Charging station for robot

Abstract

To improve the ease of connection with a robot at a charging station.SOLUTION: A charging station 500 includes a base 504 having an upper surface on which wheels ride, and a power supply terminal that is connected to a charging terminal of a robot 100, and in the top surface of the base 504, the target position is set in a back area, a reference approach line is set that connects the specific position on the entrance side and the target position, and the top surface of the base includes a three-dimensional curved inclined surface that gives a gravitational component to the approaching wheel toward the reference approach line. The power supply terminal is connected to the charging terminal in a state where the wheels have reached the target position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a charging station for charging a robot. [Background technology]

[0002] Development is underway on autonomous robots, such as humanoid robots and pet robots, that can interact with humans and provide comfort (see Patent Document 1). Some of these robots are beginning to appear with a sense of life, evolving their behavior by autonomously learning based on the surrounding situation (see Patent Document 2).

[0003] Since these robots also run on electrical energy, they need to be charged. For this reason, a technology has been proposed that enables the robot to communicate with a charging station, and when the remaining charge falls below a reference value, the robot is guided to the station and autonomously charges (see Patent Document 3). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-323219 [Patent Document 2] International Publication No. 2017 / 169826 [Patent Document 3] Japanese Patent Application Laid-Open No. 2001-125641 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the robot must approach the station at a precise angle to connect the terminals. This requires precise control of the robot's movement, particularly if the robot is wheel-driven, as it must switch gears multiple times as it approaches the station. This creates problems such as a heavy processing load and takes a long time.

[0006] The present invention has been made based on the above-mentioned problem recognition, and its main object is to improve the ease of connection with a robot at a charging station. [Means for solving the problem]

[0007] One aspect of the present invention is a charging station for charging a wheeled robot. The charging station includes a base having an upper surface on which the wheels ride, and a power supply terminal that connects to the charging terminal of the robot. A target position is set in the back area of ​​the upper surface of the base, and a reference approach line is set connecting a specific position on the entrance side and the target position. The base includes a three-dimensional curved inclined surface that applies a gravitational component to the reference approach line toward the entering wheel. The power supply terminal is connected to the charging terminal when the wheel reaches the target position. [Effects of the Invention]

[0008] The charging station of the present invention can increase the ease of connection to a robot. [Brief explanation of the drawings]

[0009] The above-mentioned objects, as well as other objects, features and advantages, will become more apparent from the preferred embodiments described below and the accompanying drawings.

[0010] [Figure 1] FIG. 1 is a diagram for explaining an overview of a charging system for a robot. [Figure 2A] FIG. 2 is a front view showing the appearance of the robot. [Figure 2B] FIG. 2 is a side view showing the appearance of the robot. [Figure 3] FIG. 2 is a cross-sectional view schematically illustrating the structure of the robot. [Figure 4A] 10A and 10B are side views schematically showing the structure and operation of the wheel storage mechanism. [Figure 4B] FIG. 2 is a front view schematically showing the structure and operation of the wheel storage mechanism. [Figure 5]FIG. 2 is a diagram illustrating a hardware configuration of the robot. [Figure 6] FIG. 2 is a functional block diagram of the robot system. [Figure 7] FIG. 2 is a functional block diagram of the robot system. [Figure 8A] FIG. 10 is a right side view showing the robot with the outer skin attached. [Figure 8B] FIG. 1 is a front view showing a state in which the robot is fitted with the outer skin. [Figure 8C] FIG. 10 is a rear view showing the robot with the skin attached. [Figure 9] FIG. 2 is a perspective view illustrating the appearance of the station. [Figure 10A] FIG. 2 is a perspective view illustrating the appearance of a charging unit. [Figure 10B] FIG. 2 is a front view illustrating the appearance of the charging unit. [Figure 11A] FIG. 2 is an explanatory diagram (perspective view) showing the shape of the top surface of the base. [Figure 11B] FIG. 2 is an explanatory diagram (front view) showing the shape of the top surface of the base. [Figure 12A] FIG. 2 is an explanatory diagram (plan view) showing the shape of the upper surface of the base. [Figure 12B] 11B is an explanatory diagram showing the shape of the upper surface of the base (a cross-sectional view taken along the arrow XX in FIG. 11B). [Figure 13A] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the arrow AA in FIG. 12A). [Figure 13B] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the arrow BB in FIG. 12A). [Figure 13C] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the CC arrow in FIG. 12A). [Figure 13D] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the arrow DD in FIG. 12A). [Figure 13E] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the arrow EE in FIG. 12A). [Figure 13F] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the arrow FF in FIG. 12A). [Figure 13G]12B is an explanatory diagram showing the shape of the upper surface of the base (cross section taken along arrow GG in FIG. 12A). [Figure 13H] 12B is an explanatory diagram showing the shape of the upper surface of the base (a cross section taken along the arrow HH in FIG. 12A). [Figure 14A] 1A and 1B are diagrams illustrating a terminal unit including a power supply terminal and its surrounding structure. [Figure 14B] FIG. 2 is a front view showing a tip portion of a terminal unit including a power supply terminal. [Figure 14C] FIG. 2 is a side view showing a tip portion of a terminal unit including a power supply terminal. [Figure 15A] 10 is a schematic diagram illustrating a support structure for a terminal unit on a base, showing a standby state (unloaded state) of the terminal unit. FIG. [Figure 15B] 10 is a schematic diagram illustrating a support structure for a terminal unit on a base, showing a state (load state) that may occur when a robot is connected to the terminal unit. FIG. [Figure 15C] 10 is a schematic diagram illustrating a support structure for a terminal unit on a base, showing a state (load state) that may occur when a robot is connected to the terminal unit. FIG. [Figure 16A] FIG. 2 is a partial cross-sectional view of a schematic diagram illustrating a connection structure between a charging terminal and a power supply terminal. [Figure 16B] 10A and 10B are schematic diagrams illustrating a connection structure between a charging terminal and a power supply terminal, showing the movement of a terminal unit during the connection process. [Figure 16C] 10A and 10B are schematic diagrams illustrating a connection structure between a charging terminal and a power supply terminal, showing the movement of a terminal unit during the connection process. [Figure 17A] FIG. 10 is a diagram showing the process of the robot's entry operation. [Figure 17B] FIG. 10 is a diagram showing the process of the robot's entry operation. [Figure 17C] FIG. 10 is a diagram showing the process of the robot's entry operation. [Figure 18A] FIG. 1 is a schematic diagram illustrating a wheel guiding mechanism, showing a wheel guiding process in plan view. [Figure 18B]FIG. 1 is a schematic diagram illustrating a wheel guiding mechanism, showing a wheel guiding process in plan view. [Figure 18C] FIG. 1 is a schematic diagram illustrating a wheel guiding mechanism, showing a wheel guiding process in plan view. [Figure 19A] FIG. 18B is a schematic diagram illustrating the wheel guiding mechanism, showing a vertical cross section of the location where the rear wheel is positioned during the wheel guiding process, and corresponds to FIG. 18A. [Figure 19B] FIG. 18C is a schematic diagram illustrating the wheel guiding mechanism, showing a vertical cross section of the location where the rear wheel is positioned during the wheel guiding process, and corresponds to FIG. 18B. [Figure 19C] FIG. 18D is a schematic diagram illustrating the wheel guiding mechanism, showing a vertical cross section of the location where the rear wheel is positioned during the wheel guiding process, and corresponds to FIG. 18C. [Figure 20A] FIG. 10 is a diagram showing the operation of the robot when it leaves the station, and shows the state when charging is complete. [Figure 20B] FIG. 10 is a diagram showing the operation when the robot exits the station, showing the terminal release operation. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. For convenience, the following description may refer to the positional relationship of each structure based on the illustrated state. In the following embodiments and their modifications, substantially identical components will be designated by the same reference numerals, and their description will be omitted where appropriate.

[0012] FIG. 1 is a diagram for explaining an overview of a charging system 10 for a robot. The charging system 10 includes a charging station (hereinafter simply referred to as "station") 500 that can charge two robots 100 simultaneously. The robots 100 are wheeled autonomous robots. The robot 100 includes two front wheels and one rear wheel. The left and right front wheels are drive wheels, and the rear wheels are driven wheels consisting of casters (details will be described later).

[0013] The station 500 creates a nest (bed) for multiple robots 100. Two charging spaces 502 are arranged side by side in close proximity so that two robots 100 can charge side by side in harmony. The robot 100 returns to the nest to charge, and while charging, it faces forward to show its cuteness to those around it. For this reason, the robot 100 approaches the charging space 502 backwards. In other words, the caster is in the lead when entering.

[0014] The charging space 502 is provided with a base 504 on which the casters can ride. When the casters reach a target position on the base 504, the power supply terminal of the station 500 and the The charging terminals of the robot 100 are stably connected, enabling charging. In this embodiment, the inertia associated with the movement of the robot 100 and the gravity of the casters are utilized to easily and efficiently guide the casters to the target position. That is, the upper surface of the base 504 includes a three-dimensional curved inclined surface that applies a gravitational component to the approaching casters toward the target position. The casters have 360-degree rotational freedom, but cannot rotate independently. Therefore, the casters rotate in the direction of the gravitational component as they roll along the three-dimensional curved inclined surface, allowing them to be naturally guided to the target position. The specific configurations of the robot 100 and station 500 that realize such guidance are described below.

[0015] [Basic configuration] 2A and 2B are diagrams showing the appearance of the robot 100. Fig. 2A is a front view, and Fig. 2B is a side view. The robot 100 is an autonomous robot that determines its behavior based on the external environment and its internal state. The external environment is recognized by various sensors such as cameras and thermosensors. The internal state is quantified as various parameters that express the emotions of the robot 100. The robot 100's range of movement is within the owner's home. Hereinafter, a human interacting with the robot 100 will be referred to as the "user."

[0016] The body 104 of the robot 100 has an overall rounded shape and includes an outer skin 314 made of a soft and elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed in clothing. The total weight of the robot 100 is approximately 5 to 15 kilograms, and the height is approximately 0.5 to 1.2 meters. The appropriate weight, roundness, softness, and pleasant feel of the robot 100 make it easy for the user to hold the robot 100, and make the user want to hold it.

[0017] The robot 100 includes a pair of front wheels 102 (left wheel 102a, right wheel 102b) and one rear wheel 103. The front wheels 102 are drive wheels, and the rear wheels 103 are driven wheels. The front wheels 102 do not have a steering mechanism, but the rotation speed and rotation direction of the left and right wheels can be controlled individually. The rear wheels 103 are casters that are rotatable to move the robot 100 forward, backward, left, and right. The rear wheels 103 may be omniwheels. By increasing the rotation speed of the right wheel 102b compared to the left wheel 102a, the robot 100 can turn left or rotate counterclockwise. By increasing the rotation speed of the left wheel 102a compared to the right wheel 102b, the robot 100 can turn right or rotate clockwise.

[0018] The front wheel 102 and rear wheel 103 can be completely stored in the body 104 by a drive mechanism (rotation mechanism, link mechanism). A pair of left and right covers 312 is provided on the lower half of the body 104. The covers 312 are made of a flexible and elastic resin material (rubber, silicone rubber, etc.), and form a soft body while being able to store the front wheel 102. A slit 313 (opening) that opens from the side to the front is formed in the cover 312, and the front wheel 102 can be advanced through the slit 313 and exposed to the outside.

[0019] Even when the robot 100 is moving, most of the wheels are hidden by the body 104, but when the wheels are completely retracted into the body 104, the robot 100 becomes unable to move. That is, as the wheels are retracted, the body 104 descends and sits on the floor F. In this seated state, a flat seating surface 108 (ground-contact bottom surface) formed on the bottom of the body 104 comes into contact with the floor F.

[0020] The robot 100 has two arms 106. Each arm 106 has a hand at its tip, but it does not have the function of grasping an object. The arms 106 can perform simple movements such as lifting, bending, waving, and vibrating when driven by an actuator (described later). Each of the two arms 106 can be controlled independently.

[0021] A facial region 116 is exposed on the front of the head of the robot 100. Two eyes 110 are provided in the facial region 116. Images can be displayed on the eyes 110 using liquid crystal elements or organic EL elements. A nose 109 is provided in the center of the facial region 116. An analog stick is provided on the nose 109, which can detect not only up, down, left, and right directions, but also the direction of pressure. The robot 100 is also provided with multiple touch sensors, which can detect the user's touch on almost all areas of the robot 100, including the head, torso, buttocks, and arms. The robot 100 is equipped with various sensors, such as a microphone array and ultrasonic sensors, which can identify the direction of a sound source. It also has a built-in speaker, which can emit simple sounds.

[0022] Horns 112 are attached to the head of the robot 100. A panoramic camera 113 is attached to the horns 112, and it is possible to capture images of the entire upper area of ​​the robot 100 at once. The horns 112 also have a built-in thermosensor 115 (thermocamera). The horns 112 are provided with an emergency stop switch, and the user can pull out the horns 112 to bring the robot 100 to an emergency stop.

[0023] FIG. 3 is a cross-sectional view that schematically illustrates the structure of the robot 100. As shown in FIG. The body 104 includes a main body frame 310, a pair of arms 106, a pair of covers 312, and an outer skin 314. The main body frame 310 includes a head frame 316 and a torso frame 318. The head frame 316 is hollow and hemispherical, forming the head skeleton of the robot 100. The torso frame 318 is rectangular and cylindrical, forming the torso skeleton of the robot 100. The lower end of the torso frame 318 is fixed to a lower plate 334. The head frame 316 is connected to the torso frame 318 via a connection mechanism 330.

[0024] The trunk frame 318 forms the axis of the body 104. The trunk frame 318 is configured by fixing a pair of left and right side plates 336 to a lower plate 334, and supports the pair of arms 106 and internal mechanisms. The interior of the trunk frame 318 houses the battery 118, a control circuit 342, various actuators, etc. The bottom surface of the lower plate 334 forms the seating surface 108.

[0025] The trunk frame 318 has an upper plate 332 at its top. A cylindrical support portion 319 with a bottom is fixed to the upper plate 332. The trunk frame 318 is composed of the upper plate 332, the lower plate 334, the pair of side plates 336, and the support portion 319. The outer diameter of the support portion 319 is smaller than the distance between the left and right side plates 336. The pair of arms 106 are integrally assembled with an annular member 340 to form an arm unit 350. The annular member 340 has an annular shape, and the pair of arms 106 are attached to the center line of the annular member 340 so as to be spaced apart in the radial direction. The annular member 340 is coaxially inserted through the support portion 319 and placed on the upper end surfaces of the pair of side plates 336. The arm unit 350 is supported from below by the trunk frame 318.

[0026] The head frame 316 has a yaw axis 321, a pitch axis 322, and a roll axis 323. Rotation (yawing) of the head frame 316 around the yaw axis 321 realizes a head swinging motion, rotation (pitching) around the pitch axis 322 realizes a nodding motion, a looking up motion, and a looking down motion, and rotation (rolling) around the roll axis 323 realizes a motion of tilting the head left and right. The position and angle of each axis can change in three-dimensional space depending on the driving mode of the connection mechanism 330. The connection mechanism 330 is composed of a link mechanism and is driven by multiple motors installed in the body frame 318.

[0027] The body frame 318 houses a wheel drive mechanism 370. The wheel drive mechanism 370 is a front wheel drive mechanism and a rear wheel drive mechanism that respectively move the front wheels 102 and the rear wheels 103 in and out of the body 104. The front wheels 102 and rear wheels 103 function as a "movement mechanism" that moves the robot 100. The front wheels 102 have a direct drive motor at their center. This allows the left wheel 102a and right wheel 102b to be driven independently. The front wheels 102 are rotatably supported by wheel covers 105, which are rotatably supported by the trunk frame 318.

[0028] The pair of covers 312 are provided to cover the trunk frame 318 from the left and right, and have a smoothly curved shape to round the outline of the body 104. A closed space is formed between the trunk frame 318 and the cover 312, and this closed space serves as a storage space S for the front wheel 102. The rear wheel 103 is stored in a storage space provided at the lower rear of the trunk frame 318.

[0029] The outer skin 314 covers the main body frame 310 and the pair of arms 106 from the outside. The outer skin 314 is thick enough that a person can feel its elasticity, and is made of a stretchy material such as urethane sponge. This allows the user to hug the robot 100 with just the right amount of softness, allowing for natural skin-to-skin contact, just as a person would with a pet. The outer skin 314 is attached to the main body frame 310 in a manner that exposes the cover 312. An opening 390 is provided at the upper end of the outer skin 314. The horns 112 are inserted through this opening 390.

[0030] Touch sensors are disposed between the main body frame 310 and the outer skin 314. Touch sensors are embedded in the cover 312. These touch sensors are all capacitance sensors that detect touches over almost the entire area of ​​the robot 100. The touch sensors may be embedded in the outer skin 314 or disposed inside the main body frame 310.

[0031] Arm 106 has first joint 352 and second joint 354, with arm 356 between the two joints and hand 358 at the end of second joint 354. First joint 352 corresponds to the shoulder joint, and second joint 354 corresponds to the wrist joint. A motor is provided at each joint to drive arm 356 and hand 358, respectively. The drive mechanism for driving arm 106 includes these motors and their drive circuits 344.

[0032] Figure 4 is a diagram showing the structure and operation of the wheel storage mechanism. Figure 4A is a side view, and Figure 4B is a front view. In the figure, the dotted lines indicate the state in which the wheels have advanced from the storage space S and are ready to move, and the solid lines indicate the state in which the wheels have been stored in the storage space S.

[0033] The wheel drive mechanism 370 includes a front wheel drive mechanism 374 and a rear wheel drive mechanism 376. The front wheel drive mechanism 374 includes a rotating shaft 378 and an actuator 379. The rotating shaft 378 is connected to the wheel cover 105. In this embodiment, a motor is used as the actuator 379. By driving the actuator 379 to rotate the wheel cover 105, the front wheel 102 can be driven to move forward and backward from the storage space S to the outside.

[0034] In this embodiment, the forward and backward movement of the left wheel 102a and the right wheel 102b can be controlled separately. That is, an actuator 379a for the left wheel 102a and an actuator 379b for the right wheel 102b are provided, and each can be driven independently. The wheel cover 105 for the left wheel 102a is connected to the actuator 379a via a rotating shaft 378a, and the wheel cover 105 for the right wheel 102b is connected to the actuator 379a via a rotating shaft 378b. In the following description, the rotating shafts 378a and 378b will be referred to as the "rotating shaft 378" when there is no need to distinguish between them, and the actuators 379a and 379b will be referred to as the "actuator 379" when there is no need to distinguish between them.

[0035] The rear wheel drive mechanism 376 includes a pivot shaft 404 and an actuator 406. 4 is provided parallel to the rotation shaft 378 of the front wheel drive mechanism 374 and supports the rear wheel 103 rotatably around that axis. The rear wheel 103 is a caster and has a main shaft 407 (swivel shaft) and an axle 408. A bifurcated arm 410 extends from the main shaft 407, and the axle 408 is provided at the tip of the arm 410. A wheel is rotatably supported on the axle 408. The upper end of the main shaft 407 is connected to the center of the rotation shaft 404 and is supported rotatably around its own axis. The axle 408 is not on the axis of the main shaft 407 but is offset. The main shaft 407 arbitrarily changes the direction (direction of travel) of the rear wheel 103. The rotation shaft 404 is rotated by driving the actuator 406, and the rear wheel 103 can be driven forward and backward from the rear storage space to the outside.

[0036] When the wheels are stored, the actuators 379 and 406 are driven in one direction. At this time, the wheel cover 105 rotates about the rotation shaft 378, and the front wheel 102 rises from the floor surface F. In addition, the arm 410 rotates about the rotation shaft 404, and the rear wheel 103 rises from the floor surface F (see the dashed-dotted arrow). As a result, the body 104 descends and the seating surface 108 contacts the floor surface F (see the solid-line arrow), realizing a seated state for the robot 100. By driving the actuators 379 and 406 in the opposite direction, the wheels are advanced, and the robot 100 can be made to stand up.

[0037] A rear cover 107 resembling a tail is provided on the outside of the rear wheel 103, and opens and closes the rear lower opening of the body 104 in conjunction with the advance and retreat of the rear wheel 103. That is, when the rear wheel 103 is advanced, the rear cover 107 opens, and when the rear wheel 103 is retracted, the rear cover 107 closes.

[0038] FIG. 5 is a diagram showing the hardware configuration of the robot 100. The robot 100 includes an internal sensor 128, a communication device 126, a memory device 124, a processor 122, a drive mechanism 120, and a battery 118. The drive mechanism 120 includes the connection mechanism 330 and wheel drive mechanism 370 described above. The processor 122 and the memory device 124 are included in a control circuit 342. Each unit is connected to each other by a power line 130 and a signal line 132. The battery 118 supplies power to each unit via the power line 130. Each unit transmits and receives control signals via the signal line 132. The battery 118 is a lithium-ion secondary battery and is the power source for the robot 100.

[0039] The internal sensor 128 is a collection of various sensors built into the robot 100. Specifically, these include a camera, a microphone array, a distance sensor (infrared sensor), a thermosensor, a touch sensor, an acceleration sensor, a barometric pressure sensor, and an odor sensor. The touch sensor covers most of the body 104 and detects a user's touch based on changes in capacitance. The odor sensor is a known sensor that applies the principle that electrical resistance changes due to the adsorption of odor-causing molecules.

[0040] The communicator 126 is a communication module that performs wireless communication with various external devices. The storage device 124 is composed of non-volatile memory and volatile memory, and stores computer programs and various setting information. The processor 122 is a means for executing computer programs. The drive mechanism 120 includes multiple actuators. In addition, a display, a speaker, etc. are also installed.

[0041] The drive mechanism 120 mainly controls the wheels and head. The drive mechanism 120 can change the direction and speed of movement of the robot 100, as well as raise and lower the wheels. When the wheels are raised, they are completely retracted into the body 104, and the robot 100 comes into contact with the floor F at the seating surface 108, thereby entering a seated state. The drive mechanism 120 also controls the arms 106.

[0042] FIG. 6 is a functional block diagram of the robot system 300. The robot system 300 includes a robot 100, a server 200, and multiple external sensors 114. Each component of the robot 100 and the server 200 is implemented by hardware, including computing units such as a central processing unit (CPU) and various coprocessors, storage devices such as memory and storage, and wired or wireless communication lines connecting these components, as well as software stored in the storage devices and supplying processing instructions to the computing units. Computer programs may be configured by device drivers, an operating system, various application programs located at higher levels, and libraries that provide common functions to these programs. The blocks described below represent functional blocks rather than hardware configurations. Some of the functions of the robot 100 may be implemented by the server 200, or some or all of the functions of the server 200 may be implemented by the robot 100.

[0043] A plurality of external sensors 114 are installed in advance inside the house. A server 200 manages the external sensors 114 and provides the robot 100 with detection values ​​acquired by the external sensors 114 as needed. The robot 100 determines basic behavior based on information obtained from the internal sensor 128 and the plurality of external sensors 114. The external sensors 114 are intended to reinforce the sensory organs of the robot 100, and the server 200 is intended to reinforce the processing capabilities of the robot 100. The communicator 126 of the robot 100 may periodically communicate with the server 200, and the server 200 may be responsible for processing to identify the location of the robot 100 using the external sensors 114 (see also Patent Document 2).

[0044] (Server 200) The server 200 includes a communication unit 204, a data processing unit 202, and a data storage unit 206. The communication unit 204 is responsible for communication processing with the external sensor 114 and the robot 100. The data storage unit 206 stores various data. The data processing unit 202 executes various processes based on the data acquired by the communication unit 204 and the data stored in the data storage unit 206. The data processing unit 202 also functions as an interface between the communication unit 204 and the data storage unit 206.

[0045] The data storage unit 206 includes a motion storage unit 232 and a personal data storage unit 218. The robot 100 has a plurality of movement patterns (motions). Various motions are defined, such as shaking the arms 106, meandering towards the owner, and tilting the head while gazing at the owner.

[0046] The motion storage unit 232 stores "motion files" that define the control content of a motion. Each motion is identified by a motion ID. The motion files are also downloaded to the motion storage unit 160 of the robot 100. The decision as to which motion to execute may be made by the server 200 or by the robot 100. Many of the motions of the robot 100 are composed of composite motions that include multiple unit motions.

[0047] The personal data storage unit 218 stores user information. Specifically, it stores master information indicating the degree of intimacy with the user and the user's physical and behavioral characteristics. Other attribute information such as age and gender may also be stored.

[0048] The robot 100 has an internal parameter called intimacy for each user. When the robot 100 recognizes that the user has shown affection for the robot 100, such as picking the robot up or talking to the robot, the robot 100's intimacy with the user increases. The robot 100's intimacy with users who do not interact with the robot 100, users who are violent, and users the robot 100 encounters infrequently decreases.

[0049] The data processing unit 202 includes a position management unit 208, a recognition unit 212, a motion control unit 222, an intimacy management unit 220, and a state management unit 244. The position management unit 208 identifies the position coordinates of the robot 100. The state management unit 244 manages various internal parameters such as the charge rate, internal temperature, and various physical states such as the processing load of the processor 122. The state management unit 244 also manages various emotion parameters that indicate the emotions of the robot 100 (loneliness, curiosity, desire for recognition, etc.).

[0050] The recognition unit 212 recognizes the external environment. Recognition of the external environment includes various recognitions such as recognition of weather and season based on temperature and humidity, and recognition of shade (safe zone) based on the amount of light and temperature. The recognition unit 156 of the robot 100 acquires various environmental information using the internal sensor 128, performs initial processing on it, and then transfers it to the recognition unit 212 of the server 200.

[0051] The recognition unit 212 compares a feature vector extracted from an image captured by the built-in camera of the robot 100 with feature vectors of users (clusters) pre-registered in the personal data storage unit 218 to determine which person the captured user corresponds to (user identification process). The recognition unit 212 also estimates the user's emotions by performing image recognition of the user's facial expression. The recognition unit 212 also performs user identification process on moving objects other than people, such as pet cats and dogs.

[0052] The recognition unit 212 recognizes various responsive actions made to the robot 100 and classifies them into pleasant and unpleasant actions. The recognition unit 212 also recognizes the owner's responsive actions to the behavior of the robot 100 and classifies them into positive and negative reactions. Pleasant and unpleasant actions are determined based on whether the user's responsive actions are pleasant or unpleasant for the robot 100 as a living organism.

[0053] The movement control unit 222 cooperates with the movement control unit 150 of the robot 100 to determine the motion of the robot 100. The movement control unit 222 creates a movement destination point for the robot 100 and a movement route therefor. The movement control unit 222 may create multiple movement routes and then select one of the movement routes. The movement control unit 222 selects the motion of the robot 100 from multiple motions in the motion storage unit 232.

[0054] The intimacy management unit 220 manages the intimacy level for each user. The intimacy level is registered as part of personal data in the personal data storage unit 218. When a pleasant behavior is detected, the intimacy management unit 220 increases the intimacy level with the owner. When an unpleasant behavior is detected, the intimacy level decreases. Furthermore, the intimacy level of an owner who has not been viewed for a long period of time gradually decreases.

[0055] (Robot 100) The robot 100 includes a communication unit 142, a data processing unit 136, a data storage unit 148, an internal sensor 128, and a drive mechanism 120. The communication unit 142 corresponds to the communicator 126 (see FIG. 5) and is responsible for communication processing with the external sensor 114, the server 200, and other robots 100. The data storage unit 148 stores various data. The data storage unit 148 corresponds to the storage device 124 (see FIG. 5). The data processing unit 136 performs various processes based on data acquired by the communication unit 142 and data stored in the data storage unit 148. The data processing unit 136 corresponds to the processor 122 and the computer program executed by the processor 122. The data processing unit 136 also functions as an interface between the communication unit 142, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.

[0056] The data storage unit 148 includes a motion storage unit 160 that defines various motions of the robot 100. Various motion files are downloaded to the motion storage unit 160 from the motion storage unit 232 of the server 200. Motions are identified by motion IDs. To express various motions, such as making the robot 100 turn by rotating or by rotating only one of the front wheels 102, trembling by rotating the front wheels 102 with the wheels retracted, or stopping and looking back when moving away from the user, the operation timing, operation time, operation direction, etc. of various actuators (drive mechanisms 120) are defined in a time series in the motion file. Various data may also be downloaded to the data storage unit 148 from the personal data storage unit 218.

[0057] The data processing unit 136 includes a recognition unit 156 and an operation control unit 150. The recognition unit 156 interprets external information obtained from the internal sensor 128. The recognition unit 156 is capable of visual recognition (visual unit), smell recognition (olfactory unit), sound recognition (auditory unit), and tactile recognition (tactile unit).

[0058] The recognition unit 156 extracts image regions corresponding to moving objects, particularly people and animals, from the image, and extracts a "feature vector" from the extracted image region as a set of features indicating the physical and behavioral characteristics of the moving object. Feature vector components (feature values) are numerical values ​​that quantify various physical and behavioral characteristics. For example, the width of a human eye is quantified in the range of 0 to 1 to form one feature vector component. The method for extracting feature vectors from captured images of people is an application of known face recognition technology. When a moving object is detected, physical and behavioral characteristics are also extracted from an odor sensor, built-in sound-collecting microphone, thermosensor, etc. These features are also quantified and become feature vector components. The recognition unit 156 identifies the user from the feature vector based on known technology described in Patent Document 2, etc. The robot 100 transmits the feature vector to the server 200.

[0059] In the series of recognition processes including detection, analysis, and judgment, the recognition unit 156 selects and extracts information necessary for recognition, while interpretation processes such as judgment are performed by the recognition unit 212 of the server 200. The recognition process may be performed by the recognition unit 212 of the server 200 alone, or by the recognition unit 156 of the robot 100 alone, or the recognition process may be performed by both units sharing roles as described above. The robot 100 acquires the user's actions as physical information using the internal sensor 128, and the recognition unit 212 of the server 200 judges whether the user is comfortable or uncomfortable. The recognition unit 212 of the server 200 also performs user identification processing based on feature vectors.

[0060] The recognition unit 212 of the server 200 recognizes various responses of the user to the robot 100. Some typical responses among the various responses are associated with pleasant or unpleasant, positive or negative. Generally, most pleasant responses are positive reactions, and most unpleasant responses are negative reactions. Pleasant and unpleasant actions are related to the degree of intimacy, and positive and negative reactions affect the robot 100's behavior selection.

[0061] The intimacy management unit 220 of the server 200 changes the intimacy level with respect to the user in accordance with the interaction behavior recognized by the recognition unit 156. In principle, the intimacy level with respect to a user who has performed a pleasant behavior increases, and the intimacy level with respect to a user who has performed an unpleasant behavior decreases.

[0062] The movement control unit 150 decides the motions of the robot 100 in cooperation with the movement control unit 222 of the server 200. Some motions may be decided by the server 200, and other motions may be decided by the robot 100. Alternatively, the robot 100 may decide the motions, but when the processing load of the robot 100 is high, the server 200 may decide the motions. The server 200 may decide base motions, and the robot 100 may decide additional motions. How the motion decision process is shared between the server 200 and the robot 100 may be designed according to the specifications of the robot system 300.

[0063] The motion control unit 150 instructs the driving mechanism 120 to execute the selected motion. The driving mechanism 120 controls each actuator in accordance with the motion file.

[0064] The movement control unit 150 can execute a motion of lifting both arms 106 as a gesture of asking to be "held" when a user with whom the robot has a high level of intimacy is nearby, and can also express a motion of refusing to be held by alternately rotating the left and right front wheels 102 in the opposite direction and stopping the wheels 102 while keeping them retracted when the robot gets tired of being "held." The drive mechanism 120 drives the front wheels 102, arms 106, and head (head frame 316) in accordance with instructions from the movement control unit 150, thereby causing the robot 100 to express various motions.

[0065] Next, based on the above basic configuration, an implementation of the robot system 300 in this embodiment will be described. The following will particularly focus on the features and purpose of this implementation and differences from the basic configuration.

[0066] FIG. 7 is a functional block diagram of the robot system 300. The robot system 300 includes a robot 100, a station 500, and a plurality of external sensors 114. The server 200 is provided in the station 500. In addition to the components shown in Fig. 6, the robot 100 includes a battery 118 and a charging circuit 170. The internal sensors 128 further include a battery remaining capacity sensor.

[0067] Meanwhile, the station 500 further includes a charging circuit 250 and a guiding unit 252. When the charging circuit 170 of the robot 100 is connected to the charging circuit 170 of the station 500, the battery 118 can be charged. The guiding unit 252 includes a transmitting circuit that outputs a guidance signal for guiding the robot 100 to the station 500. The data processing unit 202 of the server 200 controls the transmitting circuit. Details of the guidance method and the like will be described later.

[0068] 8A to 8C are diagrams showing the state in which robot 100 is fitted with skin 314. Fig. 8A is a right side view, Fig. 8B is a front view, and Fig. 8C is a rear view. The appearance of robot 100 is almost symmetrical.

[0069] A storage opening 377 for storing the rear wheel 103 is provided below the rear of the torso frame 318 of the robot 100. A pair of charging terminals 510 protrude from the left and right sides of the storage opening 377. The base ends of the charging terminals 510 are located inside the torso frame 318 and are connected to the charging circuit 170 (see FIG. 7) via wiring (not shown). The tip of the charging terminal 510 is a slightly large-diameter disk shaped like a button.

[0070] The outer cover 314 is formed by sewing together an outer cover main body 420 and an elastic attachment portion 422. Both the outer cover main body 420 and the elastic attachment portion 422 are made of a flexible material. The outer cover main body 420 includes a bag-shaped portion 424 that covers the head frame 316, a pair of hand portions 426 that extend downward from the left and right sides of the bag-shaped portion 424, an extension portion 428 that extends downward from the front of the bag-shaped portion 424, and an extension portion 430 that extends downward from the back of the bag-shaped portion 424. An opening 432 is provided on the front side of the bag-shaped portion 424 to expose the face region 116.

[0071] The elastic mounting portion 422 forms the bottom of the outer cover 314, and connects the front and rear extension portions 428, 430 of the outer cover main body 420 at the bottom. The elastic mounting portion 422 has an opening 434 at a position corresponding to the storage opening 377. A pair of holes 436 are formed at the rear bottom of the elastic mounting portion 422. The holes 436 have a narrow shape like a buttonhole, but because the elastic mounting portion 422 is flexible, they can be expanded in the width direction. A pair of charging terminals 510 are inserted into these holes 436. After the charging terminals 510 are inserted into the holes 436, the holes 436 return to their original narrow shape due to elastic force. As a result, the heads of the charging terminals 510 are caught around the periphery of the holes 436. This prevents outer cover 314 from coming off. That is, charging terminal 510 is a terminal for charging, and also a member for fixing outer cover 314.

[0072] The rear cover 107 (tail) of the robot 100 is provided with an infrared sensor 172 and a pair of microphones 174 as internal sensors 128. That is, the infrared sensor 172 is provided in the center of the rear cover 107, with a left microphone 174L on its left side and a right microphone 174R on its right side. When the rear cover 107 is open and the rear wheels 103 are extended, these face backward of the robot 100. The infrared sensor 172 and the pair of microphones 174 are used for guidance control when the robot 100 enters the station 500.

[0073] 9 is a perspective view showing the appearance of the station 500. For ease of explanation, the rear side of the entry direction of the robot 100 in the station 500 (the leading side of the entry direction) may be referred to as the "rear side," and the front side of the entry direction (the rear side of the entry direction) may be referred to as the "front side" or "front side." The station 500 includes a charging unit 506, which is the main component for charging, and decorative components such as a pair of rear panels 508. The charging unit 506 includes a base 504 and a unit main body 512. The base 504 is rectangular in plan view, with charging spaces 502 provided on the left and right sides. The unit main body 512 is erected in the center of the top surface of the base 504. The unit main body 512 has a housing 514 with an enlarged upper half. The pair of rear panels 508 are located on the left and right sides of the front of the housing 514. The rear panels 508 are detachably attached to the unit main body 512 via fixing members 509. The fixing members 509 are arm-shaped members, one end of which is detachably fixed to the rear surface of the rear panel 508 and the other end of which is detachably fixed to the rear surface of the housing 514. Guide members 252 are provided on the left and right sides of the housing 514, below each rear panel 508.

[0074] Fig. 10 is a diagram showing the appearance of charging unit 506. Fig. 10A is a perspective view, and Fig. 10B is a front view. The charging unit 506 has a bilaterally symmetrical structure, and the robot 100 can be charged in both the charging space 502 on the left side (also referred to as the "left space 502L") and the charging space 502 on the right side (also referred to as the "right space 502R"). The housing 514 houses the server 200 and the charging circuit 250. A pair of power supply terminals 520 is disposed in each charging space 502. One of the pair of power supply terminals 520 is connected to the power supply line of the charging circuit 250, and the other is connected to the ground line.

[0075] The left and right upper surfaces of the base 504 have inclined surfaces for smoothly guiding the robot 100 to each charging space 502. A target position P1 is set on the left and right upper surfaces of the base 504 for each charging space 502. Wheel supports 522 for dropping the rear wheels 103 of the robot 100 into the target positions P1 are provided at the target positions P1. The entrance side of the base 504 is wide open, and a virtual reference approach line L is set to connect the target position P1 to a position P2 in front of the entrance (corresponding to the "specific position"). The reference approach line L indicates the route by which the robot 100 can most efficiently approach the charging unit 506, in other words, the route by which the rear wheels 103 can most efficiently reach the target position P1, and is set as a straight line in this embodiment.

[0076] The base 504 has a shape in which the left and right sides are raised as it goes further inward along the reference approach line L in each charging space 502. The distance between the left and right raised portions at the rear ends is narrowed to form a guideway 523 for linearly guiding the rear wheels 103 to the target position P1. The width of the guideway 523 is slightly greater than the width of the rear wheels 103. A wheel support 522 is provided in the center of the guideway 523. A pair of openings 505 are provided in front of the left and right raised portions, from which a pair of power supply terminals 520 protrude, respectively. The pair of openings 505 are located on the left and right sides of the guideway 523, respectively. The power supply terminals 520 extend slightly upward from the front and toward the reference approach line L. In other words, the pair of power supply terminals 520 are positioned in the charging space 502. 02. The pair of power supply terminals 520 can be connected to the pair of charging terminals 510 when the rear wheel 103 reaches the wheel receiver 522.

[0077] A pair of guiding units 252 are provided to protrude from the left and right side surfaces of the housing 514, respectively. The left guiding unit 252 is located above the reference entry line L of the left space 502L. The right guiding unit 252 is located above the reference entry line L of the right space 502R. Each guiding unit 252 emits a guidance signal to guide the robot 100 to the corresponding charging space 502. The guiding unit 252 has an ultrasonic transmitter that transmits an ultrasonic signal as a guidance signal, and an infrared transmitter that transmits an infrared signal. These transmitters are connected to the server 200 and controlled by the data processing unit 202.

[0078] When the robot 100 approaches the station 500, the guiding unit 252 transmits an ultrasonic signal and an infrared signal. The robot 100 receives the infrared signal with the infrared sensor 172 and receives the ultrasonic signal with the pair of microphones 174 (left microphone 174L and right microphone 174R) (see FIG. 8C). The robot 100 calculates the distance to the target position P1 based on the difference in arrival time between the ultrasonic signal and the infrared signal transmitted from the guiding unit 252, and adjusts its traveling speed (the speed at which it approaches the charging space 502) based on the calculation result. The robot 100 also calculates the angle at which it approaches the charging space 502 based on the difference in arrival time between the ultrasonic signals received by the left microphone 174L and the right microphone 174R, and adjusts its traveling direction (the angle at which it approaches the charging space 502) based on the calculation result.

[0079] A reference value providing unit 524 for calibration is provided on the upper front surface of the unit main body 512. The station charging station 500 can calibrate the thermosensor 115 of the robot 100. The reference value providing unit 524 is controlled by the server 200. The reference value providing unit 524 has two constant temperature sources set to different temperatures. The temperature difference between these sources is set in advance (the temperature difference between the two constant temperature sources is also referred to as the "set temperature difference"). The robot 100 measures the temperature difference between the two constant temperature sources from the output value of the thermosensor 115 (the measured temperature difference is also referred to as the "measured temperature difference"). The robot 100 can perform calibration by comparing the set temperature difference with the measured temperature difference and correcting the difference.

[0080] Next, the wheel guide structure and charging terminal connection structure in station 500 will be described in detail. 11 to 13 are explanatory diagrams showing the shape of the upper surface of base 504. For ease of explanation, the portion corresponding to part A in FIG. 10B is shown extracted, and power supply terminal 520 is omitted. FIG. 11A is a perspective view, and FIG. 11B is a front view. FIG. 12A is a plan view, and FIG. 12B is a cross-sectional view taken along arrow XX in FIG. 11B. FIGS. 13A to 13H show cross-sectional views taken along arrows AA to HH in FIG. 12A, respectively.

[0081] 11, base 504 has wheel bearings 522 recessed in its rear region, and target position P1 is set therein. A flat portion 530 with almost no step between it and floor F is provided at the front entrance of base 504. Base 504 has an inclined surface 532 smoothly connecting to flat portion 530.

[0082] As shown in Figure 12, from the entrance front position P2 to the target position P1, there is a continuous upward slope 534 and a downward slope 536 along the reference approach line L. The upward slope 534 is gentler than the downward slope 536. A wheel support 522 is provided at the end of the downward slope 536, and the target position P1 is set at the center of the downward slope 536. As shown in the figure, the gradient of the downward slope 536 is made large while its width is made small, so that the rear wheel 103 that has reached the target position P1 does not return to the front side due to recoil. The wheel support 522 is connected to the charging terminal 510 and the supply The guide portion 252 is positioned so that contact pressure acts between the guide portion 252 and the electrical terminal 520. In this embodiment, as shown in the figure, the guide portion 252 is positioned on the normal to the reference approach line L. The directivity (directivity angle θ) of the ultrasonic waves and infrared rays transmitted from the guide portion 252 is set to about 60 degrees (about 30 degrees on both the left and right sides of the reference approach line L), but other values ​​may also be set.

[0083] 13, the upper surface of the base 504 has a three-dimensional curved shape that slopes downward on both sides of the reference approach line L. As shown in FIGS. 13B to 13E, the upper surface of the base 504 has a shape in which the gradients (left-right gradients) on both sides of the reference approach line L in the upslope 534 section become greater the further back it is. Therefore, the upper surface of the base 504 slopes downward toward the entrance side and has a shape that widens like a fan.

[0084] Fig. 14 is a diagram showing the structure of a terminal unit including a power supply terminal 520. Fig. 14A shows the terminal unit and its surrounding structure. Fig. 14B is a front view showing the tip of the terminal unit. Fig. 14C is a side view showing the tip of the terminal unit. 14A and 14B, terminal unit 550 has a terminal support portion 554 at the tip of a cylindrical main body 552, and supports power supply terminal 520 at terminal support portion 554 so that power supply terminal 520 can be relatively displaced. Main body 552 has a base end supported by base 504.

[0085] The power supply terminal 520 includes a plurality of pin terminals 521a to 521f (these are referred to as "pin terminals 521" when no distinction is made between them). That is, the power supply terminal 520 is made up of a plurality of pin terminals 521, which are electrically connected. The tip of each pin terminal 521 is spherical.

[0086] As shown in FIGS. 14B and 14C , terminal support portion 554 has a tapered surface 556 at its tip end that tapers toward the tip end, and a disk-shaped magnet 558 (permanent magnet) is provided in the center of the tip end surface. A plurality of insertion holes 560 (six in this embodiment) are provided around magnet 558 in terminal support portion 554 so as to extend in the axial direction. These insertion holes 560 open into tapered surface 556. Pin terminals 521a-521f are slidably supported in the six insertion holes 560, respectively. Springs 562 (functioning as "biasing members") are provided at the rear of each insertion hole 560 to bias pin terminals 521 forward. Therefore, pin terminals 521 protrude a predetermined amount from the opening of tapered surface 556 when charging terminal 510 is not connected to power supply terminal 520.

[0087] While the current value supplied from the power supply terminal 520 increases for rapid charging, the above configuration can increase the contact area between the power supply terminal 520 and the charging terminal 510, thereby reducing the current density and suppressing heat generation. In other words, a wide electrode (terminal) can be used to ensure a wide contact area between the two terminals. However, if the wide electrode is configured as a single terminal, the approach angle of the robot 100 must be strictly adjusted to ensure contact across the entire surface. In this regard, the present embodiment provides multiple pin-shaped terminals, which are configured to slide individually in the terminal connection direction. Furthermore, each pin terminal 521 is individually biased by a spring 562. Therefore, even if the power supply terminal 520 and the charging terminal 510 are tilted relative to the original connection angle, each pin terminal 521 is biased toward the charging terminal 510 and contacts the charging terminal 510. This ensures the necessary contact area between both terminals even if the approach angle of the robot 100 deviates from the ideal angle. In other words, the approach angle of the robot 100 can be more tolerant. Before completing the connection of power supply terminal 520, each pin terminal 521 rubs against charging terminal 510 to remove the oxide film, which also contributes to ensuring the contact area.

[0088] Fig. 15 is a schematic diagram showing the support structure (support mechanism) of the terminal unit 550 on the base 504. Fig. 15A shows the standby state (unloaded state) of the terminal unit 550. Fig. 15B and Fig. 15C show states (loaded states) that may occur when the robot 100 is connected to the terminal unit 550.

[0089] As shown in FIG. 15A , a pair of left and right terminal units 550 are supported by plate-shaped support members 564, which are supported by the base 504. The support members 564 are disposed in the interior space of the base 504 and are supported rotatably about a rotation shaft 566 erected on the base 504. The rotation shaft 566 is disposed on a line normal to the reference approach line L and is located below the guideway 523. Circular boss-shaped support portions 568 are provided on the left and right sides of the support member 564. Each support portion 568 has an axis that is inclined with respect to the upper surface of the support member 564. When the terminal units 550 are attached to each support portion 568, as shown in the figure, the tips of both units are slightly inwardly oriented toward each other and obliquely forward and upward.

[0090] A spring 570 (which functions as a "biasing member") is disposed on the base 504 to hold the support member 564 at a reference position in the rotation direction when no external force is acting on it. Here, the "reference position" is defined as the position where the front surface of the support member 564 faces forward, in other words, the position where the pair of terminal units 550 are equidistant from the reference approach line L.

[0091] The relative positions of the pair of terminal units 550 remain almost constant. However, if the robot 100 approaches the station 500 at an angle, that is, if the approach direction of the rear wheel 103 deviates even slightly from the reference approach line L, one of the pair of charging terminals 510 will reach the power supply terminal 520 before the other. The pivoting structure of the support member 564 absorbs this deviation. That is, the pressing force of the charging terminal 510 that arrives first causes the support member 564 to pivot clockwise or counterclockwise in the figure (see FIGS. 15B and 15C). This also promotes connection between the charging terminal 510 and the power supply terminal 520 that arrives later. That is, the power supply terminal 520 is supported by the base 504 so that it can be displaced in accordance with the charging terminal 510.

[0092] The opening 505 of the base 504 is formed in the shape of an elongated hole (slit) to allow displacement of the terminal unit 550 accompanying the rotation of the support member 564. The spring 570 also functions as a shock absorber when the two terminals are connected.

[0093] Fig. 16 is a schematic diagram showing a connection structure between charging terminal 510 and power supply terminal 520. Fig. 16A is a partial cross-sectional view showing the connection structure. Fig. 16B and Fig. 16C show the movement of terminal unit 550 during the connection process. 16A, charging terminal 510 of robot 100 faces diagonally slightly downward, and power supply terminal 520 of station 500 faces diagonally upward. As described above, by providing a steep slope on the front side of wheel support 522 (see FIG. 12B), rear wheel 103 is biased toward the rear, that is, in the direction of connecting charging terminal 510 and power supply terminal 520. When the two are connected, the rearward inertial force of robot 100 acts in the axial direction of terminal unit 550 as a pressing force via charging terminal 510 (see the two-dot chain arrow).

[0094] Connection surface 511 of charging terminal 510 is concave spherical, while the tip of terminal unit 550 has a convex (tapered) shape, and the two shapes are generally complementary. Charging terminal 510 and power supply terminal 520 are detachably connected by magnet 558. When the two terminals are connected, power supply terminal 520 (six pin terminals 521) is pressed down in the axial direction against the biasing force of spring 562 (see dash-dotted arrow). The elastic reaction force of spring 562 generated at this time provides sufficient contact pressure between the two terminals, ensuring a stable connection.

[0095] During charging, the driving force (propulsion force) of the front wheels 102 is turned off (a power-reduced state). When the switch is turned off, an inertial force may act in a direction separating the two terminals. In this regard, in this embodiment, the connection state of the two terminals is maintained by the attractive force of the magnet 558. Furthermore, as shown in Figures 15B and 15C, even if the approach direction of the robot 100 deviates slightly from the reference approach line L, the attractive force of the magnet 558 can connect the two terminals.

[0096] As shown in FIG. 16B, the support portion 568 has a guide portion 572 that opens diagonally upward, and the main body 552 of the terminal unit 550 is inserted through the guide portion 572. The guide portion 572 supports the main body 552 so that it can slide along its axis L2. The guide portion 572 has a bottom surface that is perpendicular to the axis L2. The support portion 568 also has a guide hole 574 that extends diagonally along its side surface. The guide hole 574 extends from near the tip of the support portion 568 rearward within a predetermined angular range centered on the axis L2.

[0097] Meanwhile, an engagement pin 576 protrudes near the rear end of the main body 552. The engagement pin 576 protrudes radially outward from the main body 552 and fits into the guide hole 574. As shown in the figure, the outer diameter of the engagement pin 576 is approximately equal to the width of the guide hole 574. A spring 578 (functioning as a "biasing member") is interposed between the bottom surface of the guide portion 572 and the main body 552, which biases the terminal unit 550 in the protruding direction (upward along the axis L2).

[0098] With this configuration, terminal unit 550 is elastically supported in a direction protruding from support portion 568. The amount of protrusion is regulated by engagement of engagement pin 576 with the upper end of guide hole 574. When charging terminal 510 of robot 100 is connected, terminal unit 550 is pushed diagonally downward along axis L2. At this time, as shown in FIG. 16C , engagement pin 576 is guided along guide hole 574, causing main body 552 and terminal unit 550 to rotate about axis L2. Therefore, from the time charging terminal 510 begins to contact power supply terminal 520 until the connection between them is completed, each pin terminal 521 slides against connection surface 511. This scrapes off oxide coatings and dirt adhering to the tip surfaces of pin terminals 521, maintaining good electrical conductivity between both terminals. In other words, the rotation mechanism of terminal unit 550 functions as a self-cleaning mechanism that maintains the terminal contact surfaces in good condition.

[0099] Fig. 17 is a diagram showing the entrance operation of the robot 100. Fig. 17A to Fig. 17C show the process of the operation. When it is time to charge the battery 118, the robot 100 moves toward the station 500. At this time, the robot 100 heads toward the station 500 while avoiding obstacles based on information from cameras, shape measurement sensors, etc. When the robot 100 approaches the station 500 (FIG. 17A), it reverses direction, backs up, and enters the charging space 502 (FIG. 17B).

[0100] At this time, even if the traveling direction of the robot 100 is slightly inclined with respect to the reference approach line L set in the station 500, the connection between the power supply terminal 520 and the charging terminal 510 is promoted. As already explained, the upper surface of the base 504 includes a three-dimensional curved inclined surface that applies a gravitational component toward the reference approach line L to the approaching rear wheel 103 (see FIG. 13). Therefore, if the robot 100 approaches at an appropriate speed, the rear wheel 103 can be naturally guided to the wheel receiver 522 (target position P1) while continuing to roll. The power supply terminal 520 connects to the charging terminal 510 when the rear wheel 103 reaches the target position P1 (FIG. 17C).

[0101] 18 and 19 are schematic diagrams illustrating the wheel guidance mechanism. FIGS. 18A to 18C show the wheel guidance process in plan view. FIGS. 19A to 19C show vertical cross sections of the location where the rear wheel 103 is positioned during the wheel guidance process, and correspond to FIGS. 18A to 18C, respectively. For ease of explanation, these figures only show the positional relationship between the front wheel 102 and the rear wheel 103 for the robot 100, and only show the positional relationship between the charging space 502 (the robot 100's Only the approach road is shown.

[0102] Here, it is assumed that the entry direction of the robot 100 is misaligned with the reference entry line L, that is, the rear wheels 103 enter the charging space 502 at an angle inclined relative to the reference entry line L. In this case, the rear wheels 103 are subjected to the combined force of the gravitational component (a force from a high place to a low place) caused by the inclination of the base 504 and the propulsive force of the front wheels 102, causing them to move in a manner typical of casters and smoothly change their rolling direction.

[0103] Specifically, the rear wheel 103 naturally rolls toward the reference approach line L, which is located at a lower position, while moving rearward (FIGS. 18A and 19A). Since the gradient of the reference approach line L on both sides increases as the rear wheel 103 moves further back from the base 504, the rolling motion converges near the reference approach line L (FIGS. 18B and 19B). In this way, the rear wheel 103 finally reaches the wheel support 522 (target position P1) located at the rear of the reference approach line L (FIGS. 18C and 19C).

[0104] Figure 20 shows the operation of the robot 100 when it leaves the station 500. Figure 20A shows the state when charging is complete, and Figure 20B shows the terminal disconnection operation. When charging is complete and robot 100 is to be removed from station 500, it is necessary to disconnect charging terminal 510 from power supply terminal 520. However, because both terminals are connected by the attractive force of magnet 558 (see FIG. 16A), it is expected that disconnection may not be easy even if robot 100 is moved forward from the state shown in FIG. 20A.

[0105] Therefore, by utilizing the ability of the left and right front wheels 102 to move forward and backward independently, the terminal joint is twisted to release the connection. That is, by driving one of the left wheel 102a and the right wheel 102b toward the retracted side (wheel storage side) from the state shown in FIG. 20A and dropping one side of the body 104, a shear force is applied to the joint surface between the charging terminal 510 and the power supply terminal 520, and the two terminals can be separated. After the connection between the two terminals is released, the front wheels 102 are returned to the advanced state and moved forward, allowing the robot 100 to exit the station 500. This retraction motion creates the appearance of the robot 100 shaking its tail and coming out of its nest, and can simultaneously express both biological behavior and cuteness.

[0106] The robot 100, the station 500, and the charging system 10 including these have been described above based on the embodiments. According to the station 500, even if the approach angle of the robot 100 is off, the rear wheel 103 can be naturally guided to the target position P1 by utilizing the inertia and gravity (own weight) accompanying the rolling of the rear wheel 103. That is, since the upper surface of the base 504 includes an inclined surface that imparts a gravitational component to the approaching rear wheel 103 toward the target position P1, the rolling direction of the rear wheel 103 and therefore the traveling direction of the robot 100 are naturally corrected. The wheel guidance is carried out by the shape of the base 504 itself, and this can be easily achieved.

[0107] The present invention is not limited to the above-described embodiments and modifications, and the components can be modified without departing from the spirit of the invention. Various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments and modifications. Furthermore, some components can be omitted from all the components shown in the above-described embodiments and modifications.

[0108] In the above embodiment, as shown in FIG. 16A, a configuration in which the charging terminal 510 and the power supply terminal 520 are fixed by a magnet 558 (permanent magnet) is exemplified. In a modified example, an electromagnet may be used instead of the permanent magnet. By maintaining the electromagnet energized during charging and stopping the energization before the robot 100 leaves the charging station 500, the terminals can be easily separated. As in the above embodiment, the terminals can be disconnected without twisting the body 104.

[0109] In the above embodiment, as shown in FIG. 20 , the robot 100 is tilted obliquely to apply a shear force to the joint surface between the charging terminal 510 and the power supply terminal 520, thereby separating the two terminals. In a modified example, the terminal unit 550 may be moved so as to apply a shear force to the joint surface between the charging terminal 510 and the power supply terminal 520, thereby separating the two terminals. The terminal unit 550 in FIG. 15 is attached to a support member 564 and is configured to be rotatable around a rotation axis 566. In a modified example, a rotation axis extending in a direction perpendicular to the rotation axis 566 (for example, a rotation axis extending in the front-rear direction of the support member 564) is added, and the support member 564 is rotated around the rotation axis when separating the two terminals. This allows a shear force to be applied to the joint surface between the charging terminal 510 and the power supply terminal 520 without the robot 100 changing its posture obliquely.

[0110] In the above embodiment, as shown in FIG. 3, a rotation shaft 378 and an actuator 379 are provided for each of the left wheel 102a and the right wheel 102b, allowing the forward and backward movement of each wheel to be controlled individually. In a modified example, a common rotation shaft and actuator may be provided for the left and right wheels, allowing the wheels to be driven forward and backward as a unit. In this case, it is difficult to twist the body 104 of the robot 100, but since the body 104 can be swung up and down, it is possible to release the connection between both terminals even if they are fixed with permanent magnets. However, twisting the body 104 as in the above embodiment is preferable because it is easier to effectively apply shear force to the connection surfaces of both terminals.

[0111] In the above embodiment, the self-cleaning mechanism for the power supply terminal is configured to rotate the power supply terminal about its axis by utilizing the pressing force from the charging terminal, causing it to slide rotationally relative to the charging terminal. In a modified example, the power supply terminal may be configured to slide linearly by utilizing the pressing force from the charging terminal. For example, the tip of the power supply terminal may be tapered, and the power supply terminal may be configured to receive a force perpendicular to its axis as the charging terminal moves axially.

[0112] In the above embodiment, as shown in FIG. 9, a backrest-like member is provided as the rear panel 508 of the charging station 500 to create the impression of the robot 100 resting in induction. In a modified example, a member that creates a background may be placed as the rear panel. For example, a plant or the like may be imitated to create the impression of a nest. A scene in which two robots 100 return to one nest and relax may also be created. This can reduce the user's impression of "charging a robot" and enhance the sense of life of the robot 100. Furthermore, multiple types of panels may be interchangeable depending on the season, etc., to appropriately change the image. Rear panels of various shapes can be attached using the fixing member 509 as a common member.

[0113] In the above embodiment, the object of calibration by the reference value providing unit 524 is a thermosensor. In a modified example, the object may be another sensor included in the internal sensor 128, such as a distance measuring sensor or a shape measuring sensor (depth sensor). The reference value providing unit 524 outputs a reference value of the object to be measured by the sensor.

[0114] In the above embodiment, the tip of pin terminal 521 constituting power supply terminal 520 is spherical (semispherical), but it may be flat. It is advisable to make the connecting surface (contact surface) on the charging terminal 510 side flat to match the shape of power supply terminal 520, so that it has a complementary shape.

[0115] In the above embodiment, as shown in Fig. 14, the configuration of terminal unit 550 is exemplified in which magnet 558 is arranged in the center of the tip, and multiple pin terminals 521 are arranged around it. In a modified example, conversely, a power supply terminal (one power supply terminal or multiple divided pin terminals) may be arranged in the center of the tip, and magnets may be arranged around it or on both sides. Note that the arrangement in the above embodiment may contribute to the presentation of design elements, such as making the terminal unit look like a button when viewed from the front.

[0116] In the above embodiment, an example was given in which the end face of the charging terminal 510 on the robot 100 side is concave, and the end face of the power supply terminal 520 on the charging station 500 side is convex. In a modified example, the end face of the charging terminal may be convex, while the end face of the power supply terminal may be concave, with the two shapes being generally complementary. However, because a concave surface is less susceptible to dirt and scratches than a convex surface under normal use, it is preferable to make the charging terminal on the robot side, which is subject to greater environmental changes, concave (including a concave spherical) shape.

[0117] In the above embodiment, an example has been shown in which the robot 100 is charged while standing (with its wheels extended). In a modified example, the robot may be charged while crouching (with its wheels retracted). This makes it easier to express the robot's behavior as sleeping, etc., and provides a dramatic effect. On the other hand, considering that the robot is prone to heat generation due to rapid charging, it is also preferable to extend the wheels to form a gap between the body 104 and ensure ventilation between the inside and outside of the body 104.

[0118] In the above embodiment, an example has been shown in which one wheel (rear wheel 103) rides on the base 504. In a modified example, two wheels may be used. Specifically, the robot may have four wheels, two of which may be driven wheels made of casters. Also, in the above embodiment, the wheels that ride on the base 504 are the rear wheels of the robot, but they may also be front wheels. In this case, the rear wheels are the drive wheels and the front wheels are the driven wheels.

[0119] In the above embodiment, an example was shown in which the wheels (rear wheels 103) that ride on the base 504 are casters. A caster has an axle that is not on the axis of the main axle (swivel axis) but is offset (i.e., has a trail). This trail makes it easy for the wheel to quickly follow the rolling of the wheel in the direction of travel. This makes it easy to guide the wheel in the direction of the gravity component along the three-dimensional curved shape of the base 504. In other words, the three-dimensional curved shape can be said to effectively utilize the properties of such a caster. In a modified example, a wheel that is not a caster, that is, a wheel whose axle is located on the axis of the main axle (swivel axis), may be used. Although the effect is not as great as that of a caster, guidance using the gravity component is possible.

[0120] In the above embodiment, the reference approach line is a straight line connecting the target position and a specific position directly in front of the target position. In a modified example, the reference approach line may be a straight line connecting the target position and a specific entrance position diagonally forward from the target position. Particularly when multiple robots are allowed to simultaneously enter a charging station, as in the above embodiment, spacing the specific entrance positions of each charging space apart can prevent interference between the robots. Furthermore, if the base can be configured relatively large, the reference approach line may include a curved portion. In other words, the "reference approach line" does not necessarily have to be a straight line. Note that the left and right sides of the reference approach line on the base include three-dimensional curved inclined surfaces that apply a gravitational component toward the reference approach line to the entering wheels.

[0121] In the above embodiment, a configuration in which only the rear wheels of the robot climb onto the base of the charging station has been exemplified. In a modified example, not only the rear wheels but also the front wheels may climb onto the base. The same applies when the robot climbs onto the base first with its front wheels. In this case, the flat portion on the entrance side of the base is made larger. In particular, if the base itself is light and unstable, it can be stabilized by placing the entire weight of the robot on it. Note that in the above embodiment, this is not particularly necessary because the unit main body 512 has sufficient weight.

[0122] Although not mentioned in the above embodiment, the charging station may measure (monitor) the temperature that rises during charging. The charging station includes a charging control unit that manages the charging state. The charging control unit may perform charging control such as restricting power supply when the measured temperature exceeds a preset upper limit temperature.

[0123] Although not mentioned in the above embodiment, the timing for charging the battery 118 may be set to the timing when the remaining battery power falls below a set value. Alternatively, the timing may be set based on a time (schedule), for example, every 45 minutes, regardless of the remaining battery power.

Claims

1. A charging station for charging a wheeled robot, a base having an upper surface on which the wheels ride; a power supply terminal to be connected to the charging terminal of the robot; Equipped with The top surface of the base is A target position is set in the deep side area, and a reference approach line is set connecting a specific position on the entrance side and the target position, a three-dimensional curved inclined surface that applies a gravity component to the approaching wheel toward the reference approach line, The charging station is characterized in that the power supply terminal is connected to the charging terminal when the wheel reaches the target position.

2. The charging station according to claim 1 , wherein the upper surface of the base includes a three-dimensional curved surface shape that slopes downward toward the reference approach line on both sides of the reference approach line.

3. the reference approach line has successive upward and downward slopes from the specific position toward the target position; 3. The charging station according to claim 2, wherein the upward slope has a gentler gradient than the downward slope.

4. The charging station according to claim 3 , wherein the upper surface of the base has a shape in which the gradients on the left and right sides of the upper surface of the base become larger in the depth direction within the depth range of the upward slope.

5. a wheel support including the target position is provided in a deep region of the base; 5. The charging station according to claim 1, wherein the wheel holder is positioned so that contact pressure acts between the charging terminal and the power supply terminal when the wheel is received in the wheel holder.

6. 6. The charging station according to claim 5, wherein the power supply terminal is supported by the base so as to be displaceable in accordance with the charging terminal.

7. 7. The charging station according to claim 6, wherein the power supply terminal and the charging terminal are detachably connected by a magnet.

8. a terminal unit that supports the power supply terminal so as to be relatively displaceable; 8. The charging station according to claim 1, wherein the terminal unit allows the power supply terminal to slide relative to the charging terminal due to a biasing force applied when the charging terminal is connected to the power supply terminal.

9. The terminal unit comprises: a main body extending toward an inlet side of the base; a terminal support portion that is rotatably supported about an axis of the main body and supports the power supply terminal around the axis; 9. The charging station of claim 8, further comprising:

10. the power supply terminal includes a plurality of terminals; 10. The charging station of claim 9, wherein each terminal is disposed around the axis.

11. 11. The charging station according to claim 1, wherein the upper surface of the base has a downward slope toward the entrance side and a fan-shaped area.

12. A charging station for charging a wheeled robot, a base having an upper surface on which the wheels ride; a power supply terminal to be connected to the charging terminal of the robot; a support mechanism for supporting the power supply terminal; Equipped with a guideway having a restricted width is provided in a deep region of the upper surface of the base so as to guide the wheel linearly toward a target position; The support mechanism includes: a rotation shaft provided on the base; a support member disposed below the guideway and supported rotatably around the rotation axis; a pair of terminal units supported on the left and right sides of the support member, each including the power supply terminal; 1. A charging station comprising:

13. The terminal unit comprises: The power supply terminal includes a plurality of terminals, 13. The charging station according to claim 12, wherein the plurality of terminals are supported slidably in a terminal connection direction.

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