corresponding to 50% or more of the first area of ​​the working robot 12 is arranged on the site plate 84.

[0105] According to the above configuration, the distance that the working robot 12 moves in the docking retry process can be shortened.

[0106] The docking retry process includes a retreat process for retreating the working robot 12 and an advance process for advancing the working robot 12 after the retreat process.

[0107] According to the above configuration, the working robot 12 can be docked with the charging station 14 more easily than in a configuration in which the working robot 12 is turned.

[0108] In addition, the retreat distance of the working robot 12 in the retreat process is greater than or equal to 50 mm and less than or equal to 650 mm.

[0109] According to the above configuration, the docking between the working robot 12 and the charging station 14 can be released, and the working robot 12 can be prevented from leaving the station plate 84 .

[0110] In addition, the retreat distance is greater than or equal to 150 mm and less than or equal to 300 mm.

[0111] According to the above configuration, the docking between the working robot 12 and the charging station can be released, and the working robot 12 can be further prevented from leaving the station plate 84 .

[0112] The autonomous mobile system 10 further includes a notification unit 44 for notifying the user. The control unit 50 can execute the docking retry process once or more, and controls the notification unit 44 when the number of docking retry processes that have been executed is equal to or greater than a reference number.

[0113] According to the above configuration, when the number of docking retry processes that have been executed is greater than the reference number, abnormalities often occur, for example, abnormalities often occur between the first robot charging terminal 54 and the first station charging terminal 88. The notification implemented by the notification unit 44 allows the user to recognize the abnormality.

[0114] When the number of docking retry processes that have been executed is equal to or greater than the reference number, the control unit 50 stops the right moving motor 34 and the left moving motor 36 .

[0115] According to the above configuration, the working robot 12 can be stopped until the user approaches the working robot 12 .

[0116] (Second embodiment)

[0117] In the second embodiment, the differences from the first embodiment are described. Fig.17 As shown, in the docking process of the second embodiment, the control unit 50 executes S220 and S222 instead of S120 of the docking process of the first embodiment.

[0118] In S220, the control unit 50 drives the right moving motor 34 and the left moving motor 36 in opposite directions and at the same rotation speed, so that the working robot 12 moves backward. Accordingly, the working robot 12 moves backward on the boundary between the first ring portion 104 and the second ring portion 106, and moves away from the docking portion 98. As the working robot 12 moves backward, the first robot charging terminal 54 moves away from the first station charging terminal 88, the second robot charging terminal 58 moves away from the second station charging terminal 90, and the robot communication terminal 62 moves away from the station communication terminal 92.

[0119] In S222, the control unit 50 determines whether the retreat end condition is satisfied. For example, when the control unit 50 determines that the first robot charging terminal 54, the second robot charging terminal 58, and the robot communication terminal 62 have returned to the initial position through the position detection sensor, it determines that the retreat end condition has been satisfied. In a modified example, the working robot 12 has: a switch that is pressed through the charging station 14 when the docking portion 98 of the charging station 14 is inserted into the docking opening 24a of the working robot 12, and the control unit 50 determines that the retreat end condition has been satisfied when the switch is not pressed. In other modified examples, the working robot 12 has: a switch that is pressed through the charging station 14 when the first robot charging terminal 54 is not electrically connected to the first station charging terminal 88 and the second robot charging terminal 58 is not electrically connected to the second station charging terminal 90, and the control unit 50 determines that the retreat end condition has been satisfied when the switch is pressed. In addition, in other modified examples, the charging station 14 has a permanent magnet, and the working robot 12 has: a Hall sensor that is opposite to the permanent magnet when the docking portion 98 of the charging station 14 is inserted into the docking opening 24a of the working robot 12. The control unit 50 determines that the retreat end condition has been met when the magnetic field strength detected by the Hall sensor is below a specified value. In addition, in other modified examples, the charging station 14 has a permanent magnet, and the working robot 12 has: a Hall sensor that is opposite to the permanent magnet when the first robot charging terminal 54 is not electrically connected to the first station charging terminal 88 and the second robot charging terminal 58 is not electrically connected to the second station charging terminal 90. The control unit 50 determines that the retreat end condition has been met when the magnetic field strength detected by the Hall sensor is above a specified value. When the control unit 50 determines that the retreat end condition is met (YES in S222), it enters S122. On the other hand, when the control unit 50 determines that the reverse end condition is not satisfied (NO in S222), the process returns to S220.

[0120] (Variation Example)

[0121] The working robot 12 according to one embodiment may also be a vacuum cleaner for removing foreign matter such as dust from the floor. In this configuration, the vacuum cleaner may remove foreign matter from the floor by rotating a brush and / or may remove foreign matter from the floor by suction.

[0122] 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 .

[0123] In the working robot 12 according to one embodiment, the moving unit 38 may include crawlers instead of the right front auxiliary wheel 68 , the left front auxiliary wheel 70 , the right rear drive wheel 72 , and the left rear drive wheel 74 .

[0124] The docking process according to one embodiment may include a turning process for causing the working robot 12 to turn.

[0125] The charging station 14 involved in one embodiment may also be provided with a power transmission coil for wirelessly charging the working robot 12 instead of the first station charging terminal 88, the second station charging terminal 90, and the station communication terminal 92. The power transmission coil may be arranged on the base 96, the docking portion 98, or the station plate 84. In this configuration, the working robot 12 may also be provided with a power receiving coil for wireless charging via the power transmission coil. The power receiving coil may be arranged on the housing 24 or on the terminal unit 28. In addition, when the power transmission coil of the charging station 14 is arranged on the station plate 84, the power receiving coil may also be arranged on the bottom surface of the housing 24 in a manner opposite to the power transmission coil on the station plate 84.

Claims

1. An autonomous mobile system, characterized in that: The autonomous mobile system includes: a working robot that performs work while autonomously moving in a working area; and a charging station that can dock with the working robot and charge the working robot. The working robot comprises: a working unit that performs working; a moving unit that enables the working robot to move; a moving motor that drives the moving unit; a storage battery that is charged at the charging station and supplies power to the moving motor; a control unit that controls the moving motor; and a robot power receiving unit that receives power for charging the storage battery from the charging station when the working robot is docked with the charging station. The charging station includes: a station power transmission unit that supplies the power for charging the battery to the robot power reception unit; and a station plate that is placed on the ground. When the working robot is docked with the charging station and is in a non-chargeable state where charging of the battery cannot be started, the control unit executes a docking retry process of moving the working robot by the moving unit and docking the working robot with the charging station again. When the working robot moves during the execution of the docking retry process, at least a part of the working robot is arranged on the site plate when the working robot is viewed in a direction perpendicular to the ground.

2. The autonomous mobile system according to claim 1, characterized in that: The robot power receiving unit is a robot charging terminal that can be electrically connected to the charging station when the working robot is docked with the charging station. The site power transmission unit is a site charging terminal that can be electrically connected to the robot charging terminal. The docking retry process includes a separation process of causing the working robot to separate from the charging station, and after the separation process, the robot charging terminal separates from the station charging terminal.

3. The autonomous mobile system according to claim 1 or 2, characterized in that: In the docking retry process, the control unit drives the moving motor a predetermined number of rotations.

4. The autonomous mobile system according to any one of claims 1 to 3, characterized in that: During execution of the docking retry process, when the working robot is viewed in a direction perpendicular to the ground, a region corresponding to 50% or more of the length of the working robot in the vehicle length direction is arranged on the station plate.

5. The autonomous mobile system according to any one of claims 1 to 3, characterized in that: When the working robot is viewed in a direction perpendicular to the ground, the working robot has a first area. During execution of the docking retry process, when the working robot is viewed in a direction perpendicular to the ground, a region corresponding to 50% or more of the first area of ​​the working robot is arranged on the site plate.

6. The autonomous mobile system according to any one of claims 1 to 5, characterized in that: The docking retry process includes a retreat process for retreating the working robot and an advance process for advancing the working robot after the retreat process.

7. The autonomous mobile system according to claim 6, characterized in that: In the retreat process, the working robot retreats by a distance of 50 mm or more and 650 mm or less.

8. The autonomous mobile system according to claim 7, characterized in that: The retreat distance is greater than or equal to 150 mm and less than or equal to 300 mm.

9. The autonomous mobile system according to any one of claims 1 to 8, characterized in that: The autonomous mobile system further comprises: a notification unit for notifying the user, The control unit is capable of executing the docking retry process more than once, and controls the notification unit when the number of times the docking retry process has been executed is greater than or equal to a reference number of times.

10. The autonomous mobile system according to claim 9, characterized in that: When the number of times the docking retry process has been executed is equal to or greater than the reference number of times, the control unit stops the moving motor.

Images