Control system for autonomous robots, autonomous robots, and power supply method for autonomous robots

Abstract

The objective is to provide technology that reduces the time that autonomous work robots are shut down for battery charging. [Solution] An autonomous robot control system comprising one or more autonomous robots equipped with a battery, a power supply device installed at one or more work locations where the autonomous robots perform work and which charges the battery using a contactless power supply method, and a management device for managing the operation of the autonomous robots, wherein the management device moves the autonomous robot to the work location and has it perform the work, and also has the power supply device provide contactless power to the battery for at least a portion of the time until the work is completed.

Description

Technical Field

[0001] The present invention relates to a control system for an autonomous work robot, an autonomous work robot, and a power supply method for an autonomous work robot.

Background Art

[0002] Conventionally, an autonomous work system that causes an autonomous work robot to autonomously travel along a work path and perform work at a predetermined work position has been known (for example, Patent Document 1, etc.). Patent Document 1 discloses an autonomous movement system that causes an autonomous mobile robot to autonomously travel within a predetermined area.

[0003] Since an autonomous work robot uses the power of a mounted battery as a power source, in order to operate the system smoothly, it is necessary to charge the battery at some timing before the remaining capacity of the battery runs out.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] For charging the battery of a conventional autonomous work robot, a control method of charging the autonomous work robot with a low remaining battery level using a charging device has been adopted. In this case, it takes several hours to charge, and during that time, the operation of the autonomous work robot substantially stops. Therefore, in some cases, if an alternative device is not prepared, the operation rate of work in factories, warehouses, etc. where the system is introduced will decrease.

[0006] This invention has been made in view of the above-mentioned problems, and aims to provide a technology for reducing the time that an autonomous work robot is stopped from operating in order to charge its battery. [Means for solving the problem]

[0007] To solve the above problems, the present invention adopts the following configuration as one embodiment. That is, One or more autonomous work robots equipped with batteries, A power supply device is installed in one or more work locations where the autonomous work robot performs its work, and charges the battery using a contactless power supply method. A management device for managing the operation of the autonomous work robot, It has, The management device is a control system for an autonomous work robot that, when there is a scheduled task for the autonomous work robot to perform and the power supply device is located at the work location where the task will be performed, moves the autonomous work robot to the work location and has it perform the task, and also has the power supply device provide contactless power to the battery for at least a portion of the time until the task is completed.

[0008] Here, the term "autonomous work robot" is not limited to those that handle workpieces using manipulators (so-called robot hands), but also includes autonomous mobile robots (AMRs) that are simply equipped with a loading platform. In other words, the "work" performed by autonomous mobile robots is not limited to waiting at a designated location for loading and unloading cargo. This includes tasks performed in collaboration with humans or other robots. Furthermore, the "workplace" can encompass a variety of areas, such as in front of a workbench, between shelves in a warehouse, or between the start and end points of a conveyor belt or other cargo transport route.

[0009] With this configuration, it becomes possible to charge the battery while the autonomous robot is performing its assigned tasks, thus preventing the battery's State of Charge (SOC) from becoming low, i.e., when the remaining power is low. This reduces the likelihood of the robot having to stop operating solely for battery charging.

[0010] Furthermore, if there are autonomous robots that are not scheduled to work and work locations where no work is being performed, the management device may move the autonomous robots that are not scheduled to work to the work locations where no work is being performed and perform contactless power supply from the power supply device to the battery.

[0011] In this context, "no work scheduled" can mean, for example, a state in which no work is currently being performed and no work (a work location to be visited) is set to be performed within a predetermined time in the future. Furthermore, "the aforementioned work location in which no work is being performed" can mean, for example, a work area in which the autonomous work robot is not currently stopped.

[0012] With this configuration, even autonomous robots that are not currently scheduled to perform tasks can be charged in available work areas, enabling a streamlined system that makes use of available space and robots.

[0013] Furthermore, the management device may acquire information relating to the charge rate of the battery of each of the autonomous work robots, and prioritize moving autonomous work robots equipped with batteries with low charge rates that are not scheduled to perform work to work locations where no work is being performed, and have the power supply device provide contactless power to the batteries.

[0014] According to this, autonomous work robots equipped with batteries with low SOC (State of Charge) can be charged preferentially during idle time, thereby more effectively reducing the time that autonomous work robots are stopped operating solely for charging (i.e., unable to be assigned tasks).

[0015] Furthermore, the management device is If there are multiple work locations where the aforementioned work is not being performed, priority may be given to moving the autonomous work robot that is not scheduled to perform work to the work location where work has been suspended for a longer period of time, and to perform contactless power supply from the power supply device to the storage battery.

[0016] With this configuration, charging time in one location can be extended, reducing power consumption due to frequent movement and allowing for efficient charging during downtime.

[0017] Furthermore, the present invention can also be considered as an autonomous work robot, namely, An autonomous work robot comprising a storage battery, a power receiving unit for supplying power to the storage battery using a contactless power supply method, and a control unit, The control unit, The autonomous work robot is moved to a work location where it can perform the task it is to perform. If a power supply device for supplying power to the battery using a contactless power supply method is installed at the work site, the autonomous work robot will perform the work and receive power to the battery via the power receiving unit. It is an autonomous work robot.

[0018] Furthermore, the present invention can also be considered as a power supply method for autonomous work robots, namely, A method for supplying power to one or more autonomous work robots equipped with a battery, The autonomous robot will install power supply devices at multiple work locations where it performs tasks, which will supply power to the battery using a contactless power supply method. Moving the autonomous work robot, which is scheduled to perform the aforementioned task, to the work location where the aforementioned task can be performed, The autonomous work robot is made to perform the work at the work site, and power is supplied from the power supply device to the storage battery for at least a portion of the period until the work is completed. A power supply method for an autonomous working robot, including

[0019] In addition, in the power supply method for the autonomous working robot, determining the presence or absence of the autonomous working robot without a work schedule and the work location where no work is being performed; When there is the autonomous working robot without a work schedule and the work location where no work is being performed, moving the autonomous working robot without a work schedule to the work location where no work is being performed and performing power supply from the power supply device to the storage battery; It may further include

[0020] In addition, each of the above configurations and processes can be combined with each other to constitute the present invention as long as no technical contradiction occurs.

Effect of the Invention

[0021] According to the present invention, it is possible to provide a technique for reducing the time during which the operation of the autonomous working robot stops for battery charging.

Brief Description of the Drawings

[0022] [Figure 1] FIG. 1 is a schematic diagram showing a schematic configuration of an autonomous working system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a schematic of the functional configuration of a power supply device according to an embodiment. [Figure 3] FIG. 3 is a block diagram showing a schematic of the functional configuration of an autonomous working robot according to an embodiment. [Figure 4] FIG. 4A is a block diagram showing a schematic of the hardware configuration of a management device according to an embodiment. FIG. 4B is a block diagram showing a partial functional configuration of a management device according to an embodiment. [Figure 5] FIG. 5A is a diagram showing an example of information related to the status of an autonomous working robot referred to by a management device according to an embodiment. FIG. 5B is a diagram showing an example of information related to the situation of a work location referred to by a management device according to an embodiment. [Figure 6] Figure 6 is a flowchart showing an example of the power supply process to an autonomous work robot performed by the autonomous work system according to the embodiment. [Modes for carrying out the invention]

[0023] <Examples of application> (Overall system configuration related to the application example) The present invention can be applied, for example, as an autonomous work system 1 as shown in Figure 1. The autonomous work system 1 comprises a plurality of autonomous work robots 20a, 20b, 20c, 20d, 20e..., a plurality of work locations 30a, 30b, 30c, 30d, 30e..., power supply devices 40a, 40b, 40c, 40d, 40e... installed in each work location, and a management device 10 that manages them. The autonomous work system 1 is, It can be implemented not only in fully automated workplaces but also in environments where collaborative work between humans and robots is anticipated. For example, it can be introduced in factories, warehouses, commercial facilities, hospitals, schools, government offices, and construction sites.

[0024] In the following, unless otherwise necessary, the autonomous work robots 20a, 20b, 20c, 20d, and 20e will also be referred to as autonomous work robots 20, the work areas 30a, 30b, 30c, 30d, and 30e as work areas 30, and the power supply devices 40a, 40b, 40c, 40d, and 40e as power supply devices 40.

[0025] Each autonomous work robot 20 is equipped with a battery (not shown in Figure 1), and is configured to autonomously move and perform tasks at each work site using the power stored in the battery as a power source. Note that the autonomous work robots 20 included in the autonomous work system 1 do not all need to be of the same type; multiple types of autonomous work robots 20 with different functions (roles) may be included.

[0026] The work area 30 is the area in which the autonomous work robot 20 performs its work. It may be a workbench where the autonomous work robot 20 processes the workpiece on its own, or it may be an area in which collaborative work is performed with workers or other equipment (not shown), such as near the start or end of a transport lane, or a pickup location on a rack.

[0027] A power supply device 40 is installed in at least one of the work areas 30. The power supply device 40 includes a power transmission unit (not shown) that supplies power to the battery of the autonomous work robot 20 using a wireless power transfer (WPT) method. In other words, the autonomous work robot 20 is equipped with a power receiving unit (not shown) that receives power via WPT.

[0028] The management device 10 is an information processing device that manages and controls the entire autonomous work system 1, and can be configured as a general-purpose computer system. The management device 10 may be configured as a single computer system, or it may be realized by the coordinated operation of multiple computer systems. In this application example, the management device 10 manages the State of Charge (SOC) of the batteries of each autonomous work robot 20 and controls the power supply to each autonomous work robot 20 in order to avoid as much as possible a state in which the SOC becomes extremely low.

[0029] Specifically, if there is a scheduled task for the autonomous work robot 20 to perform and a power supply device 40 is installed at the work location 30 where the task will be performed, the management device 10 controls the autonomous work robot 20 and the power supply device 40 to move the autonomous work robot 20 to the work location 30 and have it perform the task, and to have the power supply device 40 supply power to the battery in the WPT manner for at least a portion of the time until the task is completed.

[0030] According to this example of autonomous work system 1, when the autonomous work robot 20 performs work, if a power supply device 40 is installed at the work location 30 where the work is to be performed, the robot can receive power to its battery while performing the work to be done. This allows the battery to be charged frequently, preventing a significant decrease in the State of Charge (SOC), and prevents the autonomous work robot 20 from stopping operation solely for charging, thereby improving the operational efficiency of the autonomous work system 1.

[0031] <Embodiment> The embodiments of the present invention will be described in more detail below based on the drawings (including those already described in the application examples). Note that the autonomous work system 1 according to the embodiment has the same configuration as described in the application examples, and therefore each component will use the same reference numerals as in the application examples. The explanations that would otherwise be repeated are omitted. Note that the autonomous work system according to the embodiment corresponds to the control system for the autonomous work robot according to the present invention.

[0032] (Workplace) The work area 30 is the area where the autonomous work robot 20 performs its work, and as mentioned above, a power supply device 40 is installed there. However, it is not necessary for a power supply device 40 to be installed in all of the work areas 30, and it is possible to operate in a way that prioritizes installing power supply devices 40 in the work areas 30 that are used most frequently.

[0033] (Power supply device) The power supply device 40 is installed in the work area 30 and supplies power to the battery of the autonomous work robot 20 using the WPT method, as will be described later. Depending on the configuration of the work area 30, it may be installed near the stopping position (stopping target) of the autonomous work robot 20, or it may be installed embedded in the floor.

[0034] Figure 3 is a functional block diagram showing an example of the functional configuration of the power supply device 40. As shown in Figure 3, the power supply device 40 comprises functional units: a control unit 41, a power supply unit 42, a power transmission unit 43, and a communication unit 44. The control unit 41 is the functional unit that controls the entire power supply device 40. The control unit 41 can be implemented by any processing unit, such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), or a DSP (Digital Signal Processor).

[0035] The power supply unit 42 is a functional unit that receives power from the commercial power grid or a private power generation system (neither of which is shown) via a distribution board or the like. It may include a rectifier circuit, a transformer circuit, and the like.

[0036] The power transmission unit 43 is a functional unit that transmits power using a contactless power supply method, and is realized by a power transmission unit (neither of which is shown) that includes a power transmission coil and a power transmission control circuit. The power transmission coil is, for example, a coil for power supply using an electromagnetic induction method. The power transmission control circuit converts the power supplied from the power supply unit 42 into power of a predetermined frequency for generating a magnetic field in the power transmission coil and supplies it to the power transmission coil.

[0037] The communication unit 44 is a functional unit that communicates information with the management device 10 and the autonomous work robot 20, etc. The communication unit 44 is composed of a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0038] (Autonomous work robot) Figure 2 is a functional block diagram showing an example of the functional configuration of the autonomous work robot 20. As shown in Figure 2, the autonomous work robot 20 is equipped with functional units including a control unit 21, a battery (power supply unit) 22, a power receiving unit 23, a work drive unit 24, a travel drive unit 25, a communication unit 26, and a memory unit 27.

[0039] The control unit 21 is a functional unit that oversees the control of the entire autonomous work robot 20. The control unit 21 can be implemented by any processing unit, such as a CPU, MPU, or DSP.

[0040] The storage battery (power supply unit) 22 is the power source for the operation of the autonomous work robot 20 and is implemented by a known secondary battery such as a lithium-ion battery. The storage battery 22 not only supplies power to various parts of the autonomous work robot 20, but can also receive power from the power supply device 40 via the power receiving unit 23 in a contactless power supply manner, as will be described later.

[0041] The power receiving unit 23 is a functional unit that receives power transmitted by a contactless power supply method, and is realized by a power receiving unit (neither of which is shown) that includes a power receiving coil and a power receiving control circuit. The power receiving coil is a coil for receiving power. The power receiving coil is magnetically coupled to the power transmitting coil of the power supply device 40 and receives power from the power transmitting coil by electromagnetic induction. At least one of the power transmitting coil and the power receiving coil may include means for forming a resonant circuit. The power receiving control circuit converts the power received by the power receiving coil into power for charging the storage battery 22 and supplies it to the storage battery 22. If the power receiving unit 23 is in a state where it can receive power from the power transmitting unit 43 of the power supply device 40 (if it is within the power receiving area), it receives power and charges the storage battery 22.

[0042] The work drive unit 24 is a functional unit for the autonomous work robot 20 to perform tasks. The work drive unit 24 consists of hardware such as a manipulator, a lifting mechanism for the loading platform, a conveyor for placing loads on the loading platform, and actuators (none of which are shown) that drive these components.

[0043] The driving unit 25 is a functional unit that enables the autonomous work robot 20 to move. The driving unit 25 consists of hardware such as wheels, motors, brakes, and a steering mechanism (none of which are shown).

[0044] The communication unit 26 is a functional unit that communicates information with the management device 10 and the power supply device 40, etc. The communication unit 26 is composed of a communication antenna (not shown) that supports a desired communication standard, such as Wi-Fi®, Bluetooth®, or infrared communication.

[0045] The memory unit 27 is a functional unit that stores various types of information processed by the control unit 21. The hardware of the memory unit 27 includes main memory such as flash memory, RAM (Random Access Memory), and ROM (Read Only Memory), as well as auxiliary storage devices such as SSD (Solid State Drive), EPROM (Erasable Programmable ROM), flash memory, USB memory, and SD (Secure Digital) memory card.

[0046] The sensor unit 28 is a functional unit that acquires information related to the operation of the autonomous work robot 20. For example, it is composed of various sensors, such as optical sensors like cameras and position sensors like IMUs (Inertial Measurement Units).

[0047] (Management device) Figure 4A is a block diagram illustrating the schematic hardware configuration of the management device 10. As shown in Figure 4A, the management device 10 includes a processor 11, memory 12, input interface (IF) 13, output IF 14, and communication IF 15, all interconnected by a connection bus 19. The management device 10 may be installed at the site where the autonomous work robot 20 is operated, or it may be installed in a remote location and constitute a so-called cloud system.

[0048] The processor 11 can be any arithmetic processing unit, such as a CPU or a DSP. At least a portion of the processing performed by the processor 11 may be performed by integrated circuits (ICs) or other digital circuits. In addition, at least a portion of the processor 11 may include analog circuits.

[0049] Memory 12 includes main memory such as RAM and ROM, and auxiliary storage devices such as SSD, EPROM, HDD, USB memory, and SD memory card. Memory 12 stores information such as programs executed by the processor 11, data processed by the processor 11, operation setting information, and various tables. When a program stored in memory 12 is executed by the processor 11... When executed, the various functional components described later are realized.

[0050] Input IF13 is an interface for connecting to various input devices such as microphone 13, keyboard, mouse, camera, and microphone (none of which are shown). Output IF14 is an interface for connecting to output devices such as displays and speakers (none of which are shown). A touch panel display can also be used as a device that serves both input and output functions.

[0051] The communication interface 15 includes a communication antenna that supports desired communication standards such as Wi-Fi®, Bluetooth®, and infrared communication for communicating with the autonomous work robot 20 and the power supply device 40, as well as a communication connection terminal for connecting to an external network.

[0052] Figure 4B is a functional block diagram showing the partial functional configuration of the control device 10. As shown in Figure 4B, the control device 10 includes the following functional units: a process information acquisition unit 111, a battery information acquisition unit 112, and a command signal generation unit 113.

[0053] The process information acquisition unit 111 acquires work process information, which is information related to the work performed by each autonomous work robot 20. Specifically, this information may be acquired from an external source via the input IF 13 or communication 15, or it may be generated by the unit itself based on other information. The work process information includes information such as the work content, the work location 30 corresponding to the work, and the time required for the work. Note that the work process information may be based on a specific autonomous work robot 20 performing the work (i.e., the work may be linked to a specific autonomous work robot 20), or it may not be based on a specific autonomous work robot 20 performing the work (i.e., the work may be linked to a specific work location 30).

[0054] The battery information acquisition unit 112 acquires SOC information of the batteries installed in each autonomous work robot 20 under the management of the control device 10. This information is acquired by communicating with each autonomous work robot 20 via the communication IF 15.

[0055] The acquired work process information and battery SOC information are stored in memory 12 (auxiliary storage device). Based on this information, a dataset is generated for each autonomous work robot 20, including whether or not work is scheduled and the battery SOC information, and a dataset is generated for each work location 30, including the work status and future work schedule (available time), and these are stored in memory 12 (auxiliary storage device).

[0056] Figures 5A and 5B show examples of these datasets. Figure 5A is an example of a dataset showing the status of each autonomous work robot 20, and Figure 5B is an example of a dataset showing the status of each work location 30. As shown in Figure 5A, for each of the autonomous work robots 20a, 20b, 20c, 20d, 20e...20n, at least the presence or absence of scheduled work and the State of Charge (SOC) information of the battery are linked and stored in the memory 12. Note that "no scheduled work" can mean, for example, that no work is being performed at the present time, and that no work (work location to be headed to) has been set to be performed within a predetermined time period in the future (e.g., 10 minutes).

[0057] Similarly, as shown in Figure 5B, for each of the work locations 30a, 30b, 30c, 30d, 30e...30n, at least the availability status ("○" means available, "×" means in use) and, if no work is being done (i.e., it is available), information indicating how many more minutes that state is expected to continue is associated with it and stored in memory 12.

[0058] The command signal generation unit 113 generates control command signals for movement and work execution for each autonomous work robot 20 based on the acquired work process information and the SOC information of the battery equipped in each autonomous work robot 20. Specifically, the method differs slightly depending on whether the content of the work process information is linked to the autonomous work robot 20 or to the work location 30, but here we will explain an example where the work is linked to the work location 30.

[0059] The command signal generation unit 113 determines which autonomous robot 20 will perform the task at the work location 30 where the task to be performed (for example, sorting packages) is set. Specifically, if the target work location 30 is a work location 30 where a power supply device 40 is installed, the command signal generation unit 113 determines which autonomous robot 20 (autonomous robot 20c according to Figure 5A) has the lowest State of Charge (SOC) among the autonomous robots 20 that are capable of performing the task to be performed and which do not have any scheduled tasks, to be the autonomous robot 20 that will perform the task. As a result, the target autonomous robot 20 can perform the task at the work location 30 while receiving power from the power supply device 40 installed at the work location 30 in the WPT manner and charging its battery.

[0060] On the other hand, if the target work location 30 is a work location 30 where a power supply device 40 is not installed, the autonomous work robot 20 with the highest State of Charge (SOC) of its battery (autonomous work robot 20d, according to Figure 5A) among the autonomous work robots 20 that are capable of performing the task to be performed and that do not have any scheduled tasks is selected as the autonomous work robot 20 to perform the task. Then, a command signal is generated for the selected autonomous work robot 20 to move to the target work location 30 and perform the task. The generated command signal is transmitted to the selected autonomous work robot 20 via the communication IF 15.

[0061] Furthermore, if the task is linked to the autonomous work robot 20, a command signal is generated to move to a work location 30 where the power supply device 40 is installed, which is among the work locations 30 where the task can be performed and where no work is currently being performed, and to perform the task. This command signal is then transmitted to the target autonomous work robot 20. As a result, the target autonomous work robot 20 can perform the task at the work location 30 while receiving power from the power supply device 40 installed at the work location 30 using the WPT method, and charging its battery.

[0062] In this embodiment, the management device 10 (command signal generation unit 113) determines whether there are any autonomous work robots 20 that are not scheduled to work, and whether there are any work locations 30 that are not scheduled to work and where a power supply device 40 is installed. If both are "yes", it generates a command signal to move the autonomous work robots 20 that are not scheduled to work to work location 30 to charge their batteries. Specifically, it prioritizes the autonomous work robots 20 with the lowest State of Charge (SOC) of their batteries (autonomous work robot 20c in Figure 5A) and the work location 30 with the longest available time (work location 30b in Figure 5B) among the work locations 30 where no work is being performed, and generates a command signal to move the combined autonomous work robots 20 to the target work location 30, stop at the stopping position without performing any work, and transmits this command signal to the target autonomous work robot 20.

[0063] Furthermore, if there are other autonomous work robots 20 waiting and available work locations 30, the system determines combinations according to priority, and generates and transmits command signals to each autonomous work robot 20 that has been matched, instructing it to move to the work location 30 and stop. This allows even autonomous work robots 20 that are not scheduled to perform any work to receive power from the power supply device 40 to their batteries at regular intervals.

[0064] (Processing flow) Next, an example of a power supply processing method performed in the autonomous work system 1 according to this embodiment will be described with reference to Figure 6. Figure 6 shows an example of the flow of power supply processing to the autonomous work robot. This is a flowchart. As shown in Figure 6, in the method of supplying power to the autonomous work robot in the autonomous work system 1 according to this embodiment, it is assumed that a power supply device 40 is first installed at the work site 30 (S1).

[0065] Subsequently, the management device 10 (process information acquisition unit 111) acquires work process information (S2). Furthermore, the management device 10 (battery information acquisition unit 112) acquires information related to the State of Charge (SOC) of the battery 22 of each autonomous work robot 20 (S3). Then, the management device 10 (command signal generation unit 113) generates a command signal for each autonomous work robot 20 performing the work based on the work process information and the information related to the battery's SOC, and transmits the command signal to each autonomous work robot 20 (S4). The management device 10 further determines, based on the work process information and the information related to the battery's SOC, whether there are any autonomous work robots 20 that are not scheduled to work and any work locations 30 that are not scheduled to work and where a power supply device 40 is installed (S5). If the management device 10 determines that there are no such robots, step S6 is skipped and the process proceeds to step S7.

[0066] In step S5, if it is determined that there is a (YES) condition, the management device 10 determines a pair of the standby autonomous work robot 20 and an available work location 30 according to the priority order described above, and generates and transmits a command signal to the autonomous work robot 20 of the determined pair to move to the work location 30 for power supply and to stop (supply power) (S6). After that, the management device 10 determines whether or not a predetermined termination condition is met (S7), and if it is determined that it is met (YES), the series of processes ends. On the other hand, if it is determined in step S7 that the predetermined termination condition is not met (NO), the management device 10 returns to step S2 and repeats the processes from there onward. The "predetermined termination process" is, for example, a trigger to stop the operation of the autonomous work system 1, and it is basically assumed that the processes from step S2 to step S7 will be repeated in a loop.

[0067] According to the autonomous work system 1 of this embodiment described above, each autonomous work robot 20 is powered by the power supply device 40 when performing work, thereby allowing its battery to be charged frequently. Furthermore, even autonomous work robots 20 that are not performing work can have their batteries charged frequently by moving to and stopping at an empty work area 30 where a power supply device 40 is installed, in order to receive power from that work area 30. This allows for the effective use of work areas 30 that are not scheduled for work. In addition, the batteries 22 of each autonomous work robot 20 are charged frequently, and when performing work at a work area 30 where a power supply device 40 is not installed, the autonomous work robot 20 with a higher state of charge (SOC) of its battery can be assigned to that work, preventing the SOC of the battery 22 from dropping significantly or becoming nearly fully charged. This also makes it possible to extend the lifespan of the battery 22.

[0068] <Other> The above examples are merely illustrative illustrations of the present invention, and the present invention is not limited to the specific forms described above. The present invention can be modified in various ways within the scope of its technical concept. For example, although the electromagnetic induction method was described above as an example of a contactless power supply method, other contactless power supply methods can also be adopted. Furthermore, the number of autonomous work robots 20, work areas 30, and power supply devices 40 can each be any number.

[0069] <Note 1> One or more autonomous work robots (20, 20a, 20b, 20c, 20d, 20e) equipped with a battery (22), A power supply device (40, 40a, 40b, 40c, 40d, 40e) is installed in one or more work locations (30, 30a, 30b, 30c, 30d, 30e) where the autonomous work robot performs work, and charges the battery using a contactless power supply method. A management device (10) for managing the operation of the autonomous work robot, It has, If the management device has a scheduled task for the autonomous work robot to perform and the power supply device is installed at the work location where the task will be performed, it will move the autonomous work robot to the work location and have it perform the task, and will also have the power supply device provide contactless power to the battery for at least a portion of the time until the task is completed. Control system for an autonomous work robot (1).

[0070] <Note 2> The aforementioned control device is If there is an autonomous work robot that is not scheduled to perform any work, and a work location where no work is being performed, the autonomous work robot that is not scheduled to perform any work is moved to the work location where no work is being performed, and contactless power is supplied from the power supply device to the battery. Control system for the autonomous work robot described in Appendix 1.

[0071] <Note 3> The aforementioned control device is The system acquires information regarding the charge rate of each of the autonomous work robots' batteries, prioritizes moving autonomous work robots equipped with batteries that have a low charge rate and are not scheduled to perform any work, moves them to work locations where no work is being performed, and has the power supply device perform contactless power supply to the batteries. Control system for the autonomous work robot described in Appendix 2.

[0072] <Note 4> The aforementioned control device is If there are multiple work locations where the aforementioned work is not being performed, the autonomous work robot that is not scheduled to perform the aforementioned work will be moved to the work location where work has been suspended for a longer period of time, and contactless power will be supplied from the power supply device to the storage battery. A control system for an autonomous work robot as described in Appendix 2 or 3.

[0073] <Note 5> An autonomous work robot (20, 20a, 20b, 20c, 20d, 20e) comprising a storage battery (22), a power receiving unit (23) for supplying power to the storage battery using a contactless power supply method, and a control unit (21), The control unit, The autonomous work robot is moved to a work location where it can perform the task it is to perform. If a power supply device for supplying power to the battery using a contactless power supply method is installed at the work site, the autonomous work robot will perform the work and receive power to the battery via the power receiving unit. Autonomous work robot.

[0074] <Note 6> A method for supplying power to one or more autonomous work robots equipped with a battery, The autonomous robot will install power supply devices at multiple work locations where it performs tasks, which will supply power to the battery using a contactless power supply method. Moving the autonomous work robot, which is scheduled to perform the aforementioned task, to the work location where the aforementioned task can be performed, The autonomous work robot is made to perform the work at the work site, and power is supplied from the power supply device to the storage battery for at least a portion of the period until the work is completed. including, Power supply methods for autonomous work robots.

[0075] <Note 7> To determine whether there are any autonomous work robots that are not scheduled to perform work, and any work locations where work is not being performed, If there are autonomous robots that are not scheduled to perform the aforementioned tasks, and work locations where the aforementioned tasks are not being performed, move the autonomous robots that are not scheduled to perform the aforementioned tasks to the work locations where the aforementioned tasks are not being performed, and supply power from the power supply device to the storage battery. Further including, The power supply method for the autonomous work robot described in Appendix 6. [Explanation of symbols]

[0076] 1. Autonomous work system 10...Management device 20, 20a, 20b, 20c, 20d, 20e... Autonomous work robots 30, 30a, 30b, 30c, 30d, 30e...Work location 40, 40a, 40b, 40c, 40d, 40e... Power supply devices

Claims

1. One or more autonomous work robots equipped with batteries, A power supply device is installed in one or more work locations where the autonomous work robot performs its work, and charges the battery using a contactless power supply method. A management device for managing the operation of the autonomous work robot, It has, If the management device has a scheduled task for the autonomous work robot to perform and the power supply device is installed at the work location where the task will be performed, it will move the autonomous work robot to the work location and have it perform the task, and will also have the power supply device provide contactless power to the battery for at least a portion of the time until the task is completed. Control system for autonomous work robots.

2. The aforementioned control device is If there is an autonomous work robot that is not scheduled to perform any work, and a work location where no work is being performed, the autonomous work robot that is not scheduled to perform any work is moved to the work location where no work is being performed, and contactless power is supplied from the power supply device to the battery. A control system for an autonomous work robot according to claim 1.

3. The aforementioned control device is The system acquires information regarding the charge rate of each of the autonomous work robots' batteries, prioritizes moving autonomous work robots equipped with batteries that have a low charge rate and are not scheduled to perform any work, moves them to work locations where no work is being performed, and has the power supply device perform contactless power supply to the batteries. A control system for an autonomous work robot according to claim 2.

4. The aforementioned control device is If there are multiple work locations where the aforementioned work is not being performed, the autonomous work robot that is not scheduled to perform the aforementioned work will be moved to the work location where work has been suspended for a longer period of time, and contactless power will be supplied from the power supply device to the storage battery. A control system for an autonomous work robot according to claim 2.

5. An autonomous work robot comprising a storage battery, a power receiving unit for supplying power to the storage battery using a contactless power supply method, and a control unit, The control unit, The autonomous work robot is moved to a work location where it can perform the task it is to perform. If a power supply device for supplying power to the battery using a contactless power supply method is installed at the work site, the autonomous work robot will perform the work and receive power to the battery via the power receiving unit. Autonomous work robot.

6. A method for supplying power to one or more autonomous work robots equipped with a battery, The autonomous robot will install power supply devices at multiple work locations where it performs tasks, which will supply power to the battery using a contactless power supply method. Moving the autonomous work robot, which is scheduled to perform the aforementioned task, to the work location where the aforementioned task can be performed, The autonomous work robot is made to perform the work at the work site, and power is supplied from the power supply device to the storage battery for at least a portion of the period until the work is completed. including, Power supply methods for autonomous work robots.

7. To determine whether there are any autonomous work robots that are not scheduled to perform work, and any work locations where work is not being performed, If there are autonomous robots that are not scheduled to perform the aforementioned tasks, and work locations where the aforementioned tasks are not being performed, move the autonomous robots that are not scheduled to perform the aforementioned tasks to the work locations where the aforementioned tasks are not being performed, and supply power from the power supply device to the storage battery. Further including, A method for supplying power to an autonomous work robot according to claim 6.

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