Autonomous mobile system

Abstract

To provide a technique that is able to detect a station wire by the simple configuration of a charging station.SOLUTION: An autonomous mobile system includes: a work robot configured to work while autonomously moving in a work area; a charging station configured to charge the work robot; a boundary wire defining the work area and configured to generate a magnetic field when energized; and a station wire disposed in the charging station, electrically connected to the boundary wire, and configured to generate a magnetic field when energized. The work robot includes: a magnetic detection unit configured to detect a magnetic field generated from the boundary wire and a magnetic field generated from the station wire; and a control unit configured to detect the station wire, based on a detection result obtained by the magnetic detection unit. The charging station includes: a charging terminal electrically connected to the work robot; and a signal generator configured to apply the same electric signal to the boundary wire and the station wire.SELECTED DRAWING: Figure 6

Description

[Technical field]

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

[0002] Patent Document 1 discloses an autonomous mobile system. The autonomous mobile system includes a work robot that performs work while autonomously moving within a work area, a charging station that charges the work robot, a boundary wire that defines the work area and generates a magnetic field when energized, and a station wire that is disposed in the charging station and generates a magnetic field when energized. The work robot includes a work unit that performs work, a work motor that operates the work unit, a moving unit that moves the work robot, a moving motor that operates the moving unit, a battery that is charged in the charging station and supplies power to the work motor and the moving motor, a magnetic detection unit that detects the magnetic field generated from the boundary wire and the magnetic field generated from the station wire, and a control unit that controls the work motor and the moving motor and detects the station wire based on the detection result of the magnetic detection unit. The charging station includes a charging terminal that is electrically connected to the work robot, a first signal generator that applies a first electric signal to the boundary wire, and a second signal generator that applies a second electric signal to the station wire. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-182635 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described autonomous mobile system, in order to detect the station wire, a second signal generator is required to apply a second electric signal to the station wire. This makes the configuration of the charging station complicated. In this specification, a technology is provided that allows the station wire to be detected by a simple charging station configuration. [Means for solving the problem]

[0005] This specification discloses an autonomous mobile system. The autonomous mobile system includes a work robot that performs work while autonomously moving within a work area, a charging station that charges the work robot, a boundary wire that defines the work area and generates a magnetic field when energized, and a station wire that is disposed in the charging station, is electrically connected to the boundary wire, and generates a magnetic field when energized. The work robot includes a work unit that performs work, a work motor that operates the work unit, a moving unit that moves the work robot, a moving motor that operates the moving unit, a battery that is charged in the charging station and supplies power to the work motor and the moving motor, a magnetic detection unit that detects the magnetic field generated from the boundary wire and the magnetic field generated from the station wire, and a control unit that controls the work motor and the moving motor and detects the station wire based on the detection result by the magnetic detection unit. The charging station includes a charging terminal that is electrically connected to the work robot, and a signal generator that applies the same electric signal to the boundary wire and the station wire.

[0006] According to the above configuration, a single signal generator applies the same electrical signal to the boundary wire and the station wire, which allows the station wire to be detected with a simple charging station configuration. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram of an autonomous mobile system 10 according to an embodiment. [Diagram 2] FIG. 2 is a side view of the working robot 12 and the charging station 14 of the embodiment. [Diagram 3] FIG. 2 is a rear view of the working robot 12 according to the embodiment. [Figure 4] FIG. 2 is a top view of the working robot 12 according to the embodiment. [Diagram 5] FIG. 2 is an electrical block diagram of the working robot 12 of the embodiment. [Figure 6] FIG. 1 is a schematic diagram of an autonomous mobile system 10 near a charging station 14 of an embodiment. [Figure 7] 4 is a diagram showing a current waveform CW1 of a first electrical signal and a current waveform CW2 of a second electrical signal in the embodiment. FIG. [Figure 8] 13A and 13B are diagrams showing waveforms of magnetic field strength inside and outside a working area WA and waveforms of magnetic field strength inside and outside a guide area GA in the embodiment. [Figure 9] FIG. 2 is a diagram showing waveforms of magnetic field strength inside and outside the station wire 20 of the embodiment. [Figure 10] 4 is a flowchart showing an autonomous control process according to the embodiment. [Figure 11] 11 is a flowchart showing a departure process according to an embodiment. [Figure 12] 10 is a flowchart showing a feedback process according to an embodiment. [Figure 13] 13 is a diagram showing the positional relationship between the working robot 12 of the embodiment and the guide wire 18 or the first boundary wire portion 16a when the working robot 12 is moving in a return direction D3. FIG. [Figure 14] 13 is a diagram showing the positional relationship between the working robot 12 and the boundary wire 16 when the working robot 12 in the embodiment is moving in a return direction D4. FIG. [Figure 15] 11 is a flowchart showing a docking process according to an embodiment. [Figure 16] 1A and 1B are diagrams illustrating the movement of the working robot 12 during the docking process of the embodiment. [Figure 17] 11 is a flowchart showing a avoidance process according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Representative and non-limiting examples of the present invention are described in detail below with reference to the drawings. This detailed description is intended simply to provide those skilled in the art with details for implementing preferred examples of the present invention, and is not intended to limit the scope of the present invention. Additionally, the additional features and inventions disclosed may be used separately or together with other features and inventions to provide further improved autonomous mobility systems, and methods of making and using the same.

[0009] In addition, the combinations of features and steps disclosed in the following detailed description are not essential for implementing the present invention in the broadest sense, but are specifically described only to illustrate representative embodiments of the present invention. Furthermore, the various features of the following representative embodiments and the various features described in the claims do not have to be combined in the exact manner of the embodiments described herein or in the order listed in order to provide additional and useful embodiments of the present invention.

[0010] All features described in the specification and / or claims are intended to be disclosed individually and independently of one another as limitations to the specific features described in the original disclosure and claims, apart from the configuration of features described in the examples and / or claims. Furthermore, all numerical ranges and group or aggregate descriptions are intended to disclose intermediate configurations thereof as limitations to the specific features described in the original disclosure and claims.

[0011] In one or more embodiments, the station wire may include a magnetic field enhancing structure that generates a magnetic field having a higher strength than the magnetic field generated in the boundary wire when the station wire and boundary wire are energized.

[0012] According to the above configuration, the strength of the magnetic field generated in the station wire is higher than the strength of the magnetic field generated in the boundary wire, so that the station wire can be easily detected.

[0013] In one or more embodiments, the controller may detect the station wire based at least on the strength of a magnetic field generated in the station wire when energized.

[0014] According to the above configuration, the station wire can be detected with a simple configuration that uses the strength of the magnetic field.

[0015] In one or more embodiments, the station wires may be electrically connected in series with the boundary wires.

[0016] According to the above-mentioned configuration, the same electrical signal can be applied to the boundary wire and the station wire with a simple configuration.

[0017] In one or more embodiments, the control unit may store the magnetic field strength of the station wire when the work robot is located at the charging station, and detect the station wire based on the stored magnetic field strength and the magnetic field strength of the station wire detected by the magnetic detection unit.

[0018] According to the above configuration, the station wire can be detected accurately compared to a configuration in which the control unit does not store the magnetic field strength of the station wire when the work robot is located at the charging station, for example a configuration in which the magnetic field strength is stored in advance when the work robot is manufactured, or a configuration in which the user sets the magnetic field strength.

[0019] In one or more embodiments, the control unit may execute a detachment process to detach the work robot electrically connected to the charging terminal from the charging station. When executing the detachment process, the control unit may obtain the strength of the magnetic field of the station wire after the work robot is disconnected from the charging terminal.

[0020] In a configuration in which the control unit acquires the magnetic field strength of the station wire before the work robot is detached from the charging terminal, the control unit needs to acquire the magnetic field strength of the station wire while determining that the work robot will be detached from the charging terminal. According to the above configuration, the control unit can separately execute the process of determining that the work robot will be detached from the charging terminal and the process of acquiring the magnetic field strength of the station wire.

[0021] In one or more embodiments, the detachment process may include a turning process for turning the work robot after the work robot is detached from the charging terminal. The control unit may obtain the strength of the magnetic field of the station wire during the turning process.

[0022] According to the above configuration, in a configuration in which the work robot turns, the distance between the work robot and the charging station is less likely to change compared to a configuration in which the work robot moves in a straight line from the charging station. By the control unit acquiring the magnetic field strength of the station wire during the turning process, it is possible to reduce variation in the magnetic field strength compared to a configuration in which the magnetic field strength of the station wire is acquired while the work robot moves in a straight line from the charging station.

[0023] In one or more embodiments, the magnetic detection unit may include a plurality of magnetic sensors that detect a magnetic field emanating from the boundary wire and a magnetic field emanating from the station wire, and the control unit may obtain a strength of the magnetic field of the station wire detected by each of the plurality of magnetic sensors during the turning process.

[0024] According to the above configuration, the station wire can be detected even when one of the multiple magnetic sensors is out of order.

[0025] In one or more embodiments, the controller may store the peak value of the station wire magnetic field strength.

[0026] According to the above configuration, the peak value of the magnetic field strength of the station wire is used, so that the station wire can be accurately detected.

[0027] In one or more embodiments, the control unit may set a threshold value that is equal to or greater than 80% of the stored peak value, and detect the station wire based on the set threshold value and the strength of the magnetic field of the station wire detected by the magnetic detection unit.

[0028] The strength of the magnetic field detected by the magnetic detection unit decreases as the work robot moves away from the station wire. According to the above configuration, since the threshold value is a predetermined percentage of the peak value of the magnetic field strength, the station wire can be detected even if the work robot is far away from the station wire.

[0029] In one or more embodiments, the station wire may include a first loop portion that increases an absolute value of a positive value of the strength of the magnetic field of the station wire, and a second loop portion that increases an absolute value of a negative value of the strength of the magnetic field of the station wire. The control unit may control the movement motor based on the strength of the magnetic field generated by the first loop portion to move the work robot along the first loop portion.

[0030] In general, a configuration in which the control unit detects the station wire based on the strength of a magnetic field that is a positive value has higher detection accuracy than a configuration in which the control unit detects the station wire based on the strength of a magnetic field that is a negative value. With the above configuration, the magnetic field strength of the first loop portion is used, so that the work robot can be moved accurately along the first loop portion.

[0031] In one or more embodiments, when the control unit detects the station wire while the work robot is returning to the charging station, the control unit may execute a docking process to electrically connect the work robot to the charging terminal.

[0032] In a configuration in which the docking process is performed based on the position of the work robot detected by a method other than detecting the station wire, for example, by GPS or the like, if an error occurs between the detected position of the work robot and the actual position of the work robot, the work robot may collide with the charging station before the docking process is performed. With the above configuration, the station wire is detected, so it is possible to prevent the work robot from colliding with the charging station before the docking process is performed.

[0033] In one or more embodiments, when the control unit detects a station wire while the work robot is working, the control unit may execute a movement direction change process to change the movement direction of the work robot.

[0034] According to the above configuration, it is possible to prevent the work robot from colliding with the charging station.

[0035] (Example) As shown in Fig. 1, an autonomous mobile system 10 includes a work robot 12, a charging station 14, a boundary wire 16, a guide wire 18, and a station wire 20. The work robot 12 is, for example, a lawnmower. The work robot 12 is used while placed on the ground. The work robot 12 moves autonomously within a work area WA surrounded by the boundary wire 16, and mows grass growing on the ground. Hereinafter, the vehicle length direction of the work robot 12 is referred to as the front-rear direction, the vehicle width direction of the work robot 12 is referred to as the left-right direction, and the direction perpendicular to the front-rear direction and the left-right direction is referred to as the up-down direction.

[0036] As shown in FIG. 2, the work robot 12 includes a housing 24, a power supply unit 26, a working motor 28, a working unit 30, a right movement motor 32 (see FIG. 3), a left movement motor 34 (see FIG. 3), a moving unit 36, an operation unit 38 (see FIG. 3), a display unit 39a (see FIG. 3), an alarm unit 39b (see FIG. 3), a magnetic detection unit 40 (see FIG. 4), and a control unit 42 (see FIG. 5).

[0037] The power supply unit 26 is accommodated inside the housing 24. The power supply unit 26 includes a battery 46 and a charging interface 48. The battery 46 is a secondary battery including a lithium-ion battery. The battery 46 is not detachable from the housing 24. The charging interface 48 is disposed at the front end of the housing 24. The charging interface 48 is electrically connected to the battery 46. The work robot 12 can be docked to the charging station 14 (see FIG. 1 ) via the charging interface 48. When the work robot 12 is docked to the charging station 14, the battery 46 can be charged by supplying power from an external power source 78 via the charging station 14 and the charging interface 48.

[0038] The work motor 28 is supported by the housing 24. The work motor 28 is, for example, a brushless motor. The work motor 28 is operated by power from a battery 46.

[0039] The working unit 30 is equipped with a cutting blade 30a having a substantially circular disk shape. The cutting blade 30a is fixed to an output shaft of a working motor 28. The output shaft is inclined with respect to the up-down direction. The cutting blade 30a rotates by the operation of the working motor 28. This cuts the grass growing above the ground.

[0040] As shown in Fig. 3, the right motor for movement 32 and the left motor for movement 34 are supported by the housing 24. The right motor for movement 32 and the left motor for movement 34 are, for example, brushless motors. The right motor for movement 32 and the left motor for movement 34 are operated by power from a battery 46 (see Fig. 2).

[0041] The moving unit 36 ​​is equipped with a right front auxiliary wheel 52, a left front auxiliary wheel 54, a right rear drive wheel 56, and a left rear drive wheel 58. The right front auxiliary wheel 52 and the left front auxiliary wheel 54 are rotatably attached to the housing 24. The right rear drive wheel 56 is fixed to the output shaft of the right moving motor 32. The left rear drive wheel 58 is fixed to the output shaft of the left moving motor 34. The output shafts of the right moving motor 32 and the left moving motor 34 extend in the left-right direction. The right rear drive wheel 56 rotates due to the operation of the right moving motor 32, and the left rear drive wheel 58 rotates due to the operation of the left moving motor 34. This allows the work robot 12 to move forward, backward, and turn.

[0042] Operation unit 38 is disposed on the outer surface of housing 24. Operation unit 38 is equipped with an operation switch. A user operates operation unit 38, for example, when switching between the on and off states of working robot 12 or when setting working conditions for working robot 12.

[0043] The display unit 39a is, for example, a display. The display unit 39a displays various information. The operation unit 38 and the display unit 39a may be integrated as a touch panel.

[0044] The notification unit 39b is, for example, a buzzer that emits a sound. In a modified example, the notification unit 39b may be a light that emits light. The notification unit 39b emits a sound, for example, when an abnormality occurs in the work robot 12.

[0045] 4, the magnetic detection unit 40 is supported by the housing 24. The magnetic detection unit 40 includes a plurality of magnetic sensors 60 (four in this embodiment). The magnetic sensors 60 are, for example, search coils, Hall sensors, etc. The magnetic sensors 60 detect the strength of the magnetic field in the vertical direction.

[0046] The multiple magnetic sensors 60 include a right front magnetic sensor 60a, a left front magnetic sensor 60b, a central front magnetic sensor 60c, and a rear magnetic sensor 60d. The right front magnetic sensor 60a, the left front magnetic sensor 60b, and the central front magnetic sensor 60c are arranged forward of the center of the housing 24 in the front-rear direction. The right front magnetic sensor 60a is arranged in the front right part of the housing 24. The left front magnetic sensor 60b is arranged in the front left part of the housing 24. In the left-right direction, the distance between the right front magnetic sensor 60a and the center line CL is approximately the same as the distance between the left front magnetic sensor 60b and the center line CL. The center line CL extends in the front-rear direction and is located at the center of the housing 24 in the left-right direction. The central front magnetic sensor 60c and the rear magnetic sensor 60d are arranged near the center line CL. The central front magnetic sensor 60c is arranged in the front part of the housing 24. The rear magnetic sensor 60d is arranged rearward of the center of the housing 24 in the front-rear direction. The rear magnetic sensor 60d is disposed at the rear of the housing 24.

[0047] As shown in FIG. 5, the control unit 42 is electrically connected to the power supply unit 26, the working motor 28, the right moving motor 32, the left moving motor 34, the operation unit 38, the display unit 39a, the notification unit 39b, and the magnetic detection unit 40. The control unit 42 includes a microcomputer (not shown) and a memory (not shown). The control unit 42 controls the rotation direction and the number of rotations of the right moving motor 32 and the rotation direction and the number of rotations of the left moving motor 34 independently of each other. For example, when the control unit 42 controls the right moving motor 32 and the left moving motor 34 in the forward direction at the same number of rotations, the working robot 12 moves forward. When the control unit 42 controls the right moving motor 32 and the left moving motor 34 in the reverse direction at the same number of rotations, the working robot 12 moves backward. When the control unit 42 controls the right moving motor 32 in the forward direction and the left moving motor 34 in the reverse direction, the working robot 12 turns on the spot. When the control unit 42 controls the right travel motor 32 and the left travel motor 34 at different rotation speeds in the forward (or reverse) direction, the working robot 12 turns while moving. The control unit 42 autonomously controls the working robot 12 based on various programs stored in memory. For example, the control unit 42 receives signals from the operation unit 38 and the magnetic detection unit 40 and controls the working motor 28, right travel motor 32, and left travel motor 34, causing the working robot 12 to mow the grass while autonomously moving.

[0048] As shown in FIG. 6, the charging station 14 is disposed across the inside and outside of the working area WA. The charging station 14 includes a pad 70, a stand 72, a charging terminal 74, and a signal generator 76. The pad 70 is placed on the ground. The stand 72 is disposed on the pad 70. The stand 72 has a substantially rectangular parallelepiped shape. The stand 72 is electrically connected to an external power source 78. The charging terminal 74 protrudes from the stand 72 so as to be separated from the station wire 20. The charging terminal 74 is substantially perpendicular to the stand 72. The charging terminal 74 is disposed within the working area WA. As shown in FIG. 2, the charging terminal 74 is dockable with the charging interface 48 of the working robot 12. When the charging terminal 74 is docked with the charging interface 48, the working robot 12 and the charging station 14 are electrically connected. Here, when the work robot 12 is positioned in the charging station 14, it means that at least a portion of the work robot 12 overlaps vertically with the charging station 14 (the pad 70, the stand 72, and the signal generator 76).

[0049] As shown in FIG. 6, the signal generator 76 is housed in the stand 72. The signal generator 76 can apply a first electrical signal to the boundary wire 16 and the station wire 20. The signal generator 76 can also apply a second electrical signal to the boundary wire 16 and the guide wire 18. The second electrical signal is different from the first electrical signal. As shown in FIG. 7, the current waveform CW1 of the first electrical signal is different from the current waveform CW2 of the second electrical signal. For example, the phase of the current waveform CW1 of the first electrical signal is different from the phase of the current waveform CW2 of the second electrical signal. The first electrical signal and the second electrical signal are applied, for example, alternately, by the signal generator 76. The first electrical signal and the second electrical signal are applied, for example, at a predetermined period by the signal generator 76.

[0050] As shown in FIG. 1, the boundary wire 16 defines a working area WA. The boundary wire 16 is buried in the ground near the earth's surface, for example. The boundary wire 16 is electrically connected to a signal generator 76 (see FIG. 6) of the charging station 14 via a station wire 20. When a current flows through the boundary wire 16, a magnetic field is generated so as to surround the boundary wire 16 according to the right-hand rule. The direction of the magnetic field generated within the working area WA is opposite to the direction of the magnetic field generated outside the working area WA. As shown in FIG. 8, the strength of the magnetic field in the vertical direction is zero on the boundary wire 16, has a positive value within the working area WA, and has a negative value outside the working area WA. The strength of the magnetic field changes depending on the distance from the boundary wire 16. The control unit 42 obtains the strength of the magnetic field from the magnetic detection unit 40 and determines whether the working robot 12 is located within the working area WA.

[0051] As shown in FIG. 1, the guide wire 18 is buried in the ground near the surface of the earth. The material and wire diameter of the guide wire 18 are the same as those of the boundary wire 16. The guide wire 18 is electrically connected to a first point 17 of the boundary wire 16. The first point 17 is located at an arbitrary position between one end and the other end of the boundary wire 16. In the following, the part of the boundary wire 16 between one end and the first point 17 may be referred to as the first boundary wire part 16a, and the part between the first point 17 and the other end may be referred to as the second boundary wire part 16b. The guide wire 18 is also electrically connected to a signal generator 76 (see FIG. 6) of the charging station 14. The guide wire 18 and the first boundary wire part 16a define a guide area GA. When a current flows through the guide wire 18 and the first boundary wire part 16a, a magnetic field is generated so as to surround the guide wire 18 and the first boundary wire part 16a according to the right-hand helical rule. In this embodiment, the electrical signal applied to the boundary wire 16 (first boundary wire portion 16a and second boundary wire portion 16b) is different from the electrical signal applied to the guide wire 18 and first boundary wire portion 16a. The control unit 42 obtains the strength of the magnetic field from the magnetic detection unit 40 and determines whether the work robot 12 is located within the guide area GA.

[0052] As shown in FIG. 6, the station wire 20 is disposed on a pad 70 of the charging station 14. The station wire 20 is electrically connected in series with the boundary wire 16. The station wire 20 is electrically connected to a signal generator 76 (see FIG. 6). The material and wire diameter of the station wire 20 are the same as those of the boundary wire 16. The station wire 20 includes a magnetic field-enhancing structure 80. The magnetic field-enhancing structure 80 generates a magnetic field having a higher intensity than the absolute value of the peak value of the intensity of the magnetic field generated by the boundary wire 16 and the absolute value of the peak value of the intensity of the magnetic field generated by the guide wire 18.

[0053] The magnetic field reinforcing structure 80 includes a first loop portion 82 having a loop shape and a second loop portion 84 having a loop shape. The first loop portion 82 and the second loop portion 84 are disposed adjacent to each other. The charging terminal 74 of the charging station 14 is disposed on the boundary between the first loop portion 82 and the second loop portion 84. The first loop portion 82 and the second loop portion 84 are formed by winding one station wire 20 multiple times (for example, two times). The first number of turns of the station wire 20 in the first loop portion 82 is the same as the second number of turns of the station wire 20 in the second loop portion 84. When a current flows through the station wire 20, the current flows through the first loop portion 82 in a counterclockwise direction D1 and through the second loop portion 84 in a counterclockwise direction D2. 9, the strength of the magnetic field in the vertical direction near the pad 70 becomes zero near the boundary between the first loop portion 82 and the second loop portion 84, exhibits a positive value within the first loop portion 82, and exhibits a negative value within the second loop portion 84. The absolute value of the peak value of the strength of the magnetic field caused by the first loop portion 82 is substantially the same as the absolute value of the peak value of the strength of the magnetic field caused by the second loop portion 84. The absolute value of the peak value of the strength of the magnetic field caused by the first loop portion 82 is greater than the absolute value of the peak value of the strength of the magnetic field in the working area WA caused by the station wire 20 and the absolute value of the peak value of the strength of the magnetic field in the guide area GA caused by the guide wire 18, and increases according to, for example, the first number of turns of the station wire 20 around the first loop portion 82. Furthermore, the absolute value of the peak value of the magnetic field strength caused by second loop portion 84 is greater than the absolute value of the peak value of the magnetic field strength outside the working area WA caused by the station wire 20 and the absolute value of the peak value of the magnetic field strength outside the guide area GA caused by the guide wire 18, and becomes larger, for example, according to the second number of turns of the station wire 20 in the second loop portion 84. The control unit 42 obtains the magnetic field strength from the magnetic detection unit 40 and determines whether the work robot 12 is located within the first loop portion 82 or the second loop portion 84, and detects that the work robot 12 has crossed the station wire 20.

[0054] (Autonomous movement processing) The control unit 42 executes the autonomous control process shown in Fig. 10. The autonomous control process is executed to detach the work robot 12 from the charging station 14, cause the work robot 12 to perform grass cutting work within the work area WA, return the work robot 12 to the charging station 14, and dock the work robot 12 with the charging station 14.

[0055] 10 is executed, the charging interface 48 of the work robot 12 is docked to the charging terminal 74 of the charging station 14. Therefore, the work robot 12 is electrically connected to the charging station 14. In S2, the control unit 42 executes a detachment process.

[0056] In the detachment process shown in FIG. 11, in S102, the control unit 42 controls the right travel motor 32 and the left travel motor 34 to rotate in opposite directions at the same rotation speed so that the charging interface 48 of the work robot 12 retreats in a direction away from the charging terminal 74.

[0057] In S104, the control unit 42 determines whether or not the docking (electrical connection) between the charging interface 48 and the charging terminal 74 has been released. If the control unit 42 determines that the docking between the charging interface 48 and the charging terminal 74 has been released (YES in S104), the control unit 42 proceeds to S106.

[0058] In S106, the control unit 42 controls the magnetic detection unit 40. In this embodiment, the control unit 42 controls the right front magnetic sensor 60a, the left front magnetic sensor 60b, and the central front magnetic sensor 60c, and starts acquiring the intensity of the magnetic field of the first loop unit 82 detected by each of the magnetic sensors 60a, 60b, and 60c.

[0059] In S108, the control unit 42 controls the right moving motor 32 and the left moving motor 34 so that the work robot 12 turns on the spot. For example, the control unit 42 controls the right moving motor 32 in a forward direction (or reverse direction) and controls the left moving motor 34 in a reverse direction (or forward direction). The control unit 42 stops the right moving motor 32 and the left moving motor 34 when the work robot 12 has turned 180 degrees on the spot.

[0060] In S112, the control unit 42 selects one of the three magnetic sensors 60a, 60b, 60c based on the waveform of the magnetic field strength of the first loop unit 82 detected by each of the magnetic sensors 60a, 60b, 60c. The control unit 42 acquires a peak value of the magnetic field strength of the first loop unit 82 from the waveform of the magnetic field strength of the first loop unit 82 detected by the selected magnetic sensor 60. The control unit 42 stores the acquired peak value. In a modified example, the control unit 42 may select one of the three magnetic sensors 60a, 60b, 60c based on the waveform of the magnetic field strength of the second loop unit 84 detected by each of the magnetic sensors 60a, 60b, 60c, and store the peak value of the magnetic field strength of the second loop unit 84.

[0061] In S114, the control unit 42 sets a threshold value from the stored peak value. The threshold value is 80% or more of the stored peak value. The threshold value is 100% or less of the stored peak value. The control unit 42 stores the set threshold value.

[0062] In S116, the control unit 42 controls the right moving motor 32 and the left moving motor 34 in the forward direction so that the work robot 12 moves in a direction away from the charging station 14. The rotation speed of the right moving motor 32 may be the same as or different from the rotation speed of the left moving motor 34.

[0063] In S118, the control unit 42 determines whether the strength of the magnetic field of the first loop unit 82 detected by each of the magnetic sensors 60a, 60b, 60c, 60d is equal to or less than a reference value. When the strength of the magnetic field of the first loop unit 82 is equal to or less than the reference value, the work robot 12 is a predetermined distance or more, for example, one meter or more, away from the charging station 14. When the control unit 42 determines that the strength of the magnetic field of the detected first loop unit 82 is equal to or less than the reference value (YES in S118), the process proceeds to S4 of the autonomous control process shown in FIG.

[0064] In S4 shown in Figure 10, the control unit 42 executes the lawn mowing process. Specifically, it controls the work motor 28, the right movement motor 32, and the left movement motor 34. As a result, the work robot 12 moves within the work area WA while rotating the cutting blade 30a, and the grass within the work area WA is mowed.

[0065] In S6, the control unit 42 determines whether the return condition is satisfied. For example, the control unit 42 determines that the return condition is satisfied when the remaining charge of the battery 46 falls below a predetermined level. Alternatively, the control unit 42 may determine that the return condition is satisfied when a time set by the user has passed, or when an abnormality occurs in at least one of the work motor 28, the right travel motor 32, and the left travel motor 34. When the control unit 42 determines that the return condition is satisfied (YES in S6), it proceeds to the return process of S8.

[0066] 12, the control unit 42 continues to control the work motor 28, the right movement motor 32, and the left movement motor 34. As a result, the work robot 12 moves within the work area WA while rotating the cutting blade 30a. As a result, the grass in the work area WA is mowed even during the return process.

[0067] In S202, the control unit 42 judges whether the rear magnetic sensor 60d has crossed the guidewire 18 or the first boundary wire portion 16a within a predetermined period of time. The control unit 42 judges that the rear magnetic sensor 60d has crossed the guidewire 18 or the first boundary wire portion 16a when the strength of the magnetic field of the guidewire 18 and the first boundary wire portion 16a detected by the rear magnetic sensor 60d changes from a positive value to a negative value. If the control unit 42 judges that the rear magnetic sensor 60d has crossed the guidewire 18 or the first boundary wire portion 16a within the predetermined period of time (YES in S202), the control unit 42 proceeds to S204. On the other hand, if the control unit 42 judges that the rear magnetic sensor 60d has not crossed the guidewire 18 or the first boundary wire portion 16a within the predetermined period of time (NO in S202), the control unit 42 proceeds to S206.

[0068] In S204, the control unit 42 controls the right movement motor 32 and the left movement motor 34 so that the work robot 12 moves in a return direction D3 along the guide wire 18 and the first boundary wire portion 16a. As shown in Fig. 1, the return direction D3 is a counterclockwise direction. The return direction D3 is the same as the direction of the current flowing through the guide wire 18 and the first boundary wire portion 16a.

[0069] As shown in Fig. 13, when the work robot 12 moves in the return direction D3 along the guide wire 18 and the first boundary wire part 16a, the control unit 42 controls the right movement motor 32 and the left movement motor 34 so that the strength of the magnetic field of the guide wire 18 or the first boundary wire part 16a detected by the center front magnetic sensor 60c becomes zero. As a result, the work robot 12 moves so that the center front magnetic sensor 60c is located directly above the guide wire 18 or the first boundary wire part 16a. When the strength of the magnetic field of the guide wire 18 or the first boundary wire part 16a detected by the center front magnetic sensor 60c is a positive value, the control unit 42 makes the rotation speed of the left movement motor 34 greater than the rotation speed of the right movement motor 32 because the center front magnetic sensor 60c is located to the left of the guide wire 18 or the first boundary wire part 16a. As a result, the work robot 12 turns to the right. When the strength of the magnetic field of the guidewire 18 or first boundary wire portion 16a detected by the central front magnetic sensor 60c is a negative value, the control unit 42 makes the rotation speed of the right travel motor 32 greater than the rotation speed of the left travel motor 34, because the central front magnetic sensor 60c is located to the right of the guidewire 18 or first boundary wire portion 16a. This causes the work robot 12 to turn left. The control unit 42 also controls the right travel motor 32 and the left travel motor 34 so that the strength of the magnetic field detected by the rear magnetic sensor 60d is a positive value.

[0070] In S206 shown in Fig. 12, the control unit 42 determines whether the rear magnetic sensor 60d has crossed the boundary wire 16 (i.e., the first boundary wire portion 16a and the second boundary wire portion 16b). The control unit 42 determines that the rear magnetic sensor 60d has crossed the boundary wire 16 when the strength of the magnetic field of the boundary wire 16 detected by the rear magnetic sensor 60d changes from a positive value to a negative value. In S206, the control unit 42 obtains the strength of the magnetic field of the boundary wire 16 from a magnetic sensor 60 different from the magnetic sensor 60 used in S202. When the control unit 42 determines that the rear magnetic sensor 60d has crossed the boundary wire 16 (YES in S206), the control unit 42 proceeds to S208.

[0071] In S208, the control unit 42 controls the right movement motor 32 and the left movement motor 34 so that the work robot 12 moves in a return direction D4 along the boundary wire 16 (i.e., the first boundary wire portion 16a and the second boundary wire portion 16b). As shown in Fig. 1, the return direction D4 is a counterclockwise direction. The return direction D4 is the same as the direction of the current flowing through the boundary wire 16.

[0072] As shown in FIG. 14, when the working robot 12 moves in the return direction D4 along the boundary wire 16, the control unit 42 controls the right moving motor 32 and the left moving motor 34 so that the strength of the magnetic field of the boundary wire 16 detected by the right front magnetic sensor 60a becomes zero. As a result, the working robot 12 moves so that the right front magnetic sensor 60a is located directly above the boundary wire 16. By positioning the right front magnetic sensor 60a directly above the boundary wire 16, it is possible to prevent the working robot 12 from going outside the working area WA, compared to a configuration in which the magnetic sensors 60 other than the right front magnetic sensor 60a are located directly above the boundary wire 16. In a modified example, when the return direction D4 (see FIG. 1) is clockwise, the control unit 42 may control the right moving motor 32 and the left moving motor 34 so that the strength of the magnetic field of the boundary wire 16 detected by the left front magnetic sensor 60b becomes zero. The right front magnetic sensor 60a located directly above the boundary wire 16 in S208 is different from the central front magnetic sensor 60c located directly above the guide wire 18 or the first boundary wire part 16a in S204. When the strength of the magnetic field of the boundary wire 16 detected by the right front magnetic sensor 60a is a positive value, the control unit 42 increases the rotation speed of the left travel motor 34 greater than the rotation speed of the right travel motor 32 since the right front magnetic sensor 60a is located to the left of the boundary wire 16. This causes the work robot 12 to turn to the right. When the strength of the magnetic field of the boundary wire 16 detected by the right front magnetic sensor 60a is a negative value, the control unit 42 increases the rotation speed of the right travel motor 32 greater than the rotation speed of the left travel motor 34 since the right front magnetic sensor 60a is located to the right of the boundary wire 16. This causes the work robot 12 to turn to the left. Furthermore, the control unit 42 controls the right moving motor 32 and the left moving motor 34 so that the strength of the magnetic field detected by the left front magnetic sensor 60b becomes a positive value.

[0073] As shown in FIG. 10, in S10 after S8, the control unit 42 judges whether the strength of the magnetic field of the first loop unit 82 detected by the magnetic detection unit 40 is equal to or greater than the threshold value. At this time, the control unit 42 may use only the strength of the magnetic field detected by the magnetic sensor 60 (hereinafter sometimes referred to as the magnetic sensor 60′) used when determining the threshold value, may use the strength of the magnetic field detected by the magnetic sensor 60 other than the magnetic sensor 60′, or may use the strength of the magnetic field detected by two or more magnetic sensors 60. In a modified example, the control unit 42 may monitor the strength of the magnetic field of the second loop unit 84 detected by the magnetic detection unit 40. When the control unit 42 judges that the strength of the magnetic field of the first loop unit 82 detected by the magnetic detection unit 40 is equal to or greater than the threshold value (YES in S10), the control unit 42 proceeds to the docking process in S12. On the other hand, when the control unit 42 determines that the strength of the magnetic field of the first loop portion 82 detected by the magnetic detection unit 40 is smaller than the threshold value (NO in S10), it moves the work robot 12 in the return directions D3, D4 until it determines that the strength of the magnetic field of the first loop portion 82 detected by the magnetic detection unit 40 is greater than or equal to the threshold value.

[0074] 15, the control unit 42 controls the right movement motor 32 and the left movement motor 34 so that the work robot 12 moves along the first loop portion 82, based on the strength of the magnetic field of the first loop portion 82 detected by the magnetic detection unit 40. As a result of the processing of S302, the work robot 12 moves counterclockwise along the first loop portion 82, as shown in FIG.

[0075] 15, the control unit 42 determines whether the work robot 12 has reached the center position of the charging station 14 based on the strength of the magnetic field of the first loop portion 82 detected by the magnetic detection unit 40. 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, i.e., the boundary between the first loop portion 82 and the second loop portion 84. When the control unit 42 determines that the work robot 12 has reached the center position of the charging station 14 (YES in S304), the process proceeds to S306. As a result of the processing of S304, the front end of the work robot 12 is positioned near the boundary between the first loop portion 82 and the second loop portion 84, as shown in FIG.

[0076] In S306 in Figure 15, the control unit 42 controls the right moving motor 32 in a forward (or reverse) direction, and controls the left moving motor 34 in a reverse (or forward) direction so that the work robot 12 turns on the spot. The control unit 42 stops the right moving motor 32 and the left moving motor 34 when the work robot 12 has turned a predetermined angle. As a result of the processing of S306, the front end of the work robot 12 moves away from the boundary between the first loop portion 82 and the second loop portion 84, as shown in Figure 16.

[0077] In S308 in Figure 15, the control unit 42 controls the right movement motor 32 and the left movement motor 34 so that the working robot 12 moves and turns. As a result of the processing of S308, first, the working robot 12 moves forward, as shown in Figure 16. Next, the working robot 12 turns on the spot. This adjusts the attitude of the working robot 12 with respect to the charging station 14.

[0078] 15, the control unit 42 determines whether the strength of the magnetic field detected by the magnetic detection unit 40 is zero. When the control unit 42 determines that the strength of the magnetic field detected by the magnetic detection unit 40 is zero (YES in S310), the control unit 42 proceeds to S312. As a result of the processing of S310, the charging interface 48 is disposed on the boundary between the first loop portion 82 and the second loop portion 84, and faces the charging terminal 74 of the charging station 14, as shown in FIG.

[0079] 15, the control unit 42 controls the right movement motor 32 and the left movement motor 34 in the forward direction at the same rotation speed so that the work robot 12 moves forward.

[0080] In S314, the control unit 42 determines whether or not the charging interface 48 is docked with the charging terminal 74. If the control unit 42 determines that the charging interface 48 is docked with the charging terminal 74 (YES in S314), the process proceeds to S316.

[0081] In S316, the control unit 42 stops the right movement motor 32 and the left movement motor 34. As a result of the processing of S316, the work robot 12 stops in a state in which the charging interface 48 and the charging terminal 74 are docked, as shown in Figure 16.

[0082] (Avoidance process) When the lawn mowing process of S4 is being performed, the work robot 12 may pass near the charging station 14. In such a case, in order to prevent the work robot 12 from colliding with the charging station 14, the control unit 42 executes the avoidance process shown in FIG.

[0083] 17, in S402 of the avoidance process, the control unit 42 determines whether the strength of the magnetic field of the first loop portion 82 detected by the magnetic detection unit 40 is equal to or greater than a threshold value. When the control unit 42 determines that the strength of the magnetic field of the first loop portion 82 detected by the magnetic detection unit 40 is equal to or greater than the threshold value (YES in S402), the control unit 42 proceeds to S404.

[0084] In S404, the control unit 42 stops the right movement motor 32 and the left movement motor 34. This causes the working robot 12 to stop.

[0085] In S406, the control unit 42 controls the right moving motor 32 in a forward direction (or reverse direction) and controls the left moving motor 34 in a reverse direction (or forward direction) so that the work robot 12 turns on the spot. The control unit 42 stops the right moving motor 32 and the left moving motor 34 when the work robot 12 has turned a predetermined angle. The predetermined angle is an arbitrary angle that is set for each turning operation.

[0086] In S408 , the control unit 42 controls the right movement motor 32 and the left movement motor 34 in the forward direction so that the work robot 12 moves in a direction away from the charging station 14 .

[0087] (effect) The autonomous mobile system 10 of this embodiment comprises a work robot 12 that performs work while autonomously moving within a work area WA, a charging station 14 that charges the work robot 12, a boundary wire 16 that defines the work area WA and generates a magnetic field when energized, and a station wire 20 that is disposed in the charging station 14 and is electrically connected to the boundary wire 16 and generates a magnetic field when energized. The work robot 12 comprises a work unit 30 that performs work, a work motor 28 that operates the work unit 30, a moving unit 36 ​​that moves the work robot 12, moving motors 32, 34 that operate the moving unit 36, a battery 46 that is charged in the charging station 14 and supplies power to the work motor 28 and the moving motors 32, 34, a magnetic detection unit 40 that detects the magnetic field generated from the boundary wire 16 and the station wire 20, and a control unit 42 that controls the work motor 28 and the moving motors 32, 34 and detects the station wire 20 based on the detection result by the magnetic detection unit 40. The charging station 14 includes a charging terminal 74 electrically connected to the work robot 12, and a signal generator 76 that applies the same first electrical signal (an example of an electrical signal) to the boundary wire 16 and the station wire 20.

[0088] According to the above configuration, the single signal generator 76 applies the same first electrical signal to the boundary wire 16 and the station wire 20. This allows the station wire 20 to be detected by a simple charging station 14 configuration.

[0089] The station wire 20 also includes a magnetic field enhancing structure 80 that generates a magnetic field having a strength greater than that of the magnetic field generated in the boundary wire 16 when the station wire 20 and the boundary wire 16 are energized.

[0090] According to the above-mentioned configuration, the strength of the magnetic field generated in the station wire 20 is higher than the strength of the magnetic field generated in the boundary wire 16, so that the station wire 20 can be easily detected.

[0091] Furthermore, the control unit 42 detects the station wire 20 based on at least the strength of the magnetic field generated in the station wire 20 when electricity is applied.

[0092] According to the above configuration, the station wire 20 can be detected with a simple configuration that uses the strength of the magnetic field.

[0093] Additionally, the station wire 20 is electrically connected in series with the boundary wire 16 .

[0094] According to the above-mentioned configuration, the same first electrical signal can be applied to the boundary wire 16 and the station wire 20 with a simple configuration.

[0095] In addition, the control unit 42 memorizes the magnetic field strength of the station wire 20 when the work robot 12 is located at the charging station 14, and detects the station wire 20 based on the memorized magnetic field strength and the magnetic field strength of the station wire 20 detected by the magnetic detection unit 40.

[0096] According to the above configuration, the station wire 20 can be detected more accurately than in a configuration in which the control unit 42 does not store the magnetic field strength of the station wire 20 when the work robot 12 is located at the charging station 14, such as a configuration in which the magnetic field strength is stored in advance when the work robot 12 is manufactured or a configuration in which the user sets the magnetic field strength.

[0097] The control unit 42 also executes a detachment process S2 to detach the work robot 12, which is electrically connected to the charging terminal 74, from the charging station 14. When executing the detachment process S2, the control unit 42 acquires the strength of the magnetic field of the station wire 20 after the work robot 12 has been disconnected from the charging terminal 74.

[0098] In a configuration in which the control unit 42 acquires the strength of the magnetic field of the station wire 20 before the work robot 12 becomes detached from the charging terminal 74, the control unit 42 needs to acquire the strength of the magnetic field of the station wire 20 while determining that the work robot 12 will become detached from the charging terminal 74. With the above configuration, the control unit 42 can separately execute the process of determining that the work robot 12 will become detached from the charging terminal 74 and the process of acquiring the strength of the magnetic field of the station wire 20.

[0099] The detachment process of S2 also includes a rotation process of S108 for rotating the work robot 12 after the work robot 12 has been detached from the charging terminal 74. The control unit 42 acquires the strength of the magnetic field of the station wire 20 during the rotation process of S108.

[0100] According to the above configuration, when the work robot 12 turns, the distance between the work robot 12 and the charging station 14 is less likely to change compared to a configuration in which the work robot 12 moves in a straight line from the charging station 14. By the control unit 42 acquiring the magnetic field strength of the station wire 20 during the turning process, it is possible to reduce variation in the magnetic field strength compared to a configuration in which the magnetic field strength of the station wire 20 is acquired while the work robot 12 moves in a straight line from the charging station 14.

[0101] The magnetic detection unit 40 also includes a plurality of magnetic sensors 60 that detect the magnetic field generated from the boundary wire 16 and the magnetic field generated from the station wire 20. The control unit 42 acquires the strength of the magnetic field of the station wire 20 detected by each of the plurality of magnetic sensors 60 during the turning process of S108.

[0102] According to the above configuration, the station wire 20 can be detected even when one of the multiple magnetic sensors 60 is out of order.

[0103] The control unit 42 also stores the peak value of the strength of the magnetic field of the station wire 20 .

[0104] According to the above-described configuration, the peak value of the strength of the magnetic field of the station wire 20 is used, so that the station wire 20 can be accurately detected.

[0105] In addition, the control unit 42 sets a threshold value that is 80% or more of the stored peak value, and detects the station wire 20 based on the set threshold value and the strength of the magnetic field of the station wire 20 detected by the magnetic detection unit 40.

[0106] The strength of the magnetic field detected by the magnetic detection unit decreases as the work robot moves away from the station wire. According to the above configuration, since the threshold value is a predetermined percentage of the peak value of the magnetic field strength, the station wire can be detected even if the work robot is far away from the station wire.

[0107] The station wire 20 also includes a first loop portion 82 which increases the absolute value of the positive value of the magnetic field strength of the station wire 20, and a second loop portion 84 which increases the absolute value of the negative value of the magnetic field strength of the station wire 20. The control unit 42 controls the movement motors 32, 34 based on the strength of the magnetic field generated in the first loop portion 82 to move the working robot 12 along the first loop portion 82.

[0108] In general, a configuration in which the control unit 42 detects the station wire 20 based on the strength of a magnetic field that is a positive value provides higher detection accuracy for the station wire 20 than a configuration in which the control unit 42 detects the station wire 20 based on the strength of a magnetic field that is a negative value. With the above configuration, the strength of the magnetic field of the first loop portion 82 is used, so that the working robot 12 can be moved accurately along the first loop portion 82.

[0109] Furthermore, if the control unit 42 detects the station wire 20 while the work robot 12 is returning to the charging station 14, it executes a docking process in S102 to electrically connect the work robot 12 to the charging terminal 74.

[0110] In a configuration in which the docking process is performed based on the position of the work robot 12 detected by a method other than detection of the station wire 20, for example, by GPS or the like, if an error occurs between the detected position of the work robot 12 and the actual position of the work robot 12, the work robot 12 may collide with the charging station 14 before the docking process is performed. With the above configuration, the station wire 20 is detected, so it is possible to prevent the work robot 12 from colliding with the charging station 14 before the docking process is performed.

[0111] Furthermore, when the control unit 42 detects the station wire 20 while the work robot 12 is working, it executes the movement direction change process of S404, S406, and S408 to change the movement direction of the work robot 12.

[0112] According to the above configuration, the working robot 12 can be prevented from colliding with the charging station 14.

[0113] (Modification) The work robot 12 according to one embodiment may be a cleaner that removes foreign matter such as dust from a floor surface.

[0114] In the work robot 12 according to one embodiment, the battery 46 may be detachable from the housing 24 .

[0115] In the work robot 12 according to one embodiment, the moving unit 36 ​​may be equipped with caterpillar tracks instead of the right front auxiliary wheel 52, the left front auxiliary wheel 54, the right rear drive wheel 56, and the left rear drive wheel 58.

[0116] In one embodiment, the station wire 20 may be electrically connected in parallel with the boundary wire 16 .

[0117] In the detachment process according to one embodiment, the control unit 42 may obtain the strength of the magnetic field of the station wire 20 before the work robot 12 is detached from the charging terminal 74 .

[0118] In one embodiment of the feedback process, the magnetic sensor 60 used in S204 may be the same as the magnetic sensor 60 used in S206.

[0119] In the avoidance process according to an embodiment, the process of S404 may be omitted.

[0120] In the withdrawal process according to one embodiment, the threshold value set in S114 may be equal to or greater than 50% of the stored peak value.

[0121] The control unit 42 according to one embodiment may detect the station wire 20 based on the strength of the magnetic field detected when electricity is applied to the station wire 20 and the degree of correlation (i.e., the degree of agreement) between the waveform of the electrical signal applied to the signal generator 76 and the waveform of the detected magnetic field. The control unit 42 may also detect the station wire 20 based on a product-sum value obtained by adding up the product of the degree of correlation and the strength of the detected magnetic field for a predetermined period of time. [Explanation of symbols]

[0122] 10: Autonomous Mobile Systems 12: Working robot 14: Charging station 16: Boundary wire 16a: First boundary wire section 16b: Second boundary wire section 17: 1st point 18: Guidewire 20: Station wire 24: Housing 26: Power supply section 28: Working motor 30: Working section 30a: Cutting blade 32: Right motor for movement 34: Left motor for movement 36: Moving part 38:Operation unit 40: Magnetic detection unit 42: Control section 46: Battery 48: Charging interface 52: Right front training wheel 54:Left front auxiliary wheel 56:Right rear drive wheel 58: Left rear drive wheel 60: Magnetic sensor 60a: Right front magnetic sensor 60b: Left front magnetic sensor 60c: Center front magnetic sensor 60d: Rear magnetic sensor 70: Pad 72: Stand 74: Charging terminal 76: Signal generator 78: External power supply 80: Magnetic field reinforcement structure 82: First loop section 84: Second loop section CL: Center line CW1: Current waveform CW2: Current waveform D1 :Direction D2 :Direction D3: Return direction D4: Return direction GA: Guide Area WA: Working Area

Claims

1. An autonomous mobility system, comprising: A work robot that moves autonomously within a work area and performs work; a charging station for charging the working robot; a boundary wire defining the working area and generating a magnetic field when energized; a station wire disposed in the charging station, electrically connected to the boundary wire, and generating a magnetic field when energized; The working robot includes: A working unit that performs work; A working motor that operates the working unit; a movement unit that moves the working robot; A movement motor that operates the movement unit; a battery that is charged at the charging station and supplies power to the work motor and the travel motor; a magnetic detection unit that detects the magnetic field generated from the boundary wire and the magnetic field generated from the station wire; a control unit that controls the working motor and the moving motor and detects the station wire based on a detection result by the magnetic detection unit, The charging station includes: a charging terminal electrically connected to the working robot; a signal generator for applying the same electrical signal to the boundary wire and the station wire.

2. The autonomous mobile system of claim 1 , wherein the station wire is provided with a magnetic field enhancing structure that generates a magnetic field having a strength higher than a strength of the magnetic field generated in the boundary wire when the station wire and the boundary wire are energized.

3. The autonomous mobile system according to claim 1 , wherein the control unit detects the station wire based on at least a strength of the magnetic field generated in the station wire when a current is applied.

4. The autonomous mobile system according to claim 1 , wherein the station wire is electrically connected in series with the boundary wire.

5. The control unit is storing a strength of the magnetic field of the station wire when the work robot is located at the charging station; The autonomous mobile system according to claim 1 , wherein the station wire is detected based on the strength of the stored magnetic field and the strength of the magnetic field of the station wire detected by the magnetic detection unit.

6. the control unit executes a detachment process for detaching the work robot electrically connected to the charging terminal from the charging station; The autonomous mobile system according to claim 5 , wherein the control unit, when executing the detachment process, acquires the strength of the magnetic field of the station wire after the work robot is detached from the charging terminal.

7. the detachment process includes a turning process for turning the work robot after the work robot is detached from the charging terminal, The autonomous mobile system according to claim 6 , wherein the control unit acquires the strength of the magnetic field of the station wire during the turning process.

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

9. The autonomous mobile system according to claim 5 , wherein the control unit stores a peak value of the strength of the magnetic field of the station wire.

10. The control unit is Setting a threshold value that is equal to or greater than 80% of the stored peak value; The autonomous mobile system according to claim 9 , wherein the station wire is detected based on the set threshold value and the strength of the magnetic field of the station wire detected by the magnetic detection unit.

11. The station wire is A first loop portion that increases the absolute value of the positive value of the strength of the magnetic field of the station wire; and a second loop portion that increases the absolute value of the negative value of the strength of the magnetic field of the station wire, 11. The autonomous mobile system according to claim 1, wherein the control unit controls the movement motor based on the strength of the magnetic field generated in the first loop portion to move the work robot along the first loop portion.

12. 12. The autonomous mobile system according to claim 1, wherein when the control unit detects the station wire while the work robot is returning to the charging station, the control unit executes a docking process to electrically connect the work robot to the charging terminal.

13. 13. The autonomous mobile system according to claim 1, wherein the control unit executes a movement direction change process to change a movement direction of the work robot when the control unit detects the station wire while the work robot is working.

Images