robot systems

Abstract

To provide a robot system capable of appropriately perform charging.SOLUTION: A robot system according to the present embodiment includes: a movable robot 100 having a power receiving pad 161; and a charging apparatus 300 having a power transmission pad 361. The movable robot 100 includes a sensor 162 that is arranged at a position deviated in a vertical direction from the power receiving pad 161 and detects a peripheral object. The power receiving pad 161 is arranged inclined vertically so as to project toward the sensor 162 side. The power transmission pad 361 is arranged inclined vertically so as to face the power receiving pad 161. A tip end of the sensor 162 is arranged at an outer side of the tip end of the power receiving pad 161. The movable robot 100 may use a machine learning model.SELECTED DRAWING: Figure 4

Description

Technical Field

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[0001] The present disclosure relates to a robot system.

Background Art

[0002] Patent Document 1 discloses a non-contact power supply device for charging a cylindrical robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In such a mobile robot, a contact sensor for detecting contact with a surrounding object may be provided. When the contact sensor detects contact with a surrounding object, the mobile robot stops or decelerates. Such a sensor may be disposed on the outermost side of the mobile robot. Therefore, when the mobile robot approaches a charger, if the sensor contacts the charger, there is a problem that the mobile robot stops.

Means for Solving the Problems

[0005] The robot system according to the present embodiment is a robot system including a mobile robot having a power receiving pad that receives power supply from a power transmission pad of a charger, wherein the mobile robot is disposed at a position displaced from the power receiving pad in the vertical direction, includes a sensor for detecting a surrounding object, the power receiving pad is provided to be inclined in the vertical direction so as to project toward the sensor side, the power transmission pad is provided to be inclined in the vertical direction so as to face the power receiving pad, and in a top view, a tip of the sensor on a side facing the power transmission pad is disposed outside a tip of the power receiving pad.

[0006] The above-described robot system may include an imaging device in the mobile robot, and the sensor may be positioned between the imaging device and the power receiving pad in the vertical direction.

[0007] In the robot system described above, the charger may be provided with a label that is captured by the imaging device, and based on the captured image of the label, the mobile robot may move backward to approach the charging equipment.

[0008] In the robot system described above, the sensor may be positioned outside the field of view of the imaging device.

[0009] In the robot system described above, the power receiving pad may be provided on the rear side in the direction of movement of the mobile robot.

[0010] In the robot system described above, the power receiving pad and the power transmitting pad may be configured to perform contactless charging.

[0011] The robot system described above may also be equipped with a charger. [Effects of the Invention]

[0012] According to this disclosure, it is possible to provide a robot system that can perform charging appropriately. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic perspective view showing the overall configuration of the mobile robot according to this embodiment. [Figure 2] This is a perspective view showing a mobile robot equipped with a wagon. [Figure 3] This is a schematic side view illustrating the system configuration for charging a mobile robot. [Figure 4] This is a side view showing an enlarged view of the power receiving section. [Figure 5] This is a schematic diagram showing the configuration of the power receiving pad and sensor. [Figure 6] This is a schematic diagram showing a configuration in which the power receiving pad and sensor are inverted vertically. [Figure 7] This is a schematic diagram to explain the field of view of a camera. [Figure 8] This is a block diagram showing the control system for a mobile robot. [Modes for carrying out the invention]

[0014] The present invention will be described below through embodiments of the invention, but the invention as claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem.

[0015] Embodiment 1 Figure 1 is a perspective view showing the overall configuration of the mobile robot 100 according to this embodiment. In the following description, the XYZ Cartesian coordinate system will be used as appropriate. The X direction is the front-to-back direction of the mobile robot 100, the Y direction is the left-to-right direction, and the Z direction is the vertical up-and-down direction. More specifically, the +X direction is defined as the front direction of the mobile robot 100, and the -X direction is defined as the rear direction of the mobile robot 100. The +Y direction is the left direction of the mobile robot 100. The +Z direction is the vertical up direction, and the -Z direction is the vertical down direction.

[0016] Furthermore, the mobile robot 100 can move in both the forward and backward directions. That is, when the wheels rotate forward, the mobile robot 100 moves forward, and when they rotate backward, the mobile robot 100 moves backward. By changing the rotation speed of the left and right wheels, the mobile robot 100 can turn left or right.

[0017] The mobile robot 100 includes a vehicle body 110, a stand 120, and an operation unit 130. The vehicle body 110 is equipped with wheels, axles, a battery, a control computer, drive motors, etc. The vehicle body 110 rotatably holds wheels (not shown in FIG. 1). Further, various sensors such as a camera and a distance measuring sensor may be provided on the vehicle body 110. Here, the mobile robot 100 will be described as an autonomous mobile robot. Of course, the mobile robot 100 may be a mobile robot that moves by a user's operation.

[0018] The vehicle body 110 houses a lifting mechanism 140 for loading and unloading luggage. The lifting mechanism 140 is arranged on the upper surface side of the vehicle body 110. The lifting mechanism 140 is a lifting stage provided so as to be able to move up and down. The vehicle body 110 is provided with a motor for lifting and a guide mechanism. The upper surface of the lifting mechanism 140 serves as a mounting surface for placing the wagon. The lifting mechanism 140 has a lift mechanism for lifting the wagon. The space above the lifting mechanism 140 serves as a mounting space for loading luggage. The vehicle body 110 is equipped with a rechargeable secondary battery.

[0019] The stand 120 is attached to the vehicle body 110. The stand 120 is a rod-shaped member extending upward from the vehicle body 110. Here, the stand 120 is formed in a columnar shape with the Z direction as the longitudinal direction. The longitudinal direction of the stand 120 is provided parallel to the Z direction. The stand 120 is arranged outside the lifting mechanism 140. That is, the stand 120 is arranged so as not to interfere with the lifting operation of the lifting mechanism 140. The stand 120 is arranged on one end side in the Y direction (left and right direction) of the vehicle body 110. The stand 120 is attached near the left front corner of the vehicle body 110. In the XY plane, the stand 120 is provided at the end of the vehicle body 110 on the +X side and -Y side.

[0020] The stand 120 supports the control unit 130. The control unit 130 is attached near the upper end of the stand 120. This allows the control unit 130 to be installed at a height that is easy for the user to operate. In other words, the stand 120 extends to a height that is easy for a standing user to operate. The control unit 130 extends from the stand 120 in the +Y direction. In the left-right direction, the control unit 130 is positioned in the center of the chassis 110.

[0021] The control unit 130 has a touch panel monitor or the like that accepts user input. Of course, the control unit 130 may also have a microphone for voice input. The monitor of the control unit 130 faces away from the chassis 110. In other words, the display surface (operation surface) of the control unit 130 is the +X side. The control unit 130 may be detachably mounted from the stand 120. In other words, the stand 120 may have a holder attached to hold the touch panel. By operating the control unit 130, the user can input information such as the destination of the cargo and other cargo-related transport information. Furthermore, the control unit 130 can display information to the user such as the contents of the cargo in transport, the cargo scheduled for transport, and its destination.

[0022] The user places luggage (also referred to as goods or transported items) into a wagon mounted on the mobile robot 100 and requests its transport. The mobile robot 100 autonomously moves to the set destination and transports the luggage. In other words, the mobile robot 100 performs the luggage transport task (hereinafter also simply referred to as the task). In the following explanation, the place where the luggage is loaded will be referred to as the transport source or loading location, and the place where the luggage is delivered will be referred to as the transport destination or destination.

[0023] For example, suppose a mobile robot 100 moves around within a general hospital with multiple medical departments. The mobile robot 100 transports supplies, consumables, medical equipment, etc., between multiple medical departments. For instance, the mobile robot 100 delivers goods from one medical department's nurse station to another medical department's nurse station. Alternatively, the mobile robot 100 delivers goods from a storage room for supplies and medical equipment to a medical department's nurse station. Furthermore, the mobile robot 100 delivers medications dispensed in the pharmacy to the medical department or patient where they are to be used.

[0024] Examples of cargo include consumables such as medications and bandages, specimens, testing equipment, medical devices, hospital meals, stationery, and other supplies. Examples of medical devices include blood pressure monitors, blood transfusion pumps, syringe pumps, foot pumps, nurse call systems, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, suction devices, nebulizers, pulse oximeters, blood pressure monitors, resuscitation devices, sterile equipment, and ultrasound devices. It may also transport meals such as hospital meals and test meals. Furthermore, the mobile robot 100 may transport used equipment and used tableware. If the destination is on a different floor, the mobile robot 100 may use elevators or other means of transportation.

[0025] As shown in Figure 2, the mobile robot 100 can hold the wagon 500 by the lifting mechanism 140. The wagon 500 contains the transported goods. The wagon 500 is equipped with wheels 502 and a frame 503. The wheels 502 are attached to the underside of the frame 503.

[0026] A frame 503 extends from the underside of the wagon 500. This creates a space beneath the wagon 500 into which the chassis 110 can enter. In other words, the chassis 110 can enter the space directly beneath the wagon 500. When the chassis 110 is to mount the wagon 500, the mobile robot 100 moves in the -X direction to enter directly beneath the wagon 500.

[0027] The lifting mechanism 140 can be raised and lowered to load and unload the wagon 500. When the lifting mechanism 140 rises, the wagon 500 is lifted. In other words, when the lifting mechanism 140 rises, the wheels 502 leave the ground and the wagon 500 is loaded onto the chassis 110. When the lifting mechanism 140 lowers, the wheels 502 make contact with the floor and the top surface of the lifting mechanism 140 separates from the wagon 500. The wagon 500 is placed on the floor. The wagon 500 can then be lowered from the chassis 110.

[0028] The chassis 110 is provided with one or more wheels 111. For example, in Figure 2, there are two wheels 111 on the left and right sides, and in Figure 3, there are two wheels 111 on the front and rear sides, but the number of wheels 111 is not particularly limited. For example, the mobile robot 100 may have four wheels or six wheels. Furthermore, the mobile robot 100 may have eight or more wheels. The mobile robot 100 only needs to have one or more drive wheels that are rotated by a motor. Furthermore, one or more of the multiple wheels 111 may be driven wheels. By controlling the rotation of each wheel 111, the mobile robot 100 moves along a desired route.

[0029] Next, the system configuration for charging the mobile robot 100 will be described using Figure 3. Figure 3 is a schematic side view showing the configuration of the robot system 1 equipped with the mobile robot 100. The robot system 1 is a robot charging system equipped with the mobile robot 100 and a charger 300.

[0030] The mobile robot 100 is equipped with a power receiving unit 160. The power receiving unit 160 is located at the rear end of the chassis 110. The power receiving unit 160 is positioned to protrude rearward from the chassis 110. The power receiving unit 160 is equipped with a power receiving pad, as will be described later. The chassis 110 is provided with one or more wheels 111 that are driven by a battery built into the chassis 110.

[0031] The charger 300 comprises a power transmission unit 360, a label 320, and a housing 330. The charger 300 is installed on the rear side of the mobile robot 100. The housing 330 houses wiring, charging circuits, etc., which are not shown. The housing 330 is provided with the power transmission unit 360 and the label 320. The power transmission unit 360 and the label 320 are positioned on the side of the housing 330 facing the mobile robot 100. The label 320 is formed on the +X side of the housing 330. The label 320 is formed on the outer surface of the housing 330 so that it is visible from the outside. The label 320 may be painted or printed on the housing 330.

[0032] The power transmission unit 360 is equipped with power transmission pads, as will be described later. The power transmission unit 360 is provided protruding from the housing 330 on the +X side. The power transmission unit 360 is provided at approximately the same height as the power receiving unit 160. The mobile robot 100 approaches the charger 300. The mobile robot 100 approaches the charger 300 while moving backward. As a result, the power transmission pad and the power receiving pad face each other, enabling the charger 300 to charge the battery of the mobile robot 100. This allows the charger 300 to properly charge the mobile robot 100.

[0033] The mobile robot 100 moves backward, moving towards the charger 300. When the mobile robot 100 moves to a position where the power receiving unit 160 and the power transmitting unit 360 are facing each other, the mobile robot 100 stops moving. The power receiving pad of the power receiving unit 160 and the power transmitting pad of the power transmitting unit 360 are contactless charging pads that charge without contact. With the power receiving unit 160 and the power transmitting unit 360 facing each other, the charger 300 charges the mobile robot 100.

[0034] The configuration of the power receiving unit 160 and the power transmitting unit 360 will be explained using Figure 4. Figure 4 is an enlarged side view showing the configuration of the power receiving unit 160 and the power transmitting unit 360. Figure 4 shows the mobile robot 100 in the charging position, that is, in the charging state.

[0035] As described above, the power receiving unit 160 is located at the rear end of the chassis 110. The power receiving unit 160 includes a power receiving pad 161, a sensor 162, a cover 165, and a camera 167. The power transmitting unit 360 includes a power transmitting pad 361. The cover 165 is made of resin or the like.

[0036] The receiving pad 161 has a built-in receiving coil (not shown) for contactless charging. The receiving pad 161 is mounted on the chassis 110 with the -X side facing outwards. The transmitting pad 361 is mounted on the housing 330 with the +X side facing outwards. The transmitting pad 361 has a built-in transmitting coil (not shown) and other components. The transmitting pad 361 charges the mobile robot 100 via the receiving pad. For example, the transmitting coil of the transmitting pad 361 and the receiving coil of the receiving pad 161 are inductively coupled.

[0037] The side of the receiving pad 161 facing the transmitting pad 361 is designated as the receiving surface 161a. The receiving surface 161a is positioned facing the negative side. The sides of the receiving pad 161 are covered by the cover 165. The receiving surface 161a of the receiving pad 161 may be exposed from the cover 165. The side of the transmitting pad 361 facing the receiving pad 161 is designated as the transmitting surface 361a. The transmitting surface 361a is positioned facing the +X side.

[0038] The power receiving surface 161a is inclined to face upward. The power transmitting surface 361a is inclined to face downward. The power receiving surface 161a and the power transmitting surface 361a are parallel planes. The opposing positions of the power receiving surface 161a and the power transmitting surface 361a ensure that the power transmitting coil and the power receiving coil are positioned in close proximity. For example, the charger 300 charges the mobile robot 100 when the power receiving surface 161a and the power transmitting surface 361a are in contact or in close proximity. The power receiving pad 161 receives power from the power transmitting pad 361 provided on the charger 300.

[0039] A sensor 162 is provided on the underside of the power receiving pad 161. The tip of the sensor 162 protrudes from the cover 165. In other words, the sensor 162 is positioned so as to extend beyond the cover 165 towards the -X side. It is preferable that the sensor 162 is positioned on the outermost side. For example, the sensor 162 protrudes rearward from the chassis 110.

[0040] Sensor 162 detects other objects in its vicinity (hereinafter also referred to as surrounding objects). When sensor 162 detects a surrounding object, the mobile robot 100 stops or slows down. The tip of sensor 162 is positioned -X side of the power receiving pad 161. The tip of sensor 162 is positioned behind the power receiving pad 161. Sensor 162 is positioned lower than the power transmitting pad 361. Sensor 162 is located below the power transmitting pad 361.

[0041] For example, sensor 162 is a contact sensor that detects contact with a surrounding object. When sensor 162 comes into contact with a surrounding object, the tip of sensor 162 slides. Alternatively, sensor 162 may expand or contract or deform due to contact with a surrounding object. This allows sensor 162 to detect a surrounding object. Alternatively, sensor 162 may be a proximity sensor that detects the proximity of a surrounding object by a change in capacitance or magnetic field. Alternatively, sensor 162 may be an optical sensor of a camera or image acquisition sensor.

[0042] When the sensor 162 detects an object in the vicinity, the mobile robot 100 stops. This allows for mitigation of impacts caused by contact with surrounding objects or avoidance of contact with surrounding objects. Furthermore, because the sensor 162 is positioned on the outermost part of the chassis 110, it can properly detect contact with surrounding objects. Thus, safer movement is possible.

[0043] Thus, the mobile robot 100 is equipped with a power receiving pad 161 and a sensor 162 for detecting surrounding objects. The sensor 162 is positioned offset from the power receiving pad in the vertical direction. The power receiving pad 161 is inclined vertically so as to protrude toward the sensor 162. The power transmitting pad 361 is inclined vertically so as to face the power receiving pad 161. The tip of the sensor 162 is positioned further outward than the tip of the power receiving pad 161. This prevents the sensor 162 from coming into contact with the charger 300 while approaching the charging position. Therefore, the mobile robot 100 can quickly move to the appropriate charging position. The charger 300 can properly charge the mobile robot 100.

[0044] This inclined arrangement allows for efficient use of space. This point will be explained using Figure 5. Figure 5 is a schematic diagram showing the power receiving pad 161 and the sensor 162. Figure 5 also shows the power receiving pad 161 in a vertical arrangement and the power receiving pad 161 in an inclined arrangement. Note that the configuration in Figure 5 has been simplified as appropriate. For example, the charger 300 is omitted in Figure 5.

[0045] In the inclined configuration, the power receiving pad 161 is inclined vertically so that the power receiving surface 161a faces upwards. In other words, in the inclined configuration, the power receiving surface 161a is not parallel to the YZ plane. In the vertical configuration, the power receiving surface 161a is not inclined vertically. In other words, in the vertical configuration, the power receiving surface 161a is parallel to the YZ plane.

[0046] In the case of electromagnetic induction contactless charging, if there is metal around the charging pad 161, the metal will be inductively heated. In Figure 5, the area where the charging pad 161 heats the metal is shown as the heating area H. If a metal structural member is placed in the heating area H, the metal structural member will be heated. If the sensor 162 has a metal structural member, it is preferable to place the sensor 162 outside the heating area H.

[0047] With the receiving pad 161 positioned on the charger 300 side of the mobile robot 100, the mobile robot 100 approaches the charger 300. When non-contact transmitting and receiving pads are placed close together, the receiving pad 161 can be tilted to efficiently utilize vertical space. In other words, a vertical arrangement requires more vertical space compared to a tilted arrangement. Because the non-contact charging receiving pad 161 and sensor 162 can be placed as close together as possible, a space-saving layout can be achieved.

[0048] By tilting the power receiving pad 161 vertically, the distance to the sensor 162 can be increased, as shown in Figure 5. For example, let D1 be the distance between the power receiving pad 161 and the sensor 162 in the vertical configuration, and D2 be the distance between the power receiving pad 161 and the sensor 162 in the tilted configuration. Distance D2 is greater than distance D1. In the Z direction, the combined size of the power receiving pad 161 and the sensor 162 can be reduced. The upper end of the power receiving pad 161 in the vertical configuration is higher than the upper end of the power receiving pad 161 in the tilted configuration. The size Z2 in the Z direction in the tilted configuration is smaller than the size Z1 in the Z direction in the vertical configuration. Even when the sensor 162 and power receiving pad 161 are mounted on the chassis 110, a space-saving arrangement is possible, and the size of the chassis 110 can be reduced. In the tilted configuration, the thickness of the chassis 110 can be reduced compared to the vertical configuration. By using the tilted configuration, the mounting surface of the lifting mechanism 140 can be lowered, allowing for a greater load capacity of the wagon 500. Even in facilities with height restrictions, the Wagon 500 can ensure sufficient loading capacity.

[0049] In a top view, the tip of the sensor 162 on the side facing the power transmission pad 361 (i.e., the -X side) is positioned further outward than the tip of the power receiving pad 161 (the -X side). In a top view, the outer edge of the sensor is further outward radially from the robot than the outer edge of the power receiving pad 161. The tip of the sensor 162 on the -X side is on the -X side than the tip of the power receiving pad 161 on the -X side.

[0050] In Figures 4 and 5, the power receiving pad 161 was positioned above the sensor 162, but as shown in Figure 6, the power receiving pad 161 may also be positioned below the sensor 162. In this case, the inclination directions of the power receiving pad 161 and the power transmitting pad 361 in the vertical configuration should be reversed. That is, the power receiving pad 161 may be inclined downwards, and the power transmitting pad 361 may be inclined upwards. The lower end of the power receiving pad 161 in the vertical configuration will be lower than the lower end of the power receiving pad 161 in the inclined configuration. Even with this configuration, space can be used efficiently in the vertical direction.

[0051] Furthermore, as shown in Figure 4, a camera 167 is provided below the sensor 162. The camera 167 is an imaging device such as a CCD (Charge-Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) sensor. The camera 167 is positioned facing backward. The sides of the camera 167 may be covered by a cover 165. The rear side of the camera 167 is not covered by the cover 165. The cover 165 is outside the field of view V of the camera 167. The camera 167 images the label 320. As shown in Figure 7, the label 320 is included in the field of view V of the camera 167. Here, the camera 167 is positioned at the same height as the label 320.

[0052] The label 320 can be a character, a graphic, a QR code (registered trademark), etc., and is used for positioning. In other words, the label 320 is provided to detect the relative position of the mobile robot 100 with respect to the charger 300. The mobile robot 100 is controlled to move based on the image captured by the label 320. By moving backward based on the image captured by the label, the mobile robot 100 approaches the charging equipment. This allows the charger 300 to properly charge the mobile robot 100.

[0053] For example, camera 167 captures an image of label 320 at the appropriate charging position. The image of label 320 at the appropriate charging position is used as the reference image. As the mobile robot 100 moves based on the reference image, the receiving pad 161 approaches the transmitting pad 361. The mobile robot 100 moves backward so that the image of label 320 approaches the reference image. This allows the mobile robot 100 to move to the appropriate charging position.

[0054] Camera 167 is positioned on the +X side of sensor 162. Sensor 162 and the power receiving pad 161 are positioned outside the field of view V of camera 167. In other words, sensor 162 and the power receiving pad 161 are positioned outside the field of view V of camera 167. This allows camera 167 to properly image label 320, enabling the mobile robot 100 to move to the appropriate charging position. Thus, charging errors caused by positional misalignment can be prevented.

[0055] In this configuration, the sensor 162 is positioned between the camera 167 and the power receiving pad 161 in the vertical direction. Although the camera 167 is positioned below the sensor 162, its position is not particularly limited. For example, the camera 167 may be positioned to the side or above the sensor 162.

[0056] Next, the control system of the mobile robot 100 will be described using Figure 8. Figure 8 is a block diagram of the control system of the mobile robot 100. The mobile robot 100 includes a battery 115, a control unit 116, a drive unit 117, an operation unit 130, a sensor 162, and a camera 167.

[0057] As described above, the battery 115 is a rechargeable secondary battery that supplies power to each component. The drive unit 117 is equipped with a motor, brakes, etc., for driving the wheels 111 (see Figure 2). The control unit 116 has a processor, memory, etc., and controls each component according to a computer program. The control unit 116 outputs commands for controlling the drive unit 117. The operation unit 130, the control unit 116, and the drive unit 117 are powered by the battery 115.

[0058] For example, the control unit 116 has a memory that stores map information of the facility. When the user operates the operation unit 130 and inputs a destination on the map, the control unit 116 searches for a route to the destination by referring to the map information. The control unit 116 then outputs a command to the drive unit 117 to drive the wheels 111. As a result, the motors of the drive unit 117 rotate the left and right wheels 111, causing the mobile robot 100 to move along the route.

[0059] The sensor 162 and camera 167 are powered by the battery 115. The sensor 162 detects surrounding objects as described above. When the sensor 162 detects a surrounding object, the control unit 116 outputs a command to the drive unit 117. As a result, the mobile robot 100 stops or slows down. The mobile robot 100 may be equipped with multiple sensors 162. For example, sensors 162 may be provided on the front, rear, left, and right sides of the chassis 110. Regardless of which direction—front, rear, left, or right—the mobile robot 100 will stop or slow down when a surrounding object approaches it.

[0060] Furthermore, when the remaining charge of the battery 115 falls below a predetermined value, the control unit 117 controls the drive unit 117 to move to the charger 300. On the way to the charger 300, the camera 167 captures an image of the label on the charger 300. When the camera 167 captures an image of the label 320, the control unit 116 controls the drive unit 117 based on the captured image of the label 320. This allows the mobile robot 100 to move quickly to the appropriate charging position. Based on the captured image, the control unit 116 can detect the relative position of the mobile robot 100 with respect to the charger 300. Therefore, the mobile robot 100 can move to the charging position with high positional accuracy.

[0061] The battery 115 receives power from the power transmission pad 361 via the power receiving pad 161. The charger 300 charges the battery 115 wirelessly. The control unit 116 may use machine learning models such as deep learning for pathfinding and control of the drive unit 117.

[0062] Furthermore, some or all of the processing in the mobile robot 100 described above can be implemented as a computer program. Such a program can be stored using various types of non-temporary computer-readable media and supplied to a computer. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer using various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0063] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, although the above-described embodiment describes a system in which a mobile robot moves autonomously within a hospital, the above-described system can transport predetermined items as luggage in hotels, restaurants, office buildings, event venues, or multi-purpose facilities.

[0064] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0065] 1. Robot System 100 Mobile Robots 110 chassis 111 Wheels 115 Battery 116 Control Unit 117 Drive Unit 120 stands 130 Operation section 140 Lifting mechanism 160 Power receiving section 161 Charging Pad 161a Power receiving surface 162 sensors 165 Cover 167 Camera 300 charger 320 labels 330 cabinets 360 Power Transmission Section 361 Power Transmission Pad 361a Power transmission surface 500 Wagon 502 wheels 503 Frame

Claims

1. A charger equipped with a power transmission pad, A robot system comprising a mobile robot that is charged by the aforementioned charger, The aforementioned mobile robot A power receiving pad that receives power from the power transmitting pad, A sensor is positioned below the aforementioned power receiving pad to detect contact with a surrounding object, Equipped with an imaging device, The power transmitting surface of the power transmitting pad and the power receiving surface of the power receiving pad are arranged at an inclination in the vertical direction so as to face each other. The power receiving surface is inclined upwards such that the lower side of the power receiving surface protrudes more than the upper side of the power receiving surface. The power transmission surface is inclined to face downwards, In a top view, the tip of the sensor facing the power transmitting pad is positioned further out than the tip of the power receiving pad. A robot system in which the sensor is positioned between the imaging device and the power receiving pad in the vertical direction.

2. A charger equipped with a power transmission pad, A robot system comprising a mobile robot that is charged by the aforementioned charger, The aforementioned mobile robot A power receiving pad that receives power from the power transmitting pad, A sensor is positioned above the aforementioned power receiving pad to detect contact with a surrounding object, Equipped with an imaging device, The power transmitting surface of the power transmitting pad and the power receiving surface of the power receiving pad are arranged at an inclination in the vertical direction so as to face each other. The power receiving surface is inclined downwards such that the upper side of the power receiving surface protrudes more than the lower side of the power receiving surface. The power transmission surface is inclined to face upwards, In a top view, the tip of the sensor facing the power transmitting pad is positioned further out than the tip of the power receiving pad. A robot system in which the sensor is positioned between the imaging device and the power receiving pad in the vertical direction.

3. The charger is provided with a label that is imaged by the imaging device, The robot system according to claim 1 or 2, wherein the mobile robot moves backward based on the image captured of the label, thereby bringing the mobile robot closer to the charger.

4. The robot system according to claim 1 or 2, wherein the sensor is positioned outside the field of view of the imaging device.

5. The robot system according to claim 1 or 2, wherein the power receiving pad is provided on the rear side in the direction of movement of the mobile robot.

6. The robot system according to claim 1 or 2, wherein the power receiving pad and the power transmitting pad perform contactless charging.

Images