Connection structure

Abstract

To provide a connection structure for enabling a movable body to be safely charged by allowing the movable body itself to be connected to a simplified charger.SOLUTION: A movable body enables a movable body side connection part to come into contact with a charging side connection part 35 by detecting the position of the charging side connection part 35 while including an error by indirect detection without directly detecting the position, a movable body side connection part end part is swingable in a yaw direction to a charging side approach direction of approaching the charging side connection part 35 with respect to a movable body side connection base part for supporting the movable body side end part, and charging side connection part end parts 3515, 3516 have a connection structure which is movable in a depth direction being an opposite direction to a movable body side approach direction and movable in a lateral direction to the depth direction with respect to a charging side connection part end part 357 for supporting the charging side connection part end parts 3515, 3516 in the movable body side approach direction of approaching a movable body side connection part 201.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a connection structure. [Background technology]

[0002] Autonomous robots are increasingly being used as mobile objects for a variety of purposes, such as patrolling and cleaning within buildings. Autonomous robots are powered by onboard batteries, which must be charged as needed before, during, or after operation. For example, Patent Document 1 discloses a method and device for charging a cleaning robot. This charging method acquires location information for each charging port of the cleaning robot, acquires current location information for the cleaning robot when charging is required, determines the nearest charging port based on the location information for each charging port and the current location information, and moves the cleaning robot to the nearest charging port based on the location information to charge the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2019-522828 Summary of the Invention [Problem to be solved by the invention]

[0004] For autonomous robots used for security, cleaning, and other commercial purposes, multiple charging stations are provided as charging devices over a wide operating range so that they can be charged as needed, but the configuration of each charging station must be as simple as possible to reduce initial costs, simplify maintenance, etc. Even if the charging station is simplified in this way, autonomous commercial robots must still be able to be connected to the charging port of the charging station and be able to be charged safely.

[0005] An object of the present invention is to provide a connection structure that allows a mobile object to connect itself to a simplified charging device and be safely charged. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the present invention provides a connection structure for a mobile device that can move autonomously using a battery as a power source, and a charging device to which the mobile device is connected to charge the battery, the connection structure comprising: a mobile device side connection part that is provided on the mobile device and has a mobile device side connection part end; and a charging side connection part that is provided on the charging device and has a charging side connection part end that is connected to the mobile device side connection part end; the mobile device does not directly detect the position of the charging side connection part, but detects it indirectly with some error, thereby being able to abut the mobile device side connection part on the charging side connection part; the mobile device side connection part end is capable of swinging in a yaw direction relative to a mobile device side connection base that supports the mobile device side connection part end in a charging side approach direction approaching the charging side connection part; and the charging side connection part end is capable of moving in a depth direction, which is the opposite direction to the mobile device side approach direction, and also in a lateral direction relative to the depth direction, in the mobile device side approach direction approaching the mobile device side connection part. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a connection structure that enables a mobile object to connect itself to a simplified charging device and be safely charged. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a system configuration diagram illustrating a configuration of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a block diagram illustrating an example of the configuration of hardware and functional blocks of a robot according to an embodiment of the present invention. [Figure 3]1 is a block diagram illustrating a configuration of hardware and functional blocks of a charging device according to an embodiment of the present invention; [Figure 4] FIG. 1 is a front view illustrating a robot according to an embodiment of the present invention. [Figure 5] FIG. 1 is a plan view illustrating a robot according to an embodiment of the present invention. [Figure 6] 1 is a plan view illustrating a measurable range of a LiDAR device, a detectable range of a TOF sensor device, and an irradiable range of a light of a robot in one embodiment of the present invention. FIG. [Figure 7] 1 is a perspective view illustrating a charging device according to an embodiment of the present invention; [Figure 8] 1 is a perspective view illustrating a state before a charging socket and a charging plug that constitute a connection structure between a charging device and a robot in one embodiment of the present invention are connected. FIG. [Figure 9] 1 is a perspective view illustrating a charging socket of a charging device according to an embodiment of the present invention; [Figure 10] 10 is a perspective view illustrating a state in which a support guide of a charging socket of the charging device according to an embodiment of the present invention is retracted. FIG. [Figure 11] 1 is a perspective view illustrating a state in which the connection portion support portion, support portion guide portion, and guide portion support portion of a charging socket of a charging device according to an embodiment of the present invention are moved to the left relative to the charging side connection portion base portion. FIG. [Figure 12] 1 is a perspective view illustrating a state in which the connection portion support portion, support portion guide portion, and guide portion support portion of a charging socket of a charging device according to one embodiment of the present invention have been moved to the right relative to the charging side connection portion base portion. FIG. [Figure 13] 1 is a plan view illustrating a charging socket of a charging device according to an embodiment of the present invention; [Figure 14] FIG. 14 is a cross-sectional view taken along line AA in FIG. [Figure 15] 10 is a plan view illustrating a state in which a connection portion support portion of a charging socket of a charging device according to an embodiment of the present invention is swung upward. FIG. [Figure 16]10 is a plan view illustrating a state in which a connection portion support portion of a charging socket of a charging device according to an embodiment of the present invention is swung downward. FIG. [Figure 17] FIG. 2 is a plan view illustrating a charging plug of the robot according to an embodiment of the present invention. [Figure 18] 10 is a plan view illustrating an example of a state in which the movable body side connection end of the charging plug of the robot in one embodiment of the present invention is swung to the left. FIG. [Figure 19] 10 is a plan view illustrating an example of a state in which the moving body side connection end of the charging plug of the robot in one embodiment of the present invention is swung to the right. FIG. [Figure 20] FIG. 2 is a side view illustrating a charging plug of the robot according to an embodiment of the present invention. [Figure 21] 10 is a side view illustrating an example of a state in which the movable body side connection end of the charging plug of the robot according to an embodiment of the present invention has moved upward. FIG. [Figure 22] 10 is a side view illustrating an example of a state in which the movable body side connection end of the charging plug of the robot according to an embodiment of the present invention has moved downward. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the present invention will be described based on an embodiment thereof with reference to the accompanying drawings. [System Configuration]

[0010] 1 shows a system configuration diagram illustrating the system configuration of a mobile device system, namely, a robot system 1. As shown in FIG. 1, the robot system 1 includes a management device 10, a robot 20, and a charging device 30.

[0011] The management device 10 and the robot 20 are connected to each other so that they can communicate with each other via a network 40. The network 40 is configured with wireless communication lines such as a mobile communication network, a local area network (LAN), a wide area network (WAN), etc. The charging device 30 does not have a function for mutual communication with other devices via the network 40, but has a function for one-way broadcasting to the robot 20.

[0012] The management device 10 is a device for managing the operating status of the robot system 1, and has functions such as collecting information on the operating status from the robot 20 and the charging device 30, managing the collected information, and outputting it to the outside as necessary. The management device 10 is typically realized by an electronic device such as a server device with a browser function or a personal computer.

[0013] The robot 20 is a mobile device capable of autonomous movement using a battery-driven motor as a power source, and is suitable for use in, for example, patrolling security within facilities such as office buildings, but is not limited thereto and can be widely applied to cleaning, guidance, equipment inspection, and other tasks. The robot 20 has the ability to move while measuring its surrounding environment in real time and setting a route using a precision distance measurement system using laser light known as LiDAR (Light Detection and Ranging). When the robot 20 needs to charge its battery, it approaches a pre-specified charging device 30 and connects mechanically and electrically to the charging device 30 to charge the battery.

[0014] The charging device 30 is a device equipped with a charger for charging the battery of the robot 20, and has a simple standalone configuration except for being connected to an appropriate power source such as commercial AC 100V. When the charging device 30 is in an operating state connected to a power source, it constantly broadcasts charging device information, which is information about its own operating state, to the surrounding area, but does not have the function of accepting external operation input. The robot system 1 is provided with the required number of charging devices 30 depending on the number of robots 20 to be placed, the size of their operating area, etc.

[0015] [Robot 20 Configuration] Next, the configuration of the robot 20 will be described. Fig. 2 is a block diagram illustrating an example of the configuration of hardware and functional blocks of the robot 20. Fig. 4 is a front view illustrating the robot 20. Fig. 5 is a plan view illustrating the robot 20. Fig. 6 is a plan view illustrating the measurable range L of the LiDAR device 2811 of the robot 20, the detectable range T of the TOF sensor device 2813, and the irradiable range E of the light 2814.

[0016] As shown in Fig. 2, the robot 20 is an information processing device having the functions of creating a 3D map based on sensor-based recognition of the surrounding environment, setting a route, estimating its own position, moving autonomously, and communicating. Specifically, the robot 20 includes a processor 21, a memory 22, an auxiliary storage unit 23, a communication unit 24, a data IO unit 25, an input / output unit 26, a drive unit 27, a LiDAR device 2811 as a first distance measuring device, an ultrasonic sensor device 2812 as a transparent object detection device, a TOF sensor device 2813 as a second distance measuring device, a contact sensor 282, a battery 291, and a battery control unit 292 in a device body 200. Note that the robot 20 does not necessarily have to be configured with the functional blocks illustrated in Fig. 2, and may be realized with another configuration that provides equivalent functions.

[0017] The processor 21 is configured using computing devices such as a CPU and a GPU, and is a computing device that reads various programs and data from the memory 22 and auxiliary memory unit 23 described below, and performs data processing to realize the functions of the robot 20.

[0018] The memory 22 is a storage area for various programs for causing the hardware group to function as the robot 20, various data, etc., and can be configured with storage devices such as ROM, RAM, and flash memory.

[0019] The auxiliary storage unit 23 is a storage device that provides a storage area for storing data and the like used by each program stored in the memory 22, and is configured by, for example, a solid-state drive (SSD), a hard disk drive (HDD), or the like.

[0020] The communication unit 24 provides communication functions with the management device 10 via the network 40 and reception functions for one-way communication broadcast from the charging device 30, and is composed of hardware such as a mobile communication module, a network interface card (NIC), a near field communication (NFC) module, etc.

[0021] The data IO unit 25 provides a data input / output function between the processor 21, the communication unit 24, and the input / output unit 26, and includes various interface circuits.

[0022] The input / output unit 26 is composed of various input devices such as a keyboard, touch panel, microphone, etc. that enable data input to the robot 20 from the outside, and output devices such as a monitor display, speaker, etc. for outputting output display data, output audio data, etc. generated by the processor 21.

[0023] The driving unit 27 includes hardware such as a power source such as a motor for enabling the robot 20 to move, a reduction / transmission mechanism, and wheels 205 (see FIG. 4, etc.) that rotate with power from the power source.

[0024] The LiDAR device 2811 is a distance measuring device that uses laser light and has the function of measuring the distance to objects around the robot 20. The obtained measurement data is passed to a program executed by the processor 21 and is used to create a map (3D map) of the surroundings of the robot 20, recognize the position of the robot 20 based on the map, detect obstacles around the robot 20, set the route of the robot 20, and control the movement of the robot 20. Note that other distance measuring devices such as millimeter wave radar can also be used for the distance measuring function.

[0025] The LiDAR device 2811 is disposed above the device main body 200, specifically, for example, at a height of about 1000 mm to 1500 mm from the floor, so as to be rotatable relative to the device main body 200 around the axis of the device main body 200. Specifically, as shown in Fig. 4, the LiDAR device 2811 is disposed at the upper end of the device main body 200, which has a platform section at the bottom and an egg-shaped shape on top of the platform section, and three laser irradiation sections that irradiate laser light are disposed with their rotation axes spaced apart by 120 degrees from each other, with the axis of the device main body 200 being the center of the device main body 200 in a plan view.

[0026] The range that can be measured by the LiDAR device 2811 placed in this position is the range L shown in a ring shape in Figure 6, which is outside a circle with a diameter of, for example, about 500 mm to 1000 mm, centered on the axial position of the device main body 200, which is the center of the device main body 200 in a planar view.

[0027] 4, the ultrasonic sensor device 2812 is disposed in the center of the device body 200 in the up-down direction, and is capable of detecting transparent obstacles that exist around the device body 200. The ultrasonic sensor device 2812 has a total of six sensor units provided on the entire device body 200, two in total, one at the front and one at the back of the device body 200, and one at each of the front and back positions forming angles of ±45 degrees with respect to the front-to-back direction, for a total of four in total at the front and back.

[0028] The TOF sensor device 2813 is disposed at the bottom of the device body 200. Specifically, as shown in Fig. 4, the sensor unit of the TOF sensor device 2813 is disposed upward from the bottom end of the egg-shaped device body 200 at a position about one-fourth of the height of the device body 200, and two sensors are provided, one in each of holes 2061 for inserting fingers into the handle portion 206 provided at the front and rear positions of the device body 200 at this height.

[0029] The detectable range of the TOF sensor device 2813 placed at this position is a trapezoidal range T shown in the front-rear direction in Fig. 6, which ranges from inside the inner circle of range L to outside the outer circle of range L, and extends to a position approximately 900 mm away in both the front and rear directions from the sensor unit of the TOF sensor device 2813 in a plan view (distance d1 in Fig. 6). Therefore, the TOF sensor device 2813 can detect obstacles such as a small child at the feet of the device main body 200 or an empty can. Note that the width d2 of the robot 20 in Fig. 6 is approximately 300 mm to 700 mm, and the distance d3 from the end of the robot 20 in the width direction to the inner circle of range L is approximately 50 mm to 200 mm.

[0030] A light 2814 capable of illuminating the vicinity of the lower part of the device body 200 is provided in the lower part of the device body 200 at the same height as the TOF sensor device 2813 in the vertical direction. Specifically, the light 2814 is arranged adjacent to both the left and right ends of the handle part where the sensor part of the TOF sensor device 2813 is provided, at the front and rear of the device body 200.

[0031] The illumination range of the light 2814 placed in this position is area E shown by ellipses in four locations, two in the front and two in the back, in Fig. 6, and each illuminates a location a predetermined distance away in the front and back directions from the light 2814. The light 2814 illuminates by flashing at a frequency of about 1 to 3 times per second.

[0032] A camera device 2815 capable of capturing images of the periphery of the device body 200 is provided in a portion of the device body 200 between the LiDAR device 2811 and the ultrasonic sensor device 2812 in the up-down direction of the device body 200, closer to the LiDAR device 2811. The camera device 2815 has four imaging lenses, one each at the front, back, left, and right positions of the device body 200, and is provided so as to go around the circumferential direction of the device body 200 at 90-degree intervals around the axis of the device body 200 in a plan view. The camera device 2815 captures images of the entire periphery of the device body 200.

[0033] A camera light 2816 that illuminates the imaging area of ​​the camera device 2815 is provided in a portion of the device body 200 between the camera device 2815 and the ultrasonic sensor device 2812 in the up-down direction of the device body 200, closer to the camera device 2815. The camera lights 2816 are provided in a total of four, one at each of the front, back, left and right positions of the device body 200, in a positional relationship that coincides with the position where the camera device 2815 is provided in a plan view, and are provided around the axis of the device body 200 at intervals of an angle of 90 degrees in the circumferential direction of the device body 200.

[0034] A speaker 2817 capable of outputting the voice of a security guard in a remote location, a warning sound, etc. to people around the device main body 200 is provided in the center in the vertical direction of the device main body 200. The speaker 2817 is located at the same height as the ultrasonic sensor device 2812 in the vertical direction of the device main body 200, and is arranged at both left and right end positions of the device main body 200, as shown in FIG.

[0035] A microphone 2818 is provided in a portion of device main body 200 between camera device 2815 and camera light 2816 in the up-down direction of device main body 200, which can input the voices of people around device main body 200 to a security guard at a remote location. As shown in Fig. 4, two microphones 2818 are provided on the front side of device main body 200, one at each position forming a predetermined angle symmetrically with respect to the front-to-rear direction.

[0036] The contact sensor 282 is a sensor device that allows the robot 20 to confirm whether the charging plug 201, which serves as the mobile body side connection part of the robot 20, and the charging socket 35, which serves as the charging side connection part of the charging device 30, are properly engaged and in a state where electricity can be passed through them, and can be configured using an appropriate type of limit switch or the like that can detect the state in which the charging plug of the robot 20 and the charging socket of the charging device 30 are properly engaged.

[0037] The battery 291 has the function of supplying power to the drive unit 27 including the motor and the control system of the robot 20 such as the processor 21, and is composed of a rechargeable secondary battery of an appropriate type.

[0038] The battery control unit 292 is hardware that provides a function for controlling the charging and discharging of the battery 291, and includes a charge / discharge current sensor for the battery 291, a terminal voltage sensor, an arithmetic circuit based on sensor measurement data, and the like.

[0039] A charging plug 201 is provided at the bottom of the back surface of the device main body 200. The charging plug 201 has an electrode terminal as the end of the mobile body side connection portion and is located at the center of the back surface of the device main body 200 in the left-right direction. The charging plug 201 is properly engaged with the charging socket 35 of the charging device 30, whereby the robot 20 is charged through the charging plug 201.

[0040] [Configuration of charging device 30] Next, the configuration of the charging device 30 in this embodiment will be described. Fig. 3 is a functional block diagram showing an example of the configuration of the charging device 30 in this embodiment. Fig. 7 is a perspective view showing an example of the charging device 30. For ease of explanation, the side of the charging device main body 300 of the charging device 30 where the charging socket 35 is provided (the lower right side in Fig. 7) is defined as the front side, the opposite side is defined as the rear side, and the left side as viewed from the front side of the charging device main body 300 (the lower left side in Fig. 7) is defined as the left side, and the opposite side is defined as the right side in the following description.

[0041] As shown in FIGS. 3 and 7 , the charging device 30 includes a charging device main body 300 having a charging socket 35 on the front and a pair of retroreflective tapes 361 on the top. Handles 301 are formed on both left and right sides of the charging device main body 300, in the vertical center, recessed inward. The handles 301 increase the surface area of ​​the charging device main body 300, improving heat dissipation. The charging device 30 is electrically connected to a power supply unit (e.g., a commercial AC 100V power source, not shown) via a power cord that can be replaced with a power cord of various lengths, and power is supplied to the charging device 30 through this power cord. This allows the charging device 30 to be replaced with a power cord of a different length when the charging device 30 is moved and positioned, making it possible to use a power cord of a length appropriate for the distance from the power supply unit to the charging device 30.

[0042] The charging device 30 has a function for charging the battery 291 of the robot 20 and a function for transmitting its own operating status to the robot 20 through one-way communication. Specifically, the charging device 30 includes a processor 31, a memory 32, a communication unit 33, and a charger 34.

[0043] The processor 31 is configured using a computing device such as a CPU, and is a computing device that reads various programs and data stored in the memory 32 described below and executes data processing to realize the functions of the charging device 30.

[0044] The memory 32 is a storage area for various programs for causing the hardware group to function as the charging device 30, various data, and the like, and can be configured with a storage device such as a ROM, a RAM, or a flash memory.

[0045] The communication unit 33 provides a one-way communication transmission function that broadcasts to the robot 20, and is configured, for example, by a near field communication (NFC) module.

[0046] The charger 34 is a device for charging the battery 291 mounted on the robot 20, and is equipped with a charging capacity corresponding to the specifications of the battery 291, such as the capacity, terminal voltage, and rated charging current, using a commercial AC 100V power supply as input.

[0047] A pair of retroreflective tapes 361 are provided extending upward from the upper end of charging device main body 300, and reflect light that is incident on retroreflective tape 361 back in the direction of the incident. Robot 20 does not have a sensor for directly detecting the position of charging socket 35 itself, but instead detects the position of charging socket 35 indirectly, approximately within a range of error, by detecting light reflected by the pair of retroreflective tapes 361 with LiDAR device 2811, and positions charging plug 201 at the center position of the pair of retroreflective tapes 361.

[0048] 7, the charging socket 35 is located at the bottom of the front surface of the charging device 30, in the center position in the left-right direction of the charging device main body 300. The charging socket 35 is electrically connected to the charging plug 201 and supplies power to the robot 20.

[0049] [Connection structure between charging plug 201 and charging socket 35] [Charging socket 35] The charging socket 35 of the charging device 30 has a connection portion support portion 351, a support portion guide portion 353, a guide portion support portion 355, and a charging-side connection portion base portion 357. FIG. 8 is a perspective view illustrating a state before the charging socket 35 and the charging plug 201 that constitute the connection structure between the charging device 30 and the robot 20 are connected. FIG. 9 is a perspective view illustrating the charging socket 35 of the charging device 30. FIG. 10 is a perspective view illustrating a state in which the support portion guide portion 353 of the charging socket 35 of the charging device 30 has retracted. FIG. 11 is a perspective view illustrating a state in which the connection portion support portion 351, the support portion guide portion 353, and the guide portion support portion 355 of the charging socket 35 of the charging device 30 have moved to the left relative to the charging-side connection portion base portion 357.

[0050] Fig. 12 is a perspective view illustrating a state in which the connection portion support portion 351, support portion guide portion 353, and guide portion support portion 355 of the charging socket 35 of the charging device 30 have moved to the right relative to the charging-side connection portion base portion 357. Fig. 13 is a plan view illustrating the charging socket 35 of the charging device 30. Fig. 14 is a cross-sectional view taken along line AA in Fig. 13. Fig. 15 is a plan view illustrating a state in which the connection portion support portion 351 of the charging socket 35 of the charging device 30 has swung upward. Fig. 16 is a plan view illustrating a state in which the connection portion support portion 351 of the charging socket 35 of the charging device 30 has swung downward.

[0051] Charging-side connection portion base 357 is fixed to charging device main body 300 in a positional relationship parallel to the left-right direction, and supports guide rod 3571. Guide rod 3571 passes through the rear end of guide portion support portion 355, so that guide portion support portion 355 is supported so as to be movable left and right relative to guide rod 3571 and charging device main body 300, as shown in Figures 11 and 12 .

[0052] Guide portion support portion 355 supports support portion guide portion 353 so that it can move in the front-to-rear direction relative to guide portion support portion 355. Specifically, support portion guide portion 353 has central support portion 3531 that supports connection portion support portion 351 at its center in the left-to-right direction, and on both left and right sides of the center portion, it has opposing inclined portions 3533 each having inclined surfaces 3534 that point inward toward the center portion. When robot 20 approaches charging socket 35 and charging plug 201 abuts against inclined surfaces 3534, inclined surfaces 3534 guide charging plug 201 toward electrodes 3515, 3516 located in the center of charging socket 35 in the left-to-right direction.

[0053] A guide through hole 3535 that penetrates in the up-down direction and extends in the front-rear direction is formed near the end face of each of the pair of opposing inclined portions 3533 that is farthest from the central support portion 3531. A columnar portion 3553 that is fixed to the guide portion support portion 355 and whose longitudinal direction is oriented in the up-down direction passes through the guide through hole 3535. As a result, the support portion guide portion 353 can move in the front-rear direction relative to the guide portion support portion 355 within a range in which the columnar portion 3553 can move relative to the guide through hole 3535, as shown in FIGS.

[0054] As shown in FIG. 14 and other figures, a compression spring 3555 is provided between the support portion guide portion 353 and the guide portion support portion 355. A total of four compression springs 3555 are provided, two on each side of the central support portion 3531 (see FIG. 9 and other figures) of the support portion guide portion 353, and are lined up one above the other on the left and right sides. The front end of the compression spring 3555 abuts against the rear bottom portion 3532 of the support portion guide portion 353, and the rear end of the compression spring 3555 abuts against a spring abutment portion 3556 inside the guide portion support portion 355. With this configuration, the support portion guide portion 353 is biased forward relative to the guide portion support portion 355.

[0055] Furthermore, cylindrical shafts 3554 (see FIG. 14, etc.) are provided between the two compression springs 3555 on the left side and between the two compression springs 3555 on the right side, extending parallel to the longitudinal direction of the compression springs 3555 from the guide portion support portion 355. The shafts 3554 penetrate a part of the opposing inclined portions 3533 so as to be slidable relative to the opposing inclined portions 3533. As a result, the support portion guide portion 353 can move in the front-to-rear direction relative to the guide portion support portion 355, as shown in FIGS. 9 and 10, within a range in which the shafts 3554 can slide relative to the opposing inclined portions 3533.

[0056] A through-hole penetrating in the left-right direction is formed in rear bottom 3532 of support portion guide portion 353, and a rotation shaft 3537 with its longitudinal direction oriented in the left-right direction passes through the through-hole. Rotation shaft 3537 also passes through rear protrusion 3511 that protrudes rearward from the rear end of connection portion support portion 351, which allows connection portion support portion 351 to swing up and down about rotation shaft 3537 relative to support portion guide portion 353, as shown in Figures 14 to 16, that is, in the pitch direction relative to the moving body approach direction in which charging socket 35 approaches charging plug 201 (to the right in Figure 14, which is the front direction of charging device main body 300).

[0057] Connection portion support portion 351 is formed in the shape of a rectangular parallelepiped box that is open at the front, and is provided internally with a terminal portion that serves as a charging-side connection portion end portion and is composed of two pairs of electrodes 3515, 3516 that can safely supply a large current toward the front. The two pairs of electrodes 3515, 3516 are electrically connected to a switch (not shown) that electrically connects charging plug 201 to charger 34 and enables charging of robot 20 when charging plug 201 abuts against charging socket 35, causing the electrodes of charging plug 201 to abut against the two pairs of electrodes 3515, 3516, respectively, and pressing electrodes 3515, 3516 toward charging device main body 300.

[0058] [Charging Plug 201] As shown in FIG. 17 and other figures, the charging plug 201 of the robot 20 has a mobile object side connection base 202 and a mobile object side connection end 203. FIG. 17 is a plan view illustrating the charging plug 201 of the robot 20. FIG. 18 is a plan view illustrating the mobile object-side connection end 203 of the charging plug 201 of the robot 20 when it is swung to the left. FIG. 19 is a plan view illustrating the mobile object-side connection end 203 of the charging plug 201 of the robot 20 when it is swung to the right. FIG. 20 is a side view illustrating the charging plug 201 of the robot 20. FIG. 21 is a side view illustrating the mobile object-side connection end 203 of the charging plug 201 of the robot 20 when it is moved upward. FIG. 22 is a side view illustrating the mobile object-side connection end 203 of the charging plug 201 of the robot 20 when it is moved downward.

[0059] The movable body side connection base 202 is fixed to the device main body 200. A through hole is formed in the front end of the movable body side connection base 202, and the through hole has a base front part 2021 through which a rotating shaft 2022 passes. The rotating shaft 2022 also passes through a through hole formed in the rear end part 2031 of the movable body side connection part end part 203.

[0060] 20 to 22, the movable body side connection end portion 203 slides in the axial direction of the rotation shaft 2022 relative to the rotation shaft 2022, thereby being able to move up and down relative to the movable body side connection base 202. As a result, the movable body side connection end portion 203 can swing left and right around the rotation shaft 2022 relative to the movable body side connection base 202, as shown in FIGS. 17 to 19, in other words, in the yaw direction relative to the charging side approach direction in which the charging plug 201 approaches the charging socket 35 (the downward direction in FIG. 17, which is the forward direction of the device body 200 of the robot 20).

[0061] According to this embodiment, the following effects are achieved. In this embodiment, the robot 20 as a mobile device is equipped with a LiDAR device 2811 that is arranged on the upper part of the device main body 200 and recognizes the position of the device main body 200 and detects obstacles around the device main body 200, an ultrasonic sensor device 2812 that is arranged in the center of the device main body 200 and can detect transparent obstacles, and a TOF sensor device 2813 that is arranged on the lower part of the device main body 200 and detects obstacles near the lower part of the device main body 200.

[0062] With this configuration, the robot 20 can be charged by a simplified charging device 30 that does not have a configuration for guiding the robot 20 to the charging device 30 via wireless communication or the like, and can be made into a mobile body that can move around by avoiding surrounding obstacles.

[0063] Furthermore, in this embodiment, the device body 200 includes a handle 206 that is configured with a hole 2061 formed therein and that allows the device body 200 to be moved by being gripped, and the TOF sensor device 2813 is disposed in the hole of the handle 206. With this configuration, it is not necessary to separately form a configuration for providing the TOF sensor device 2813 in the device body 200, and the handle 206 can be used effectively.

[0064] Furthermore, in this embodiment, the device main body 200 is provided with a light 2814 that is disposed at the bottom of the device main body 200 and can illuminate the vicinity of the bottom of the device main body 200. With this configuration, even if the robot 20 approaches a corner of a corridor that is a blind spot for people, the light of the light 2814 can be seen by people, and they can recognize that the robot 20 is on the other side of the corner of the corridor. In particular, by flashing the light of the light 2814, people can easily recognize the light.

[0065] Furthermore, in this embodiment, a camera device 2815 capable of capturing images of the periphery of the device body 200 is provided in a portion of the device body 200 between the LiDAR device 2811 and the ultrasonic sensor device 2812 in the up-down direction of the device body 200, closer to the LiDAR device 2811. With this configuration, it is possible to capture images of the entire periphery of the robot 20. In particular, by arranging the camera device 2815 in this position, it is possible to capture images of the faces of people around the robot 20 with high image quality.

[0066] Furthermore, in this embodiment, a camera light 2816 that illuminates the imaging area of ​​the camera device 2815 is provided in a portion of the device body 200 between the camera device 2815 and the ultrasonic sensor device 2812 in the up-down direction of the device body 200, closer to the camera device 2815. With this configuration, the entire periphery of the robot 20 can be illuminated by the camera light 2816, and high-quality imaging can be achieved even in dark places.

[0067] In this embodiment, the robot 20 is provided with a speaker 2817 that is disposed in the center of the device main body 200 and is capable of outputting the voice of a security guard in a remote location to people around the device main body 200. This configuration makes it possible to output the voice of a security guard in a remote location, a warning sound, etc. As a result, people near the robot 20 can receive a call from the security guard in a remote location or be notified that the robot 20 is approaching people near the robot 20.

[0068] In this embodiment, the robot 20 is provided with a microphone 2818 that can input voices of people around the device main body 200 to a security guard at a remote location, in a portion of the device main body 200 between the camera device 2815 and the camera light 2816 in the up-down direction of the device main body 200. This configuration allows communication with a security guard at a remote location.

[0069] In addition, in this embodiment, the electrode terminal as the end of the mobile body side connection part can swing in the yaw direction relative to the mobile body side connection base 202 that supports the electrode terminal in the charging side approach direction toward the charging socket 35 as the charging side connection part, and the electrodes 3515, 3516 as the end of the charging side connection part can move in the depth direction, which is the opposite direction to the mobile body side approach direction, relative to the charging side connection part base 357 that supports the electrodes 3515, 3516 as the end of the charging side connection part, in the mobile body side approach direction toward the charging plug 201 as the mobile body side connection part, and can move in the lateral direction relative to the depth direction.

[0070] With this configuration, even if the position of the charging plug 201 relative to the charging socket 35 is misaligned, the electrodes 3515, 3516 of the charging socket 35 can be brought into contact with the electrodes of the charging plug 201, and the charging plug 201 of the robot 20 can be connected to the charging socket 35 of the charging device 30.

[0071] In addition, in this embodiment, the electrodes serving as the mobile body side connection portion end portions are movable up and down relative to mobile body side connection base 202 that supports the electrodes in the charging side approach direction toward charging socket 35 serving as the charging side connection portion. In addition, in this embodiment, electrodes 3515, 3516 serving as the charging side connection portion end portions are swingable in the pitch direction relative to charging side connection portion base 357 that supports electrodes 3515, 3516 in the mobile body side approach direction toward charging plug 201 serving as the mobile body side connection portion.

[0072] This prevents, for example, when the charging device 30 is placed on a sloping floor, the position and posture of the charging plug 201 relative to the charging socket 35 from shifting, causing the terminal electrodes to abut against each other at an angle. This allows the electrodes 3515, 3516 of the charging socket 35 to abut against the electrodes of the charging plug 201 more reliably on their faces, thereby suppressing the generation of heat, etc., even when a large current flows to charge the robot 20.

[0073] Furthermore, in this embodiment, charging device 30 includes a pair of retroreflective tapes 361 arranged at a predetermined interval in the horizontal direction, charging socket 35 as a charging-side connection portion is arranged in the center position of the pair of retroreflective tapes 361, and robot 20 as a mobile device connects electrodes as ends of the mobile-device-side connection portion to electrodes 3515, 3516 as ends of the charging-side connection portion based on light from robot 20 as a mobile device reflected by retroreflective tape 361. With this configuration, charging plug 201 can be easily brought close to charging socket 35 even if charging device 30 does not have a communication device or the like for guiding robot 20.

[0074] The present invention is not limited to the above-described embodiment, and includes modifications and improvements within the scope of achieving the object of the present invention. For example, the configurations of the lidar device, ultrasonic sensor device, TOF sensor device, etc. are not limited to the configurations of the LiDAR device 2811, ultrasonic sensor device 2812, TOF sensor device 2813, etc. in this embodiment. Furthermore, the first distance measuring device, transparent object detection device, and second distance measuring device are not limited to the LiDAR device 2811, ultrasonic sensor device 2812, TOF sensor device 2813, etc. in this embodiment. Furthermore, the configurations of the moving object side connection unit, charging side connection unit, etc. are not limited to the configurations of the charging plug 201, charging socket 35, etc. in this embodiment. [Explanation of symbols]

[0075] 20. Robot 30 Charging device 35 Charging socket (charging side connection part) 200 Device body 201 Charging plug (connection part on mobile device) 206 Handle 202 Mobile body side connection base 282 Contact Sensor 291 Battery 300 Charging device body 357 Charging side connection base 361 Retroreflective tape 2061 holes 2811 LiDAR device (1st ranging device) 2812 Ultrasonic sensor device (transparent object detection device) 2813 TOF sensor device (second ranging device) 2814 Light 2815 Camera equipment 2816 Camera Light 2817 Speaker 2818 Mike 3515, 3516 Electrode (charging side connection end)

Claims

1. A connection structure for a mobile device that can move autonomously using a battery as a power source and a charging device to which the mobile device is connected in order to charge the battery, a mobile body side connection portion provided on the mobile body device and having a mobile body side connection portion end portion; a charging-side connection part provided in the charging device and having a charging-side connection part end part connected to the mobile body-side connection part end part, the mobile body device does not directly detect the position of the charging-side connection part, but indirectly detects the position with some error, thereby being able to bring the mobile body-side connection part into contact with the charging-side connection part, the movable body side connection portion end portion is swingable in a yaw direction relative to a movable body side connection base portion that supports the movable body side connection portion end portion in a charge side approach direction toward the charge side connection portion, and has electrodes arranged side by side vertically and horizontally; The charging side connection portion end portion is movable in the depth direction, which is the opposite direction to the moving body side approach direction, relative to the charging side connection portion base portion that supports the charging side connection portion end portion, in the moving body side approach direction toward the moving body side connection portion, and is movable laterally relative to the depth direction, and is also capable of swinging in the pitch direction relative to the charging side connection portion base portion that supports the charging side connection portion end portion, relative to the moving body side approach direction toward the moving body side connection portion, so that even when the charging device is placed on a sloping floor, the moving body side connection portion end portion and the charging side connection portion end portion can avoid abutting each other at an angle and can abut on each other on their surfaces, and the connection structure has electrodes that are electrically connected to each of the electrodes.

2. The connection structure according to claim 1, wherein the end of the movable body side connection portion is movable in an up-down direction relative to the movable body side connection base portion that supports the end of the movable body side connection portion in a charging side approach direction toward the charging side connection portion.

3. The charging device includes a pair of retroreflective tapes arranged at a predetermined interval in a horizontal direction, The charging side connection portion is disposed at a central position between the pair of retroreflective tapes, 3. The connection structure according to claim 1, wherein the indirect detection by the mobile device is performed based on light from the mobile device that is reflected by the retroreflective tape.

4. the charging device includes a charging device main body having the charging side connection portion on a front surface and the pair of retroreflective tapes on an upper portion; 4. The connection structure according to claim 3, wherein the charging device main body is formed with a handle portion recessed inward of the charging device main body.

5. 5. The connection structure according to claim 1, wherein power cords of different lengths that can be electrically connected to a power supply unit are interchangeably connected to the charging device.

Images