Autonomous mobile system

Abstract

To provide a technique capable of executing efficient docking retry processing.SOLUTION: A work robot includes: a moving unit that moves the work robot; a movement motor that drives the moving unit; a battery; a control unit that controls the movement motor; and a robot power receiving unit. A charging station includes: a station power transmitting unit; and a station plate installed on a ground. The control unit executes, when the work robot is in a charging unable state in which the charging of the battery cannot be started in a state docked with the charging station, docking retry processing of causing the moving unit to move the work robot so as to cause the work robot to dock again with the charging station. While the work robot moves while the docking retry processing is being executed, at least a part of the work robot is arranged on the station plate when the work robot is viewed in an orthogonal direction to the ground.SELECTED DRAWING: Figure 14

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, and a charging station that can dock with the work robot and charges the work robot. The work robot includes a working unit that performs work, a moving unit that moves the work robot, a moving motor that drives the moving unit, a battery that is charged in 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 to charge the battery from the charging station when the work robot is docked to the charging station. The charging station includes a station power transmitting unit that supplies power to charge the battery to the robot power receiving unit, and a station plate that is placed on the ground. When the work robot is docked to the charging station and in a charge-disabled state in which charging of the battery cannot be started, the control unit executes a docking retry process to move the work robot using the moving unit and dock the work robot again to the charging station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2013 / 0006418 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned autonomous mobile system, it is desirable to execute an efficient docking retry process. This specification provides a technique for executing an efficient docking retry process. [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, and a charging station that can dock with the work robot and charges the work robot. The work robot includes a working unit that performs work, a moving unit that moves the work robot, a moving motor that drives the moving unit, a battery that is charged in 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 to charge the battery from the charging station when the work robot is docked to the charging station. The charging station includes a station power receiving unit that supplies power to the robot power receiving unit to charge the battery, and a station plate that is placed on the ground. When the work robot is docked to the charging station and in a charge-disabled state in which charging of the battery cannot be started, the control unit executes a docking retry process to move the work robot using the moving unit and dock the work robot again to the charging station. When the work robot moves while the docking retry process is being executed, at least a portion of the work robot is positioned on the station plate when the work robot is viewed in a direction perpendicular to the ground.

[0006] According to the above configuration, during the docking retry process, at least a portion of the work robot is maintained on the station plate while the work robot is moving. Therefore, the movement distance of the work robot is shorter compared to a configuration in which the work robot moves away from the station plate. This makes it possible to execute an efficient docking retry process. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram of an autonomous mobile system 10 according to a first embodiment. [Diagram 2] FIG. 2 is a side view of the work robot 12 and the charging station 14 of the first embodiment. [Diagram 3] FIG. 2 is a front view of the working robot 12 of the first embodiment. [Figure 4] FIG. 2 is a rear view of the working robot 12 of the first embodiment. [Diagram 5] FIG. 2 is a top view of the working robot 12 of the first embodiment. [Figure 6] FIG. 2 is an electrical block diagram of the working robot 12 of the first embodiment. [Figure 7] 1 is a schematic diagram of an autonomous mobile system 10 in the vicinity of a charging station 14 of a first embodiment. [Figure 8] 2 is an enlarged perspective view of a docking portion 98 of the charging station 14 of the first embodiment. FIG. [Figure 9] 1 is a cross-sectional view of the autonomous mobile system 10 of the first embodiment when the working robot 12 is docked with the charging station 14. FIG. [Figure 10] 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 first embodiment. FIG. [Figure 11] 4A to 4C are diagrams showing waveforms of magnetic field strength inside and outside the working area WA in the first embodiment. [Figure 12] 4A to 4C are diagrams showing waveforms of magnetic field strength inside and outside the station wire 20 of the first embodiment. [Figure 13] 4 is a flowchart showing an autonomous control process according to the first embodiment. [Figure 14] 5 is a flowchart showing a docking process according to the first embodiment. [Figure 15] FIG. 2 is a top view of the working robot 12 and charging station 14 after the retreat process of the docking retry process in the first embodiment. [Figure 16] FIG. 2 is a top view of the working robot 12 and charging station 14 after the forward movement process of the docking retry process in the first embodiment. [Figure 17] 13 is a flowchart showing a docking process according to the second 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 robot power receiving unit may be a robot charging terminal that is electrically connectable to the charging station when the work robot is docked to the charging station. The station power transmitting unit may be a station charging terminal that is electrically connectable to the robot charging terminal. The docking retry process may include a separation process that separates the work robot from the charging station. After the separation process, the robot charging terminal may be separated from the station charging terminal.

[0012] A foreign object may become caught between the robot charging terminal and the station charging terminal, causing the robot charging terminal to lose electrical connection with the station charging terminal. With the above configuration, the robot charging terminal moves away from the station charging terminal, allowing the foreign object to fall out of the robot charging terminal and the station charging terminal. This allows the robot charging terminal and the station charging terminal to be electrically connected.

[0013] In one or more embodiments, in the docking retry process, the control unit may drive the movement motor a predetermined number of rotations.

[0014] In a configuration in which the number of rotations of the movement motor changes each time the docking retry process is executed, the control by the control unit becomes complicated. With the above configuration, it is possible to prevent the control by the control unit from becoming complicated.

[0015] In one or more embodiments, while the docking retry process is being performed, an area corresponding to 50% or more of the work robot's length in the vehicle longitudinal direction may be located on the station plate when viewing the work robot in a direction perpendicular to the ground.

[0016] According to the above configuration, the distance traveled by the work robot during the docking retry process can be shortened.

[0017] In one or more embodiments, the work robot may have a first area when viewed in a direction perpendicular to the ground. While the docking retry process is being performed, an area corresponding to 50% or more of the first area of ​​the work robot may be located on the station plate when viewed in a direction perpendicular to the ground.

[0018] According to the above configuration, the distance traveled by the work robot during the docking retry process can be shortened.

[0019] In one or more embodiments, the docking retry process may include a retreat process in which the work robot retreats, and an advance process in which the work robot advances after the retreat process.

[0020] According to the above configuration, the work robot can be docked to the charging station more easily than in a configuration in which the work robot is rotated.

[0021] In one or more embodiments, the retraction distance by which the work robot retracts during the retraction process may be greater than or equal to 50 mm and less than or equal to 650 mm.

[0022] According to the above configuration, it is possible to undock the work robot from the charging station, and to prevent the work robot from leaving the station plate.

[0023] 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.

[0024] According to the above configuration, it is possible to undock the work robot from the charging station, and it is possible to further prevent the work robot from leaving the station plate.

[0025] In one or more embodiments, the autonomous mobile system may further include a notification unit that notifies a user. The control unit may be capable of executing the docking retry process one or more times, and may control the notification unit when the number of executed docking retry processes is equal to or greater than a reference number.

[0026] According to the above configuration, when the number of executed docking retry processes is equal to or greater than the reference number, an abnormality, for example, an abnormality between the robot power receiving unit and the station power transmitting unit, is often occurring. The annunciation by the annunciation unit can make the user aware of the occurrence of the abnormality.

[0027] In one or more embodiments, the control unit may stop the movement motor when the number of executed docking retry processes is equal to or greater than a reference number.

[0028] According to the above configuration, the work robot can be stopped until the user approaches the work robot.

[0029] (First embodiment) 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 cuts grass growing on the ground. In the following, 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. The up-down direction is perpendicular to the ground.

[0030] The length of working robot 12 in the vehicle length direction is equal to or greater than 500 mm and equal to or less than 1000 mm. As shown in Fig. 2, working robot 12 includes a housing 24, a battery 26, a terminal unit 28, a working motor 30, a working unit 32, a right moving motor 34 (see Fig. 4), a left moving motor 36 (see Fig. 4), a moving unit 38, an operation unit 40 (see Fig. 4), a display unit 42 (see Fig. 4), an alarm unit 44 (see Fig. 4), a magnetic detection unit 46 (see Fig. 5), a collision detection unit 48 (see Fig. 5), and a control unit 50 (see Fig. 6).

[0031] The battery 26 is accommodated inside the housing 24. The battery 26 is a secondary battery including a lithium ion battery. The battery 26 is not detachable from the housing 24.

[0032] The terminal unit 28 is disposed 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-rear direction. The docking opening 24a is located at the center of the housing 24 in the left-right direction. As shown in FIG. 3, when the working robot 12 is viewed from the front side, the terminal unit 28 is visible to the user through the docking opening 24a. The terminal unit 28 is disposed on the rear side of the docking opening 24a. The terminal unit 28 includes a first robot charging terminal 54, a first biasing member 56, a second robot charging terminal 58, a second biasing member 60, a robot communication terminal 62, and a third biasing member 64.

[0033] The first robot charging terminal 54 corresponds to the robot power receiving unit. The first robot charging terminal 54 is electrically connected to the battery 26 (see FIG. 2). The first robot charging terminal 54 is supported by the housing 24 so as to be movable in the left-right direction. The first robot charging terminal 54 is biased to the left by a first biasing member 56. The first biasing member 56 is, for example, a compression spring.

[0034] The second robot charging terminal 58 corresponds to the robot power receiving unit. The second robot charging terminal 58 is electrically connected to the battery 26 (see FIG. 2). The second robot charging terminal 58 faces the first robot charging terminal 54 in the left-right direction. The second robot charging terminal 58 is supported by the housing 24 so as to be movable in the left-right direction. The second robot charging terminal 58 is biased to the right by the second biasing member 60. The first robot charging terminal 54 is biased by the first biasing member 56 in a direction approaching the second robot charging terminal 58, and the second robot charging terminal 58 is biased by the second biasing member 60 in a direction approaching the first robot charging terminal 54. The second biasing member 60 is, for example, a compression spring.

[0035] The robot communication terminal 62 is electrically connected to the control unit 50 (see FIG. 6). The robot communication terminal 62 is disposed above both the first robot charging terminal 54 and the second robot charging terminal 58. In the left-right direction, the robot communication terminal 62 is disposed at a central 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 so as to be movable in the up-down direction. The robot communication terminal 62 is biased downward by a third biasing member 64. The third biasing member 64 is, for example, a compression spring.

[0036] The work robot 12 can be docked to the charging station 14 (see FIG. 1) via the terminal unit 28. When the work robot 12 is docked to the terminal unit 28, 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. This causes the battery 26 to be charged.

[0037] 2, the work motor 30 is supported by the housing 24. The work motor 30 is, for example, a brushless motor. The work motor 30 is operated by power from the battery 26.

[0038] The working part 32 is equipped with a cutting blade 32a having a substantially circular disk shape. The cutting blade 32a is fixed to an output shaft of the working motor 30. The output shaft is inclined with respect to the up-down direction. The cutting blade 32a rotates by the operation of the working motor 30. This cuts the grass growing above the ground.

[0039] As shown in Fig. 4, the right motor for movement 34 and the left motor for movement 36 are supported by the housing 24. The right motor for movement 34 and the left motor for movement 36 are, for example, brushless motors. The right motor for movement 34 and the left motor for movement 36 are operated by power from the battery 26 (see Fig. 2).

[0040] The moving part 38 is equipped with 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 attached to the housing 24. The right front auxiliary wheel 68 and the left front auxiliary wheel 70 are rotatable about a rotation axis extending in the left-right direction, and are rotatable about a rotation axis extending in the up-down direction. The right rear drive wheel 72 is fixed to the output shaft of the right moving motor 34. The left rear drive wheel 74 is fixed to the output shaft of the left moving motor 36. The output shafts of the right moving motor 34 and the left moving motor 36 extend in the left-right direction. The right rear drive wheel 72 rotates due to the operation of the right moving motor 34, and the left rear drive wheel 74 rotates due to the operation of the left moving motor 36. This allows the working robot 12 to move forward, backward, and turn.

[0041] The operation unit 40 is disposed on the outer surface of the housing 24. The operation unit 40 is equipped with operation switches. A user operates the operation unit 40, for example, when switching the working robot 12 between an on state and an off state, or when setting working conditions for the working robot 12.

[0042] 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.

[0043] The alarm unit 44 is, for example, a buzzer that emits a sound. In a modified example, the alarm unit 44 may be a light that emits light. The alarm unit 44 emits a sound, for example, when an abnormality occurs in the working robot 12.

[0044] 5, the magnetic detection unit 46 is supported by the housing 24. The magnetic detection unit 46 includes a plurality of (four in this embodiment) magnetic sensors 78. The magnetic sensors 78 are, for example, search coils, Hall sensors, etc. The magnetic sensors 78 detect the strength of the magnetic field in the vertical direction.

[0045] The multiple magnetic sensors 78 include a right front magnetic sensor 78a, a left front magnetic sensor 78b, a center front magnetic sensor 78c, and a rear magnetic sensor 78d. The right front magnetic sensor 78a, the left front magnetic sensor 78b, and the center front magnetic sensor 78c are arranged forward of the center of the housing 24 in the front-rear direction. The right front magnetic sensor 78a is arranged in the front right part of the housing 24. The left front magnetic sensor 78b is arranged in the front left part of the housing 24. In the left-right direction, the distance between the right front magnetic sensor 78a and the center line CL is approximately the same as 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 housing 24 in the left-right direction. The center front magnetic sensor 78c and the rear magnetic sensor 78d are arranged near the center line CL. The center front magnetic sensor 78c is arranged in the front part of the housing 24. The rear magnetic sensor 78d is arranged rearward of the center of the housing 24 in the front-rear direction. The rear magnetic sensor 78d is disposed at the rear of the housing 24.

[0046] The housing 24 includes a base 24b (see FIG. 2) and a bumper 24c movably attached to the base 24b, and the collision detection unit 48 is supported by the base 24b and the bumper 24c. Usually, the bumper 24c is located at an initial position relative to the base 24b. The docking opening 24a (see FIG. 2) is located at the front end of the bumper 24c. The collision detection unit 48 includes a plurality of collision detection sensors 80 (three in this embodiment). The collision detection sensors 80 detect the amount of displacement of the bumper 24c from the initial position, thereby detecting that the housing 24 has collided with an obstacle or the like. The collision detection sensors 80 are turned on when the amount of displacement of the bumper 24c from the initial position is equal to or greater than a predetermined amount (i.e., when the housing 24 has collided with an obstacle or the like), and are turned off when the amount of displacement of the bumper 24c from the initial position is less than the predetermined amount (i.e., when the housing 24 has not collided with an obstacle or the like).

[0047] 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 disposed directly above the central front magnetic sensor 78c. The right collision detection sensor 80b is disposed directly above the right travel motor 34. The left collision detection sensor 80c is disposed directly above the left travel motor 36. The distance between the right collision detection sensor 80b and the center line CL is approximately the same as the distance between the left collision detection sensor 80c and the center line CL.

[0048] As shown in FIG. 6, 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 moving motor 34, the left moving motor 36, 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 (not shown) and a memory (not shown). The control unit 50 controls the rotation direction and rotation speed of the right moving motor 34 and the rotation direction and rotation speed of the left moving motor 36 independently of each other. For example, when the control unit 50 controls the right moving motor 34 and the left moving motor 36 at the same rotation speed in the forward direction, the working robot 12 moves forward. When the control unit 50 drives the right moving motor 34 and the left moving motor 36 at the same rotation speed in the reverse direction, the working robot 12 moves backward. When the control unit 50 drives the right travel motor 34 in a forward direction and the left travel motor 36 in a reverse direction, the working robot 12 turns on the spot. When the control unit 50 drives the right travel motor 34 and the left travel motor 36 in a forward (or reverse) direction at different rotational speeds, the working robot 12 turns while moving forward (or backward). The control unit 50 autonomously controls the working robot 12 based on various programs stored in memory. For example, the control unit 50 receives signals from the operation unit 40 and the magnetic detection unit 46 and drives the working motor 30, the right travel motor 34, and the left travel motor 36, causing the working robot 12 to mow the grass while moving autonomously.

[0049] As shown in Fig. 7, the charging station 14 is disposed across the inside and outside of the working area WA. The charging station 14 includes a station plate 84, a stand 86, a first station charging terminal 88 (see Fig. 8), a second station charging terminal 90 (see Fig. 8), a station communication terminal 92 (see Fig. 8), and a signal generator 94. The station plate 84 is placed on the ground. The station plate 84 has a substantially rectangular shape when viewed from below. The length of the station plate 84 in the longitudinal direction is, for example, not less than 700 mm and not more than 1200 mm. The length of the station plate 84 in the longitudinal direction is longer than the length of the work robot 12 (see Fig. 5) in the vehicle length direction.

[0050] The stand 86 is disposed on the station plate 84. The stand 86 includes a base 96 and a docking portion 98. The base 96 extends upward from the station plate 84. The docking portion 98 is capable of docking with the work robot 12 (see FIG. 2). The docking portion 98 protrudes from the base 96 so as to move away from the station wire 20. The protruding direction in which the docking portion 98 protrudes from the base 96 is substantially the same as the longitudinal direction of the station plate 84. The docking portion 98 is substantially perpendicular to the base 96. The docking portion 98 is substantially parallel to the ground. The docking portion 98 is disposed within the work area WA. As shown in FIG. 8, the docking portion 98 includes a lower wall 98a facing the ground, an upper wall 98b opposite 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 the first side wall 98c, and an abutment portion 98e protruding upward from the upper wall 98b.

[0051] The first station charging terminal 88, the second station charging terminal 90, and the station communication terminal 92 are electrically connected to an external power source 100 (see FIG. 7). The first station charging terminal 88 and the second station charging terminal 90 correspond to a station power transmission unit. The first station charging terminal 88 is disposed on a first side wall 98c of the docking unit 98. A portion of the first station charging terminal 88 is exposed from the first side wall 98c. The second station charging terminal 90 is disposed on a second side wall 98d of the docking unit 98. A portion of the second station charging terminal 90 is exposed from the second side wall 98d. The station communication terminal 92 is disposed on an upper wall 98b of the docking unit 98. A portion of the station communication terminal 92 is exposed from the upper wall 98b. The first station charging terminal 88, the second station charging terminal 90, and the station communication terminal 92 extend along the protruding direction of the docking unit 98.

[0052] 9, when the charging station 14 is docked to the work robot 12, the docking portion 98 is inserted into the docking opening 24a (see FIG. 3), the top wall 98b of the docking portion 98 faces the robot communication terminal 62 in the up-down direction, the first side wall 98c of the docking portion 98 faces the first robot charging terminal 54 in the left-right direction, the second side wall 98d of the docking portion 98 faces the second robot charging terminal 58 in the left-right direction, and the abutment portion 98e (see FIG. 8) of the stand 86 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 pressed against the first station charging terminal 88 by the biasing force of the first biasing member 56 (see FIG. 3), so that the first station charging terminal 88 and the first robot charging terminal 54 are maintained in contact with each other. The second robot charging terminal 58 is pressed against the second station charging terminal 90 by the biasing force of the second biasing member 60 (see FIG. 3), so that the second station charging terminal 90 and the second robot charging terminal 58 are maintained in contact with each other. The robot communication terminal 62 is pressed against the station communication terminal 92 by the biasing force of the third biasing member 64, so that the station communication terminal 92 and the robot communication terminal 62 are maintained in contact with each other. As a result, the first station charging terminal 88 is electrically connected to the first robot charging terminal 54, the second station charging terminal 90 is electrically connected to the second robot charging terminal 58, and the station communication terminal 92 is electrically connected to the robot communication terminal 62. In this state, current flows from the first station charging terminal 88 to the first robot charging terminal 54, or from the second station charging terminal 90 to the second robot charging terminal 58. As a result, power from an external power source 100 (see FIG. 7) for charging the battery 26 (see FIG. 6) is supplied from the first station charging terminal 88 to the first robot charging terminal 54, or from the second station charging terminal 90 to the second robot charging terminal 58.

[0053] As shown in FIG. 7, the signal generator 94 is housed in the base 96. The signal generator 94 can apply a first electrical signal to the boundary wire 16 and the station wire 20. The signal generator 94 can also apply a second electrical signal to the boundary wire 16 and the guide wire 18. As shown in FIG. 10, 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 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, by the signal generator 94. The first electrical signal and the second electrical signal are applied, for example, at a predetermined period by the signal generator 94.

[0054] As shown in FIG. 1, the boundary wire 16 defines the 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 94 (see FIG. 7) 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. 11, 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 50 obtains the strength of the magnetic field from the magnetic detection unit 46 and determines whether the working robot 12 is located within the working area WA.

[0055] As shown in FIG. 1, the guide wire 18 is buried in the ground near the surface of the earth. 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 94 (see FIG. 7) 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-handed helical rule. In this embodiment, a first electrical signal is applied when current flows through the first boundary wire portion 16a and then the second boundary wire portion 16b, and a second electrical signal is applied when current flows through the first boundary wire portion 16a and then the guide wire 18. The control unit 50 obtains the strength of the magnetic field from the magnetic detection unit 46 and determines whether the work robot 12 is located within the guide area GA.

[0056] 7, the station wire 20 is disposed on the station plate 84 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 94 (see FIG. 7).

[0057] The station wire 20 includes a first loop portion 104 having a loop shape and a second loop portion 106 having a loop shape. The first loop portion 104 and the second loop portion 106 are disposed adjacent to each other. The docking portion 98 of the charging station 14 is disposed on the boundary between the first loop portion 104 and the second loop portion 106. The first loop portion 104 and the second loop portion 106 are formed by winding one station wire 20 multiple times (for example, two times). When a current flows through the station wire 20, the current flows through the first loop portion 104 in a counterclockwise direction D1 and through the second loop portion 106 in a clockwise direction D2. As shown in FIG. 12, the strength of the magnetic field in the vertical direction becomes zero near the boundary between the first loop portion 104 and the second loop portion 106, shows a positive value in the first loop portion 104, and shows a negative value in the second loop portion 106. The control unit 50 obtains the strength of the magnetic field from the magnetic detection unit 46, determines whether the work robot 12 is located within the first loop portion 104 or the second loop portion 106, and detects that the work robot 12 has crossed the station wire 20.

[0058] (Autonomous control processing) The control unit 50 executes the autonomous control process shown in Fig. 13. The autonomous control process is executed to cause the work robot 12 to perform lawn mowing work within the work area WA, return the work robot 12 to the charging station 14, dock the work robot 12 to the charging station 14, and charge the work robot 12.

[0059] 13, the control unit 50 executes the lawn mowing process. Specifically, the control unit 50 drives the work motor 30, the right movement motor 34, and the left movement motor 36. As a result, the work robot 12 moves within the work area WA while rotating the cutting blade 32a, and the grass within the work area WA is mowed.

[0060] In S4, the control unit 50 determines whether the return condition is satisfied. For example, the control unit 50 determines that the return condition is satisfied when the remaining charge of the battery 26 falls below a predetermined level. Alternatively, the control unit 50 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 30, the right travel motor 34, and the left travel motor 36. 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.

[0061] In S6, the control unit 50 executes the return process. Specifically, the control unit 50 drives the right travel motor 34 and the left travel motor 36 based on the strength of the magnetic field detected by the magnetic sensor 78 so that the work robot 12 reaches the charging station 14. At this time, the work robot 12 moves in the return direction D3 along the guide wire 18 and the first boundary wire part 16a, or moves in the return direction D4 along the first boundary wire part 16a and the second boundary wire part 16b. As shown in FIG. 1, the return directions D3 and D4 are counterclockwise directions when the work robot 12 is viewed from above. The control unit 50 continues to drive the work motor 30 until the work robot 12 reaches the charging station 14. Therefore, the work robot 12 moves while rotating the cutting blade 32a. As a result, the grass in the work area WA is mowed even during the return process.

[0062] In S8, the control unit 50 executes the docking process shown in Fig. 14. In S102 of the docking process shown in Fig. 14, the control unit 50 drives the right movement motor 34 and the left movement motor 36 so that the work robot 12 moves along the first loop portion 104, based on the strength of the magnetic field of the first loop portion 104 detected by the magnetic sensor 78. The work robot 12 moves clockwise along the first loop portion 104.

[0063] In S104, the control unit 50 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 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, i.e., the boundary between the first loop portion 104 and the second loop portion 106. If the control unit 50 determines that the work 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, if the control unit 50 determines that the work robot 12 has not reached the center position of the charging station 14 (NO in S104), the control unit 50 returns to S102.

[0064] In S106, the control unit 50 drives the right movement motor 34 and the left movement motor 36 to adjust the posture of the work robot 12. As a result, the docking opening 24a faces the docking portion 98 of the charging station 14 and is positioned on the boundary between the first loop portion 104 and the second loop portion 106.

[0065] 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 rotational speed so that the work robot 12 moves forward on the boundary between the first loop part 104 and the second loop part 106. This causes the work robot 12 to approach the docking part 98.

[0066] In S110, the control unit 50 determines whether or not at least one of the multiple collision detection sensors 80 is ON. When at least one of the multiple collision detection sensors 80 is ON in S110, the docking portion 98 is in contact with the front end of the housing 24 (bumper 24c) and faces the docking opening 24a. If the control unit 50 determines that at least one of the multiple collision detection sensors 80 is ON (YES in S110), the control unit 50 proceeds to S112. On the other hand, if the control unit 50 determines that all of the multiple collision detection sensors 80 are OFF (NO in S110), the control unit 50 returns to S108.

[0067] In S112, the control unit 50 drives the right and left motors 34 and 36 for a predetermined number of rotations in the forward direction at the same rotation speed so that the working robot 12 moves forward. When the right and left motors 34 and 36 for movement are driven for a predetermined number of rotations in the forward direction at the same rotation speed while the working robot 12 is not colliding with an obstacle or the like, the working robot 12 moves forward a first distance. The first distance is, for example, 50 mm or more and 650 mm or less. The first distance may be, for example, 150 mm or more and 300 mm or less. The first distance is, for example, 200 mm. The first distance is longer than the length of the docking portion 98 in the protruding direction. By driving the right and left motors 34 and 36 for movement for a predetermined number of rotations in the forward direction at the same rotation speed, 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.

[0068] 14, the control unit 50 determines whether the work robot 12 is in a non-charging state in which it cannot start charging the battery 26 at the charging station 14. For example, the work robot 12 is in a non-charging state when a foreign object such as grass cut by the cutting blade 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 control unit 50 determines that the work robot 12 is in a non-charging state when the work robot 12 is unable to 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 determine that the work 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. If the control unit 50 determines that the work robot 12 is not in a non-chargeable state (NO in S114), the process proceeds to S10 in Fig. 13. On the other hand, if the control unit 50 determines that the work robot 12 is in a non-chargeable state (YES in S114), the process proceeds to S116. The series of processes executed when S114 is YES (i.e., S116 to S122 and S108 to S114) correspond to the docking retry process.

[0069] In S116, the control unit 50 determines whether the number of retries is equal to or greater than a reference number. The number of retries is the number of docking retry processes that have already been performed. Therefore, when the docking retry process is performed for the first time, the number of retries is zero. The control unit 50 sets the number of retries to zero each time the work robot 12 is charged at the charging station 14. The reference number is an integer equal to or greater than 1. The reference number is, for example, 1. If the control unit 50 determines that the number of retries is equal to or greater than the reference number (YES in S116), the control unit 50 proceeds to S118. On the other hand, if the control unit 50 determines that the number of retries is less than the reference number (NO in S116), the control unit 50 proceeds to S120.

[0070] 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. After that, the control unit 50 proceeds to S10 in FIG.

[0071] In S120, the control unit 50 drives the right travel motor 34 and the left travel motor 36 in opposite directions and at the same rotation speed for a predetermined number of rotations so that the working robot 12 moves backward. As a result, the working robot 12 moves backward a second distance on the boundary between the first loop portion 104 and the second loop portion 106 and moves away from the docking unit 98. The second distance is, for example, 50 mm or more and 650 mm or less. The second distance may be, for example, 150 mm or more and 300 mm or less. The second distance is, for example, 200 mm. The second distance is longer than the length of the docking unit 98 in the protruding direction. The second distance is, for example, approximately the same as the first distance. The backward process of moving the working robot 12 backward in S120 corresponds to a moving away process of moving the working robot 12 away from the docking unit 98. As the work robot 12 retreats the second distance, 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. As a result, foreign objects such as grass cut by the cutting blade 32a 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 comes out of the docking opening 24a. As a result, the work robot 12 is released from the charging station 14.

[0072] As shown in FIG. 15, after the work robot 12 has retreated the second distance, when the work robot 12 is viewed in a downward direction perpendicular to the ground, an area of ​​50% or more of the length of the work robot 12 in the vehicle length direction is located on the station plate 84. Therefore, while the work robot 12 is retreating, when the work robot 12 is viewed in a downward direction, an area of ​​50% or more of the length of the work robot 12 in the vehicle length direction is maintained on the station plate 84. When the work robot 12 is viewed in a downward direction, the work robot 12 has a first area. After the work robot 12 has retreated the second distance, when the work robot 12 is viewed in a downward direction perpendicular to the ground, an area corresponding to 50% or more of the first area of ​​the work robot 12 is located on the station plate 84. Therefore, while the work robot 12 is retreating, when the work robot 12 is viewed in a downward direction, an area corresponding to 50% or more of the first area of ​​the work robot 12 is maintained on the station plate 84.

[0073] 14, the control unit 50 increments the number of retries by 1. Then, the process returns to S108.

[0074] When steps S108 to S114 are executed again, the work robot 12 again moves forward on the boundary between the first loop portion 104 and the second loop portion 106. As a result, 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 work robot 12 is docked to the charging station 14. The forward movement process of moving the work robot 12 forward in steps S108 to S114 corresponds to the approach process of moving the work robot 12 closer to the docking portion 98. At this time, as shown in FIG. 16, after the work robot 12 has moved forward, the entire work robot 12 is positioned on the station plate 84 when the work robot 12 is viewed downward. Therefore, while the work robot 12 is moving forward, an area of ​​50% or more of the length of the work robot 12 in the vehicle length direction is maintained on the station plate 84 when the work robot 12 is viewed downward. Additionally, while the work robot 12 is moving forward, when the work robot 12 is viewed downward, an area corresponding to 50% or more of the first area of ​​the work robot 12 is maintained on the station plate 84.

[0075] S10 shown in Fig. 13 is executed when S114 shown in Fig. 14 is NO and after S118. In S10, the control unit 50 judges whether the docking error flag is off. If the control unit 50 judges that the docking error flag is off (YES in S10), the control unit 50 proceeds to S12. On the other hand, if the control unit 50 judges that the docking error flag is not off, that is, that the docking error flag is on (NO in S10), the control unit 50 proceeds to S14.

[0076] In S12, the control unit 50 executes a charging process, thereby charging the battery 26. Thereafter, the control unit 50 ends the autonomous control process.

[0077] In S14, the control unit 50 stops the right movement motor 34 and the left movement motor 36. This stops the work robot 12. The control unit 50 also controls the notification unit 44. The notification unit 44 emits a sound, allowing the user to recognize that an abnormality has occurred in the autonomous mobile system 10. The control unit 50 then ends the autonomous control process.

[0078] (effect) The autonomous mobile system 10 of this embodiment includes a work robot 12 that performs work while autonomously moving within a work area WA, and a charging station 14 that can dock with the work robot 12 and charges the work robot 12. The work robot 12 includes a working unit 32 that performs work, a moving unit 38 that moves the work 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 battery 26 that is charged in 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 to charge the battery 26 from the charging station 14 when the work robot 12 is docked to 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 to the first robot charging terminal 54 for charging the battery 26, and a station plate 84 that is placed on the ground. When the work robot 12 is docked to the charging station 14 and in a charge-unavailable state in which charging of the battery 26 cannot be started, the control unit 50 executes a docking retry process to move the work robot 12 using the movement unit 38 and dock the work robot 12 again to the charging station 14. When the work robot 12 moves while the docking retry process is being executed, at least a portion of the work robot 12 is located on the station plate 84 when the work robot 12 is viewed in a direction perpendicular to the ground.

[0079] With the above configuration, during the docking retry process, at least a portion of the work robot 12 is maintained on the station plate 84 while the work robot 12 is moving. Therefore, the movement distance of the work robot 12 is shorter compared to a configuration in which the work robot 12 moves away from the station plate 84. This makes it possible to execute an efficient docking retry process.

[0080] Furthermore, the first robot charging terminal 54 is electrically connectable to the charging station 14 when the work robot 12 is docked to the charging station 14. The first station charging terminal 88 is electrically connectable to the first robot charging terminal 54. The docking retry process includes a separation process for separating the work robot 12 from the charging station 14. After the separation process, the first robot charging terminal 54 is away from the first station charging terminal 88.

[0081] A foreign object may become caught between the first robot charging terminal 54 and the first station charging terminal 88, causing the first robot charging terminal 54 to not be electrically connected to the first station charging terminal 88. With the above configuration, the first robot charging terminal 54 moves away from the first station charging terminal 88, allowing the foreign object to fall out of the first robot charging terminal 54 and the first station charging terminal 88. This allows the first robot charging terminal 54 and the first station charging terminal 88 to be electrically connected.

[0082] Furthermore, in the docking retry process, the control unit 50 drives the right movement motor 34 and the left movement motor 36 a predetermined number of rotations.

[0083] In a configuration in which the number of rotations of the right movement motor 34 and the left movement motor 36 change every time the docking retry process is executed, the control by the control unit 50 becomes complicated. With the above configuration, it is possible to prevent the control by the control unit 50 from becoming complicated.

[0084] In addition, while the docking retry process is being executed, an area corresponding to more than 50% of the length of the work robot 12 in the vehicle longitudinal direction is located on the station plate 84 when the work robot 12 is viewed in a direction perpendicular to the ground.

[0085] According to the above configuration, the distance traveled by the work robot 12 during the docking retry process can be shortened.

[0086] Additionally, when the work robot 12 is viewed in a direction perpendicular to the ground, the work robot 12 has a first area. While the docking retry process is being executed, an area corresponding to 50% or more of the first area of ​​the work robot 12 is located on the station plate 84 when the work robot 12 is viewed in a direction perpendicular to the ground.

[0087] According to the above configuration, the distance traveled by the work robot 12 during the docking retry process can be shortened.

[0088] The docking retry process also includes a retreat process in which the work robot 12 retreats, and an advance process in which the work robot 12 advances after the retreat process.

[0089] According to the above configuration, the work robot 12 can be docked to the charging station 14 more easily than in a configuration in which the work robot 12 rotates.

[0090] Furthermore, the retreat distance that the work robot 12 retreats in the retreat process is equal to or greater than 50 mm and equal to or less than 650 mm.

[0091] According to the above configuration, the work robot 12 can be undocked from the charging station 14, and the work robot 12 can be prevented from moving away from the station plate 84.

[0092] In addition, the retreat distance is between 150 mm and 300 mm.

[0093] According to the above configuration, the work robot 12 can be undocked from the charging station, and the work robot 12 can be further prevented from leaving the station plate 84.

[0094] The autonomous mobile system 10 further includes a notification unit 44 that notifies the user. The control unit 50 is capable of executing the docking retry process one or more times, and controls the notification unit 44 when the number of executed docking retry processes is equal to or greater than a reference number.

[0095] According to the above configuration, when the number of executed docking retry processes is equal to or greater than the reference number, it is likely that an abnormality has occurred, for example, an abnormality has occurred between first robot charging terminal 54 and first station charging terminal 88. The user can be made aware of the occurrence of an abnormality by the notification unit 44 notifying the user.

[0096] Furthermore, the control unit 50 stops the right movement motor 34 and the left movement motor 36 when the number of executed docking retry processes is equal to or greater than a reference number.

[0097] According to the above configuration, the working robot 12 can be stopped until the user approaches the working robot 12.

[0098] (Second Example) In the second embodiment, differences from the first embodiment will be described. As shown in Fig. 17, 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.

[0099] In S220, the control unit 50 drives the right movement motor 34 and the left movement motor 36 in opposite directions at the same rotational speed so that the working robot 12 moves backward. As a result, the working robot 12 moves backward along the boundary between the first loop portion 104 and the second loop portion 106, and 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.

[0100] In S222, the control unit 50 judges whether the retreat completion condition is satisfied. For example, the control unit 50 judges that the retreat completion condition is satisfied when the position detection sensor judges that the first robot charging terminal 54, the second robot charging terminal 58, and the robot communication terminal 62 have returned to their initial positions. In a modified example, the work robot 12 is provided with a switch that is pressed by the charging station 14 when the docking section 98 of the charging station 14 is inserted into the docking opening 24a of the work robot 12, and the control unit 50 judges that the retreat completion condition is satisfied when the switch is not pressed. In another modified example, the work robot 12 is provided with a switch that is pressed by the charging station 14 when the first robot charging terminal 54 and the first station charging terminal 88 are not electrically connected and the second robot charging terminal 58 and the second station charging terminal 90 are not electrically connected, and the control unit 50 judges that the retreat completion condition is satisfied when the switch is pressed. In another modified example, the charging station 14 is provided with a permanent magnet, and the working robot 12 is provided with a Hall sensor that faces the permanent magnet when the docking section 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 completion condition is met when the magnetic field strength detected by the Hall sensor is equal to or less than a predetermined value. In another modified example, the charging station 14 is provided with a permanent magnet, and the working robot 12 is provided with a Hall sensor that faces the permanent magnet when the first robot charging terminal 54 and the first station charging terminal 88 are not electrically connected, and the second robot charging terminal 58 and the second station charging terminal 90 are not electrically connected. The control unit 50 determines that the retreat completion condition is met when the magnetic field strength detected by the Hall sensor is equal to or greater than a predetermined value. When the control unit 50 determines that the retreat completion condition is met (YES in S222), the process proceeds to S122. On the other hand, if the control unit 50 determines that the reverse completion condition is not satisfied (NO in S222), the process returns to S220.

[0101] (Modification) The working robot 12 according to one embodiment may be a cleaner that removes foreign matter such as dust from a floor surface. In this configuration, the cleaner may remove foreign matter from the floor surface by rotating a brush and / or may remove foreign matter from the floor surface by suction.

[0102] In the work robot 12 according to one embodiment, the battery 26 may be detachable from the housing 24 .

[0103] In a work robot 12 according to one embodiment, the moving unit 38 may be equipped with 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.

[0104] In one embodiment, a docking process may include a rotation process for rotating the work robot 12.

[0105] The charging station 14 according to one embodiment may include a power transmitting coil for wirelessly charging the work robot 12, instead of the first station charging terminal 88, the second station charging terminal 90, and the station communication terminal 92. The power transmitting coil may be disposed in the base 96, the docking section 98, or on the station plate 84. In this configuration, the work robot 12 may include a power receiving coil for wirelessly charging via the power transmitting coil. The power receiving coil may be disposed in the housing 24 or in the terminal unit 28. Furthermore, when the power transmitting coil of the charging station 14 is disposed on the station plate 84, the power receiving coil may be disposed on the bottom surface of the housing 24 so as to face the power transmitting coil on the station plate 84. [Explanation of symbols]

[0106] 10: Autonomous Mobile Systems 12: Working robot 14: Charging station 16: Boundary wire 20: Station wire 24: Housing 24a: Docking opening 26: Battery 28: Terminal unit 30: Working motor 32: Working section 32a: Cutting blade 34: Right motor for movement 36: Left motor for movement 38: Moving part 44: Information Department 50: Control section 54: First robot charging terminal 58: Second robot charging terminal 62: Robot communication terminal 78: Magnetic sensor 80: Collision detection sensor 84: Station board 86: Stand 88: 1st station charging terminal 90: Second station charging terminal 92: Station communication terminal 94: Signal generator 96: Base 98: Docking section 100: External power supply WA: Working Area

Claims

1. A work robot that autonomously moves and performs tasks within the work area, The system includes a charging station that can dock with the aforementioned work robot and charges the work robot, The aforementioned work robot, The work area where the work is performed, A moving unit for moving the aforementioned work robot, A motor for moving the aforementioned moving part, A battery that is charged at the charging station and supplies power to the mobile motor, A control unit for controlling the aforementioned moving motor, The robot includes a robot power receiving unit that receives power from the charging station to charge the battery when the work robot is docked to the charging station, The aforementioned charging station is The robot power receiving unit is supplied with the power to charge the battery, and the station power transmission unit is supplied with the power to charge the battery. It is equipped with a station plate that is placed on the ground, When the work robot is docked to the charging station and is in a charging-impossible state where charging of the battery cannot be started, the control unit moves the work robot using the moving unit and performs a docking retry process to re-dock the work robot to the charging station. An autonomous mobile system in which, when the work robot moves while the docking retry process is being performed, at least a portion of the work robot is positioned on the station plate when the work robot is viewed in a direction perpendicular to the ground.

2. The robot power receiving unit is a robot charging terminal that can be electrically connected to the charging station when the work robot is docked to the charging station. The station power transmission unit is a station charging terminal that can be electrically connected to the robot charging terminal, The docking retry process includes a separation process that separates the work robot from the charging station. The autonomous mobile system according to claim 1, wherein after the separation process, the robot charging terminal is separated from the station charging terminal.

3. The autonomous mobile system according to claim 1, wherein in the docking retry process, the control unit drives the mobile motor for a predetermined number of rotations.

4. The autonomous mobile system according to claim 1, wherein, while the docking retry process is being performed, an area corresponding to 50% or more of the length of the work robot in the vehicle length direction is positioned on the station plate when the work robot is viewed in a direction perpendicular to the ground.

5. When the aforementioned work robot is viewed in a direction perpendicular to the ground, the work robot has a first area, The autonomous mobile system according to claim 1, wherein, while the docking retry process is being performed, an area corresponding to 50% or more of the first area of ​​the work robot is positioned on the station plate when the work robot is viewed in a direction perpendicular to the ground.

6. The docking retry process described above is: A retraction process to move the aforementioned work robot backward, The autonomous mobile system according to claim 1, further comprising a forward movement process that moves the work robot forward after the backward movement process.

7. The autonomous mobile system according to claim 6, wherein the backward movement distance of the work robot in the backward movement process is 50 mm or more and 650 mm or less.

8. The autonomous mobile system according to claim 7, wherein the reversing distance is 150 mm or more and 300 mm or less.

9. It also has a notification unit that notifies the user. The autonomous mobile system according to any one of claims 1 to 8, wherein the control unit is capable of executing the docking retry process one or more times, and controls the notification unit when the number of executed docking retry processes is equal to or greater than a reference number.

10. The autonomous mobile system according to claim 9, wherein the control unit stops the mobile motor when the number of times the docking retry process has been performed is equal to or greater than the reference number.

Images