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JP2009015611A - Charging system, charging unit, and system for automatically charging moving robot - Google Patents

Charging system, charging unit, and system for automatically charging moving robotDownload PDF

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JP2009015611A
JP2009015611AJP2007176965AJP2007176965AJP2009015611AJP 2009015611 AJP2009015611 AJP 2009015611AJP 2007176965 AJP2007176965 AJP 2007176965AJP 2007176965 AJP2007176965 AJP 2007176965AJP 2009015611 AJP2009015611 AJP 2009015611A
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connection terminal
slide
robot
terminals
terminal portion
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Shigeru Oyokota
茂 大横田
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Figla Co Ltd
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Figla Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique capable of accurately coupling charging contacts together even if the position or approach angle of a moving robot is different when the robot returns to a charging station. <P>SOLUTION: A charging system includes: a first connection terminal part 13 provided on the moving robot 1; a second connection terminal part 14 provided on a charging unit 8; a misalignment detection means for detecting lateral misalignment between the first connection terminal part 13 and the second connection terminal part 14; a slide control means for correcting the misalignment between the two terminal parts 13, 14 by driving a slide drive means according to the misalignment detected; a back-and-forth drive means for moving the terminal of either the first or second connection terminal part 13, 14 back and forth in such a manner that the terminal can protrude and retract in a direction perpendicular to the lateral direction; and a connection control means for causing both terminals to protrude using the back-and-forth drive means while both terminal parts face each other with no substantial misalignment, and connecting both terminals to each other. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

Translated fromJapanese

本発明は、移動ロボットにおける充電システム、充電ユニットおよび自動充電システムに関するものである。  The present invention relates to a charging system, a charging unit, and an automatic charging system in a mobile robot.

本発明に係る従来技術として、移動ロボットが充電ステーションに自動的に帰還して、自動的に充電を行う様々な技術が提案されている（特許文献１〜３参照）。
特開２００６−２４４０２０（要約書）特開２００６−２３６１０９（要約書）特開２００６−２３１４４８（要約書）As the prior art according to the present invention, various techniques have been proposed in which the mobile robot automatically returns to the charging station and automatically charges (seePatent Documents 1 to 3).
JP 2006-244020 (Abstract) JP 2006-236109 (Abstract) JP2006-231448 (abstract)

前記特許文献１では、発信方向ごとに異なる信号パターンを有する指向性の探索信号を充電ステーションから移動ロボットに発信することにより、自動充電ステーションに対する移動ロボットの位置と方向を認識させて、充電ステーションに誘導している。
前記特許文献２では、複数のＲＦＩＤタグに充電ステーションの位置情報を記憶させて各所に配設し、それを移動ロボットに読み取らせることで充電ステーションに帰還させている。更に別の発明としては、撮像手段を用いた誘導手段等の従来技術が提案されている。InPatent Document 1, by transmitting a directional search signal having a different signal pattern for each transmission direction from the charging station to the mobile robot, the position and direction of the mobile robot relative to the automatic charging station are recognized, and the charging station Guided.
InPatent Document 2, the position information of the charging station is stored in a plurality of RFID tags and arranged at various places, and the mobile robot reads it to return to the charging station. As another invention, conventional techniques such as guiding means using imaging means have been proposed.

しかし、これらのような従来技術では、各種センサの精度誤差や移動ロボットの制御動作の精度誤差により、移動ロボットを充電ステーションの近傍にまで帰還させることはできるが、移動ロボットと充電ステーションとの接続端子とを精度良く結合させることは技術的に困難であった。  However, in the conventional techniques such as these, the mobile robot can be returned to the vicinity of the charging station due to the accuracy error of various sensors and the control error of the mobile robot, but the connection between the mobile robot and the charging station is not possible. It was technically difficult to connect the terminals with high accuracy.

そのため、この問題を解決するための従来技術として、移動ロボットと充電ステーションとの位置ズレが許容できるように幅広の充電接続面に用いたものがある。しかし、これでは接続面が大きく、複数のバッテリーを同時に充電させるための端子数を増やすことはできない。  For this reason, as a conventional technique for solving this problem, there is a technique used on a wide charging connection surface so that a positional deviation between the mobile robot and the charging station is allowed. However, this has a large connection surface, and the number of terminals for charging a plurality of batteries simultaneously cannot be increased.

一方、特許文献３では、移動ロボットが充電ステーションに進入してきた時に、充電ステーションの前方の床面に配設したアイドラローラで移動ロボットの進入角度のズレを修正する手段が提示されている。しかし、この技術では進入角度のズレは修正できるが、横方向の位置ズレを修正することはできず、接続端子を精度良く接続できないという問題が残っている。  On the other hand,Patent Document 3 proposes a means for correcting the shift of the approach angle of the mobile robot with an idler roller disposed on the floor surface in front of the charge station when the mobile robot enters the charge station. However, although this technique can correct the deviation of the approach angle, it cannot correct the positional deviation in the lateral direction, and there remains a problem that the connection terminals cannot be connected with high accuracy.

したがって、本発明の主目的は、移動ロボットの測距センサの精度誤差や走行制御動作の精度誤差などにより、充電ステーションに対して移動ロボットが帰還した時の位置ズレや進入角度ズレがあっても、充電用の接点同士が精度良く結合することができる技術を提供するものである。  Therefore, the main object of the present invention is to prevent positional deviation and approach angle deviation when the mobile robot returns to the charging station due to accuracy error of the distance measuring sensor of the mobile robot or accuracy error of the traveling control operation. The present invention provides a technique capable of accurately connecting charging contacts.

さらに、本発明の他の目的は、移動ロボット側の接続端子および充電ステーション側の接続端子が、人の手などに触れることによって感電したり、ホコリ等によって漏電を生じたりするのを防止するための技術を提供するものである。  Furthermore, another object of the present invention is to prevent the connection terminal on the mobile robot side and the connection terminal on the charging station from receiving an electric shock by touching a human hand or the like, or causing leakage due to dust or the like. Technology.

前記目的を達成するために、本発明の充電システムは、バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットと、床面もしくは壁面等に設置された充電ユニットとを備え、前記充電ユニットを介して前記バッテリの充電を行う充電システムであって、前記ロボットに設けられ複数の端子を有する第１接続端子部と、前記充電ユニットに設けられ、前記各端子に接続される複数の端子を有する第２接続端子部と、前記充電ユニットの第２接続端子部に前記ロボットの前記第１接続端子部が対面した状態となるように、前記ロボットの走行を制御する走行制御手段と、前記第１または第２接続端子部の一方をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、前記スライド支持手段によりスライド移動可能に支持された接続端子部を前記横方向にスライド移動させるスライド駆動手段と、前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、前記第１または第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記進退駆動手段により前記端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えている。  In order to achieve the above object, a charging system of the present invention includes a mobile robot that travels on a floor surface by rotating a traveling wheel with electric power from a battery, and a charging unit installed on the floor surface or a wall surface. A charging system for charging the battery via the charging unit, wherein the robot is provided with a first connection terminal portion having a plurality of terminals, a plurality of terminals provided in the charging unit and connected to the terminals. A second connection terminal portion having a terminal, and a travel control means for controlling the travel of the robot such that the first connection terminal portion of the robot faces the second connection terminal portion of the charging unit. A slide support means for slidably supporting one of the first or second connection terminal portions in a lateral direction perpendicular to the traveling direction of the robot, and the slide support means. A slide driving means for slidingly moving the connection terminal portion supported so as to be slidable in the lateral direction; a displacement detection means for detecting the lateral displacement between the first connection terminal portion and the second connection terminal portion; A slide control means for driving the slide drive means based on the detected deviation to correct the deviation between the two terminal portions, and a direction orthogonal to the lateral direction of the terminals of the first or second connection terminal portions A terminal support means for supporting the terminal so as to be able to project and retract, an advance / retreat driving means for advancing and retracting the terminal supported so as to project by the terminal support means in the projecting and retracting direction, and both the terminal portions face each other, and essentially Connection control means for projecting the terminal by the advance / retreat driving means to connect the two terminals to each other in a state in which there is no deviation or correction.

本発明によれば、ズレ検出手段により検出されたズレに基づいて、第１または第２接続端子部の一方をロボットの走行方向に直交する横方向にスライド移動させることにより、２つの端子部のズレを修正することにより、充電ステーションに対して移動ロボットが帰還した時の位置ズレや進入角度ズレがあっても、充電用の接点を位置精度良く結合させることができる。  According to the present invention, based on the displacement detected by the displacement detection means, one of the first or second connection terminal portions is slid in the lateral direction perpendicular to the traveling direction of the robot, thereby causing the two terminal portions to move. By correcting the misalignment, the charging contacts can be coupled with high positional accuracy even if there is a misalignment or an approach angle misalignment when the mobile robot returns to the charging station.

また、第１または第２接続端子部の端子が前記横方向に直交する方向に突出退避可能に設定されていると共に、本質的にズレがない状態または修正された状態で、前記端子を突出させて前記両端子を互いに接続させるので、人の手が触れることによる感電やホコリ等による漏電を防止することができる。  Further, the terminal of the first or second connection terminal portion is set so as to be able to protrude and retract in a direction orthogonal to the lateral direction, and the terminal is protruded in a state where there is essentially no deviation or in a corrected state. Thus, both terminals are connected to each other, so that it is possible to prevent an electric shock due to a human hand touching or a leakage due to dust or the like.

本発明において、前記スライド支持手段が前記ロボットに設けられ、前記ロボットの走行部に対し前記スライド支持手段を介してスライド移動可能なスライド部に前記第１接続端子部が設けられていてもよい。
かかる態様によれば、前記ロボットに設けられたスライド部をスライドさせることにより、第２接続端子部に対して第１接続端子部を接続することができる。In this invention, the said slide support means may be provided in the said robot, and the said 1st connection terminal part may be provided in the slide part which can be slid with respect to the running part of the said robot via the said slide support means.
According to this aspect, the first connection terminal portion can be connected to the second connection terminal portion by sliding the slide portion provided in the robot.

本発明において、前記スライド部には、所定の作業を行う作業部が設けられていてもよい。前記スライド部に設ける作業部としては、たとえば、清掃ロボットの場合には、床面のゴミの集塵や清拭を行う機能を設けることができる。  In the present invention, the slide part may be provided with a work part for performing a predetermined work. For example, in the case of a cleaning robot, the working unit provided on the slide unit can be provided with a function of collecting and cleaning dust on the floor surface.

本発明において、前記端子支持手段が前記充電ユニットに設けられていてもよい。  In the present invention, the terminal support means may be provided in the charging unit.

本発明において、前記２つの端子部が互いに平行となった状態で対面しているか否かを検出する傾き検出手段を更に備え、前記走行制御手段は、前記傾き検出手段で検出された傾きに基づいて前記ロボットを回転させて前記２つの端子部が互いに平行となるように前記ロボットの姿勢を制御するようにすれば、より一層、正確に両端子部を接続することができる。  In the present invention, there is further provided an inclination detecting means for detecting whether or not the two terminal portions face each other in a parallel state, and the travel control means is based on the inclination detected by the inclination detecting means. If the robot is rotated so that the posture of the robot is controlled so that the two terminal portions are parallel to each other, the two terminal portions can be more accurately connected.

本発明において、バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットと、床面もしくは壁面等に設置された充電ユニットとを備え、前記充電ユニットを介して前記バッテリの充電を行う充電システムであって、前記ロボットに設けられ複数の端子を有する第１接続端子部と、前記充電ユニットに設けられ、前記各端子に接続される複数の端子を有する第２接続端子部と、前記充電ユニットの第２接続端子部に前記ロボットの前記第１接続端子部が対面した状態となるように、前記ロボットの走行を制御する走行制御手段と、前記第１または第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、前記両端子部が互いに対面した状態状態で、前記進退駆動手段により前記端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えていてもよい。  In the present invention, a mobile robot that travels on a floor surface by rotating a traveling wheel with electric power from a battery, and a charging unit installed on the floor surface or a wall surface, the battery is charged via the charging unit. A charging system for performing a first connection terminal portion provided on the robot and having a plurality of terminals; a second connection terminal portion provided on the charging unit and having a plurality of terminals connected to the terminals; A travel control means for controlling the travel of the robot such that the first connection terminal portion of the robot faces the second connection terminal portion of the charging unit; and the first or second connection terminal portion Terminal support means for supporting the terminal so that it can protrude and retract in a direction orthogonal to the lateral direction, and a terminal supported so as to be able to protrude by the terminal support means are advanced and retracted in the protrusion and retract direction. A retraction drive means, said while the state in which both terminal portions facing each other, may be provided with a connection control means for connecting together the two terminals is protruded to the terminal by the advancing drive means.

本発明において、バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットと、床面もしくは壁面等に設置された充電ユニットとを備え、前記充電ユニットを介して前記バッテリの充電を行う充電システムであって、前記ロボットに設けられ複数の端子を有する第１接続端子部と、前記充電ユニットに設けられ、前記各端子に接続される複数の端子を有する第２接続端子部と、前記充電ユニットの第２接続端子部に前記ロボットの前記第１接続端子部が対面した状態となるように、前記ロボットの走行を制御する走行制御手段と、前記第１または第２接続端子部の一方をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、前記スライド支持手段によりスライド移動可能に支持された接続端子部を前記横方向にスライド移動させるスライド駆動手段と、前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記一方の端子を他方の端子に向って前進させて前記両端子を互いに接続させる接続制御手段とを備えていてもよい。  In the present invention, a mobile robot that travels on a floor surface by rotating a traveling wheel with electric power from a battery, and a charging unit installed on the floor surface or a wall surface, the battery is charged via the charging unit. A charging system for performing a first connection terminal portion provided on the robot and having a plurality of terminals; a second connection terminal portion provided on the charging unit and having a plurality of terminals connected to the terminals; A travel control means for controlling the travel of the robot such that the first connection terminal portion of the robot faces the second connection terminal portion of the charging unit; and the first or second connection terminal portion Slide support means for supporting one of the slides in a lateral direction perpendicular to the traveling direction of the robot, and a connection supported to be slidable by the slide support means Based on the detected displacement, slide drive means for sliding the child portion in the lateral direction, displacement detection means for detecting the lateral displacement between the first connection terminal portion and the second connection terminal portion, and The slide control means for driving the slide driving means to correct the deviation between the two terminal portions, the both terminal portions facing each other, and the state in which the deviation is essentially absent or corrected, Connection control means for advancing one terminal toward the other terminal and connecting the two terminals to each other may be provided.

本発明において、バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットに、床面もしくは壁面等に設置された充電ユニットを介して前記バッテリの充電を行う充電ユニットであって、前記ロボットに設けられた第１接続端子部の複数の各端子に接続される複数の端子を有する第２接続端子部と、前記第２接続端子部をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、前記第２接続端子部を前記横方向にスライド移動させるスライド駆動手段と、前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、前記第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記進退駆動手段により前記第２接続端子部の端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えていてもよい。  In the present invention, a charging unit that charges the battery via a charging unit installed on a floor surface or a wall surface to a mobile robot that travels on the floor surface by rotating traveling wheels with electric power from the battery, A second connection terminal portion having a plurality of terminals connected to a plurality of terminals of the first connection terminal portion provided on the robot; and the second connection terminal portion is slid in a lateral direction perpendicular to the traveling direction of the robot. Detecting the lateral displacement between the slide support means for movably supporting, the slide drive means for slidingly moving the second connection terminal portion in the lateral direction, and the first connection terminal portion and the second connection terminal portion. A displacement detecting means for performing the operation, a slide control means for driving the slide driving means based on the detected displacement to correct a displacement between the two terminal portions, and an end of the second connection terminal portion Terminal support means for supporting the terminal so as to be able to project and retract in a direction orthogonal to the lateral direction, advancing and retracting driving means for allowing the terminal supported by the terminal support means to project and retract in the projecting and retracting direction, and the both terminal portions. Connection control means for causing the terminals of the second connection terminal portion to project by the advancing / retreating driving means so as to connect the two terminals to each other in a state where they face each other and are essentially free of the deviation or are corrected. You may have.

本発明において、バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットに、床面もしくは壁面等に設置された充電ユニットを介して前記バッテリの充電を行う充電ユニットであって、前記ロボットに設けられた第１接続端子部の複数の各端子に接続される複数の端子を有する第２接続端子部と、前記第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記進退駆動手段により前記第２接続端子部の端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えていてもよい。  In the present invention, a charging unit that charges the battery via a charging unit installed on a floor surface or a wall surface to a mobile robot that travels on the floor surface by rotating traveling wheels with electric power from the battery, A second connection terminal portion having a plurality of terminals connected to a plurality of terminals of the first connection terminal portion provided in the robot, and a terminal of the second connection terminal portion project in a direction orthogonal to the lateral direction. The terminal support means for removably supporting, the advancing / retreating drive means for advancing / retreating the terminal supported by the terminal support means in a projecting and retracting direction, the both terminal portions face each other, and essentially the above There may be provided connection control means for projecting the terminals of the second connection terminal portion by the advance / retreat driving means to connect the both terminals to each other in a state where there is no deviation or in a corrected state.

本発明において、バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットに、床面もしくは壁面等に設置された充電ユニットを介して前記バッテリの充電を行う充電ユニットであって、前記ロボットに設けられた第１接続端子部の複数の各端子に接続される複数の端子を有する第２接続端子部と、前記第２接続端子部をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、前記第２接続端子部を前記横方向にスライド移動させるスライド駆動手段と、前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記一方の端子を他方の端子に向って前進させて前記両端子を互いに接続させる接続制御手段とを備えていてもよい。  In the present invention, a charging unit that charges the battery via a charging unit installed on a floor surface or a wall surface to a mobile robot that travels on the floor surface by rotating traveling wheels with electric power from the battery, A second connection terminal portion having a plurality of terminals connected to a plurality of terminals of the first connection terminal portion provided on the robot; and the second connection terminal portion is slid in a lateral direction perpendicular to the traveling direction of the robot. Detecting the lateral displacement between the slide support means for movably supporting, the slide drive means for slidingly moving the second connection terminal portion in the lateral direction, and the first connection terminal portion and the second connection terminal portion. A shift detecting means for driving, a slide control means for driving the slide driving means based on the detected shift to correct a shift between the two terminal portions, and the two terminal portions are mutually opposed. And connection control means for advancing the one terminal toward the other terminal so as to connect the two terminals to each other in a state in which there is essentially no deviation or in a corrected state. .

本発明における移動ロボットの自動充電システムにおいて、バッテリで床面を走行可能な移動ロボットと、床面に設置されて該移動ロボットのバッテリを充電するための充電ユニットとを備え、前記移動ロボットは、バッテリを搭載し、走行車輪を有する走行部と走行部に対してスライド駆動モータで横方向にスライド移動可能なスライド部とを備え、前記スライド部は、該スライド部のスライド方向から近接する物体を検知するための一対の側面物体検知センサと、前記スライド方向に垂直な方向から近接する物体を検知するための後面物体検知センサと、前記バッテリを充電するための複数の第一接続端子とを備え、前記充電ユニットには、前記充電ユニットの前面から前方に突出し、前記スライド部の幅と同等または若干広い幅で、前記スライド部を挟み込む形状一対のガイド部と、前記第一接続端子に対応した位置に設けられた複数の第二接続端子とを備え、前記移動ロボットの前記スライド部が前記充電ユニットに対面した状態で走行している際に、前記充電ユニットの前記ガイド部を一方の前記側面物体検知センサが検知した時には、当該一方の前記センサが前記ガイド部を検知しなくなる方向に前記スライド部をスライドさせ、前記充電ユニットを前記後面物体検知センサが検知した時は、前記移動ロボットの走行動作と前記スライド部のスライド動作とを停止させて、前記第一接続端子を前記第二接続端子に電気的に接続させる接続制御手段を設けてもよい。  In the automatic charging system for a mobile robot according to the present invention, the mobile robot includes a mobile robot capable of traveling on a floor surface with a battery, and a charging unit installed on the floor surface for charging the battery of the mobile robot, A traveling part having a battery and having traveling wheels, and a sliding part that can be slid laterally by a slide drive motor with respect to the traveling part, the sliding part is configured to remove an object close to the sliding direction of the sliding part. A pair of side object detection sensors for detecting, a rear object detection sensor for detecting an object approaching from a direction perpendicular to the sliding direction, and a plurality of first connection terminals for charging the battery. The charging unit protrudes forward from the front surface of the charging unit and has a width equal to or slightly wider than the width of the slide portion. A pair of guide portions sandwiching the slide portion and a plurality of second connection terminals provided at positions corresponding to the first connection terminals, with the slide portion of the mobile robot facing the charging unit When one of the side object detection sensors detects the guide part of the charging unit while traveling, the slide part is slid in a direction in which the one sensor does not detect the guide part, When the rear object detection sensor detects the charging unit, the traveling operation of the mobile robot and the sliding operation of the slide portion are stopped, and the first connection terminal is electrically connected to the second connection terminal. Connection control means may be provided.

発明の概要：
本発明の移動ロボットは、例えば、バッテリ駆動で床面を移動し、床面のゴミの集塵や清拭作業等を行うような清掃ロボットと、そのバッテリを自動で充電するための充電ステーションに係るものである。Summary of the invention:
The mobile robot of the present invention is, for example, a cleaning robot that moves on a floor surface driven by a battery and collects dust on the floor surface, or performs a wiping operation, and a charging station for automatically charging the battery. It is concerned.

ただし、ゴミの集塵作業を行う清掃ロボットを例示して、以下、具体的に説明するが、移動ロボットは、清掃ロボットに限定されるものではなく、たとえば、警備ロボットや案内ロボットなどの床面上を走行するものであればよい。  However, a cleaning robot that performs dust collection work will be exemplified and will be described in detail below. However, the mobile robot is not limited to the cleaning robot, for example, a floor surface of a security robot, a guide robot, or the like. Anything that travels above is acceptable.

前記清掃ロボットの走行部は、バッテリを搭載し、左右に独立駆動車輪と前後に自在キャスタで直進走行、カーブ走行、その場回転を行うことができる走行部を有し、走行部の後ろ側には床面のゴミを回転ブラシで掃きながら吸い込むための集塵作業部を脱着可能に配設されている。走行部の上側には、集塵作業部で床面のゴミを吸い上げるためのバキューム装置を内蔵してゴミを溜めるための集塵タンク部が脱着可能に配設されている。  The traveling part of the cleaning robot is equipped with a battery, and has a traveling part that can perform straight traveling, curve traveling, and in-situ rotation with independent drive wheels on the left and right and front and rear casters, and behind the traveling part. Is provided with a dust collecting work part for detaching the dust on the floor surface while sweeping it with a rotating brush. On the upper side of the traveling unit, a vacuum collecting device for sucking up dust on the floor surface in the dust collecting working unit is built in, and a dust collecting tank unit for collecting the dust is detachably disposed.

更に、清掃ロボットを充電ステーションに帰還させるために、走行部にリモート信号発信機と２個の超音波受信機を備えるとともに、充電ステーションにはリモート信号受信機と２個の超音波発信機を備えている。  Furthermore, in order to return the cleaning robot to the charging station, the traveling unit is provided with a remote signal transmitter and two ultrasonic receivers, and the charging station is provided with a remote signal receiver and two ultrasonic transmitters. ing.

移動ロボットのリモート信号発信機が信号を発信し、リモート信号受信機がその信号を受信すると、充電ステーションの２個の超音波発信機を発信させる。それらの超音波を移動ロボットの２個の超音波受信機が受信することにより、移動ロボットと充電ステーションとの距離と角度を算出して認識する。これを何度か繰り返しながら、移動ロボットは充電ステーション前方の所定の位置まで帰還して停止することができる。  When the remote signal transmitter of the mobile robot transmits a signal and the remote signal receiver receives the signal, the two ultrasonic transmitters of the charging station are transmitted. When the two ultrasonic receivers of the mobile robot receive these ultrasonic waves, the distance and angle between the mobile robot and the charging station are calculated and recognized. While repeating this several times, the mobile robot can return to a predetermined position in front of the charging station and stop.

また、本発明において、障害物を回避しながらの走行や壁倣い走行を行わせるために、図４Ａ〜図４Ｃの走行部２には左右にスライド可能な集塵作業部６を有している。集塵作業部６には、障害物や壁などのスライド方向からの近接物体を検知するための側面物体検知センサと、バック走行時などのスライド方向に垂直な方向からの近接物体を検知するための後面物体検知センサを備えている。これらの検知センサに関しては、本出願人が特開2006-079145 にて出願済みである。
そして更に集塵作業部の後面には、バッテリを充電するための第一接続端子を備えている。Further, in the present invention, the travelingunit 2 in FIGS. 4A to 4C has a dustcollection working unit 6 that can slide to the left and right in order to perform traveling while avoiding obstacles and traveling along the wall. . The dustcollection working unit 6 includes a side object detection sensor for detecting an object close to the sliding direction such as an obstacle or a wall, and an object close to the sliding direction perpendicular to the sliding direction such as when traveling backward. The rear object detection sensor is provided. As for these detection sensors, the present applicant has filed an application in Japanese Patent Laid-Open No. 2006-079145.
In addition, the rear surface of the dust collection working unit is provided with a first connection terminal for charging the battery.

一方、充電ステーション両側方部には、集塵作業部を所定の位置に案内するための充電ユニットの前面より突出し、集塵作業部の幅と同等または若干広い幅で、スライド部を嵌合する形状のガイド部が配設され、第一接続端子に対応する位置に複数の第二接続端子とを備えている。  On the other hand, the both sides of the charging station protrude from the front surface of the charging unit for guiding the dust collecting working part to a predetermined position, and the sliding parts are fitted with a width equal to or slightly wider than the width of the dust collecting working part. A guide portion having a shape is provided, and a plurality of second connection terminals are provided at positions corresponding to the first connection terminals.

上述したように、移動ロボットが充電ステーション前方の所定の位置まで帰還して停止する。そしてその場で１８０°回転した後に、集塵作業部を充電ステーション側に向けて後退走行を開始する。この時、充電ステーションの両端に配設しているガイドに集塵作業部の側面物体検知センサが接触を検知すると、接触したガイドから集塵作業部が離れる方向にスライド動作する。更に後退移動すると、充電ステーションに集塵作業部の後面物体検知センサが接触を検知して、移動ロボットの後退移動動作とスライド動作を停止させた後、第一接続端子と第二接続端子を電気的に接続させるようにしたことを特徴とする。 これにより、清掃ロボットの第一接続端子と充電ステーションの第二接続端子の位置が精度良く対応したことになる。  As described above, the mobile robot returns to a predetermined position in front of the charging station and stops. Then, after rotating 180 ° on the spot, the vehicle starts to move backward with the dust collection unit facing the charging station. At this time, when the side object detection sensor of the dust collection working unit detects contact with the guides disposed at both ends of the charging station, the dust collection working unit slides in a direction away from the contacted guide. When the vehicle further moves backward, the rear surface object detection sensor of the dust collection work unit detects contact with the charging station, stops the backward movement operation and the sliding operation of the mobile robot, and then electrically connects the first connection terminal and the second connection terminal. It is characterized in that it is made to connect automatically. As a result, the positions of the first connection terminal of the cleaning robot and the second connection terminal of the charging station correspond to each other with high accuracy.

また、後面物体検知センサは、集塵作業部のスライド方向に離間した位置に少なくとも２個の後面物体検知センサが配置されていてもよい。集塵作業部に充電ユニットが当接したことを１個の後面物体検知センサが検知した時は、未検知の他の後面検知センサも検知する方向に走行部を回転させ、少なくとも２個の後面検知センサが検知した状態になったところで回転動作を停止させる。
これにより、清掃ロボットの第一接続端子と充電ステーションの第二接続端子の位置と対面する角度が精度良く対応したことになる。Further, at least two rear surface object detection sensors may be arranged at positions separated from each other in the sliding direction of the dust collection working unit. When one rear object detection sensor detects that the charging unit has come into contact with the dust collecting work part, the traveling part is rotated in a direction to detect another undetected rear sensor, and at least two rear parts are detected. The rotation operation is stopped when the detection sensor is in the detected state.
Thereby, the angle which faces the position of the 1st connection terminal of a cleaning robot and the 2nd connection terminal of a charging station respond | corresponded with sufficient precision.

また、前記第一接続端子は、集塵作業部の外部に一部露出している複数の第一露出接続端子と第一露出接続端子と対面した位置で離間して配置され、バッテリに接続された複数の第一離間接続端子とで構成されていてもよい。充電ステーション側の第二接続端子が集塵作業部に向けて近接し、第一露出接続端子に当接して押し込まれると、第一露出接続端子と第一離間接続端子とが接触して電気的に接続される。  In addition, the first connection terminal is disposed at a position facing the first exposure connection terminal and the plurality of first exposure connection terminals that are partially exposed to the outside of the dust collection working unit, and is connected to the battery. In addition, a plurality of first spaced connection terminals may be included. When the second connection terminal on the charging station side is close to the dust collection working part and is pressed in contact with the first exposed connection terminal, the first exposed connection terminal and the first separated connection terminal come into contact with each other and are electrically Connected to.

これにより、第一露出端子が充電ステーションの第二接続端子に当接していない時には、第一露出端子とバッテリは電気的に接続していないため、第一露出端子に人の手が触れることによる感電やホコリ等による漏電を防止することができる。  As a result, when the first exposed terminal is not in contact with the second connection terminal of the charging station, the first exposed terminal and the battery are not electrically connected. Electric leakage due to electric shock or dust can be prevented.

また、充電ステーションの第二接続端子は、接続端子駆動モータにより充電ユニットの外に押し出される複数の第二露出接続端子と、第二露出接続端子と離間して配置され、充電器と電気的に接続された複数の第二離間接続端子とからなり、接続端子駆動モータにより第二露出接続端子が押し出された時にのみ第二露出接続端子と第二離間接続端子とが電気的に接続されるようにしてもよい。
これにより、第二露出端子が集塵作業部の第一接続端子に当接していない時には、第二露出端子と充電器は電気的に接続していないため、第二露出端子に人の手が触れることによる感電やホコリ等による漏電を防止することができる。In addition, the second connection terminal of the charging station is disposed apart from the plurality of second exposed connection terminals that are pushed out of the charging unit by the connection terminal drive motor, and the second exposed connection terminals, and is electrically connected to the charger. The second exposed connection terminal and the second spaced connection terminal are electrically connected only when the second exposed connection terminal is pushed out by the connection terminal drive motor. It may be.
As a result, when the second exposed terminal is not in contact with the first connection terminal of the dust collection working unit, the second exposed terminal and the charger are not electrically connected. It is possible to prevent electric shock due to touching or leakage due to dust or the like.

また、移動ロボットの自動充電システムは、清掃ロボットに限定するものではないが、特にスライド部を床面のゴミの集塵や清拭を行うための作業部とすることにより、機能上で一層効果的である。  In addition, the automatic charging system for mobile robots is not limited to cleaning robots, but it is more effective in terms of function by making the slide part a working part for collecting and cleaning dust on the floor. Is.

また、走行部に連結された前記集塵作業部は、床面に対して昇降駆動モータで昇降動作を行う昇降機構を有することで、床面の清掃作業時には床面に集塵作業部を近接させた状態で清掃作業を行うことができるようにしてもよい。清掃作業を行わずに移動する時には、床面から離れる方向に持ち揚げることで移動のための走行動作への負荷を軽減することができる。  In addition, the dust collection working unit connected to the traveling unit has a lifting mechanism that lifts and lowers the floor surface with a lifting drive motor, so that the dust collection working unit is brought close to the floor surface during cleaning of the floor surface. You may enable it to perform cleaning work in the made state. When moving without performing the cleaning work, it is possible to reduce the load on the traveling operation for moving by lifting in the direction away from the floor surface.

この昇降機構を利用することで、移動ロボットが充電ユニットに対して所定の位置に来た時に、スライド部を昇降機構で床面側に降ろす方向又は床面から上げる動作を行い、この動作で第一接続端子と第二接続端子を上下方向で電気的に接続するようにしてもよい。この場合には、前記接続端子駆動モータを設ける必要がなくなる。  By using this lifting mechanism, when the mobile robot comes to a predetermined position with respect to the charging unit, the sliding part is moved down or raised from the floor by the lifting mechanism, and this operation The one connection terminal and the second connection terminal may be electrically connected in the vertical direction. In this case, it is not necessary to provide the connection terminal drive motor.

以下、本発明の実施例を図面にしたがって説明する。
図１〜図１０は実施例１を示す。Embodiments of the present invention will be described below with reference to the drawings.
1 to 10 show a first embodiment.

全体構成：
図１と図２は、本発明に係る清掃ロボット（移動ロボットの一例）１および充電ステーション８の要部の構成を示す。走行部２は２個のバッテリ３を内蔵し、左右の独立駆動車輪（走行車輪）４と前後の自在キャスタ５で直進走行、カーブ走行、その場での回転を行うことができる。overall structure:
FIG. 1 and FIG. 2 show the configuration of the main parts of a cleaning robot (an example of a mobile robot) 1 and a chargingstation 8 according to the present invention. The travelingunit 2 incorporates twobatteries 3 and can perform straight traveling, curved traveling, and rotation on the spot with the left and right independent drive wheels (traveling wheels) 4 and the front and rearfree casters 5.

走行部２の後ろ側には、床面のゴミを回転ブラシで掃きながら吸い込むための集塵作業部（スライド部）６を脱着可能に配設している。走行部２の上側には、集塵作業部６で床面のゴミを吸い上げるためのバキューム装置を内蔵してゴミを溜めるための集塵タンク部７が脱着可能に配設されている。前記集塵作業部６には、清掃ロボット１の充電を行うための第１接続端子部１３が設けられている。
一方、充電ステーション８は、床面もしくは壁面等に予め設置されていると共に、前記清掃ロボット１の充電を行うための第２接続端子部１４が設けられた充電ユニット１４ａを備えている。A dust collection work part (slide part) 6 for sucking the dust on the floor surface while sweeping it with a rotating brush is detachably disposed behind the travelingpart 2. On the upper side of the travelingunit 2, a dustcollecting tank unit 7 for collecting dust by incorporating a vacuum device for sucking up dust on the floor surface by thedust collecting unit 6 is detachably disposed. The dustcollection working part 6 is provided with a firstconnection terminal part 13 for charging thecleaning robot 1.
On the other hand, the chargingstation 8 includes acharging unit 14a that is provided in advance on a floor surface or a wall surface and is provided with a secondconnection terminal portion 14 for charging thecleaning robot 1.

清掃ロボット１：
図５に示すように、清掃ロボット１には左右の走行車輪４を走行用タイミングベルト４５を介して回転駆動させる一対の駆動モータＭｒが設けられている。Cleaning robot 1:
As shown in FIG. 5, the cleaningrobot 1 is provided with a pair of drive motors Mr that rotate the left and right travelingwheels 4 via a traveling timing belt 45.

清掃ロボット１の後方には、前記集塵作業部６を清掃ロボット１の走行方向Ｙに直交する横方向Ｗにスライド移動可能に支持するスライド支持手段５２が設けられている。スライド支持手段５２は、清掃ロボット１の走行部２に設けたスライドガイド５０と、該スライドガイド５０に沿って集塵作業部６を横方向Ｗに移動可能に支持するスライド板５１により構成されている。
前記集塵作業部６は、スライド板５１が、スライド用タイミングベルト５５を介してスライド駆動モータＭｓにより、前記横方向Ｗにスライド移動されることにより、該横方向Ｗにスライド移動される。したがって、スライド用タイミングベルト５５およびスライド駆動モータＭｓは、集塵作業部６および該集塵作業部６に設けられた第１接続端子部１３を横方向Ｗにスライド移動させるスライド移動手段５６を構成している。Behind thecleaning robot 1, there is provided a slide support means 52 that supports the dustcollection working unit 6 so as to be slidable in a lateral direction W orthogonal to the traveling direction Y of the cleaningrobot 1. The slide support means 52 includes aslide guide 50 provided in the travelingunit 2 of the cleaningrobot 1, and aslide plate 51 that supports the dustcollection working unit 6 movably in the lateral direction W along theslide guide 50. Yes.
The dustcollection working unit 6 is slid in the lateral direction W when theslide plate 51 is slid in the lateral direction W by the slide drive motor Ms via the slidingtiming belt 55. Accordingly, theslide timing belt 55 and the slide drive motor Ms constitute the slide moving means 56 that slides the dustcollection working part 6 and the firstconnection terminal part 13 provided in the dustcollection work part 6 in the lateral direction W. is doing.

清掃ロボット１の機器構成：
図６に示すように、清掃ロボット１の走行部２には、前記駆動モータＭｒの制御を行うための走行制御手段６１が設けられている。走行制御手段６１により、清掃ロボット１の走行が制御され、種々の走行パターンで清掃ロボット１が走行されると共に、後述するように、集塵作業部６の第２接続端子部１４に清掃ロボット１の第１接続端子部１３が対面した状態になるように、清掃ロボット１の走行が制御される。Equipment configuration of cleaning robot 1:
As shown in FIG. 6, the travelingunit 2 of the cleaningrobot 1 is provided with a traveling control means 61 for controlling the drive motor Mr. The travel of the cleaningrobot 1 is controlled by the travel control means 61, and thecleaning robot 1 is traveled in various travel patterns. As will be described later, the cleaningrobot 1 is connected to the secondconnection terminal portion 14 of the dust collectingwork unit 6. The traveling of the cleaningrobot 1 is controlled so that the firstconnection terminal portion 13 is in a facing state.

前記集塵作業部６の周囲にはバンパ１５が設けられている。前記集塵作業部６には、前記バンパ１５が、障害物や充電ステーション８などに接触したか否かを検出するためのバンパセンサ６３が、集塵作業部６の横方向Ｗの左右にそれぞれ設けられている。
前記バンパセンサ６３は、清掃ロボット１が充電ステーション８を介してバッテリ３の充電を行う際には、第１接続端子部１３と第２接続端子部１４との横方向Ｗのズレを検出するズレ検出手段を構成している。Abumper 15 is provided around the dustcollection working unit 6. Bumper sensors 63 for detecting whether or not thebumper 15 has come into contact with an obstacle, the chargingstation 8 or the like are provided in the dustcollection work unit 6 on the left and right in the lateral direction W of the dustcollection work unit 6, respectively. It has been.
When the cleaningrobot 1 charges thebattery 3 via the chargingstation 8, the bumper sensor 63 detects a displacement in the lateral direction W between the firstconnection terminal portion 13 and the secondconnection terminal portion 14. Means.

前記走行部２には、スライド駆動モータＭｓを制御するためのスライド制御手段６２が設けられており、該スライド制御手段６２は、バンパセンサ６３が検出したズレに基づき、前記スライド移動手段５６（図５）を駆動して２つの接続端子部１３，１４のズレを修正する。  The travelingunit 2 is provided with a slide control means 62 for controlling the slide drive motor Ms, and the slide control means 62 is based on the displacement detected by the bumper sensor 63 and is responsive to the slide movement means 56 (FIG. 5). ) To correct the misalignment between the twoconnection terminals 13 and 14.

清掃ロボット１の充電のための帰還動作：
図２に示す清掃ロボット１を充電ステーション８に帰還させるために、走行部２にはリモート信号発信機９と２個の超音波受信機１０（図１）を備えるとともに、充電ステーションには複数のリモート信号受信機１１と２個の超音波発信機１２を備えている。これにより、清掃ロボット１のリモート信号発信機９が信号を発信し、リモート信号受信機１１がその信号を受信すると、２個の超音波発信機１２は混信しないように所定時間タイミングをずらして発信させる。
それらの超音波を清掃ロボット１の２個の超音波受信機１０が受信することにより、清掃ロボット１と充電ステーション８との距離と角度を算出して認識する。これを何度か繰り返しながら、清掃ロボット１は充電ステーション８前方の所定の位置まで帰還して停止する。Return action for charging cleaning robot 1:
In order to return thecleaning robot 1 shown in FIG. 2 to the chargingstation 8, the travelingunit 2 includes aremote signal transmitter 9 and two ultrasonic receivers 10 (FIG. 1). Aremote signal receiver 11 and twoultrasonic transmitters 12 are provided. As a result, when theremote signal transmitter 9 of the cleaningrobot 1 transmits a signal and theremote signal receiver 11 receives the signal, the twoultrasonic transmitters 12 are shifted at predetermined timings so as not to interfere with each other. Let
When the twoultrasonic receivers 10 of the cleaningrobot 1 receive these ultrasonic waves, the distance and angle between the cleaningrobot 1 and the chargingstation 8 are calculated and recognized. While repeating this several times, the cleaningrobot 1 returns to a predetermined position in front of the chargingstation 8 and stops.

集塵作業部６の後面には、６個の端子１８（図８）を備えた第１接続端子部１３が配設され、それらと対面して接続するために、充電ステーション８の前面には同じく６個の端子２４（図１０）を備えた第２接続端子部１４が配設されている。
バッテリ３（図１）を充電するためには、正極、負極の端子に加えて、過充電にならないように充電完了のタイミングを図るための温度センサ端子が一般に必要とされている。この実施例では、２個のバッテリを備えており、バッテリの固体差にも対応できるようにそれぞれ独立的に充電できるようにするため、全６個の接続端子を設けている。A firstconnection terminal portion 13 having six terminals 18 (FIG. 8) is disposed on the rear surface of the dustcollection working portion 6. Similarly, a secondconnection terminal portion 14 having six terminals 24 (FIG. 10) is disposed.
In order to charge the battery 3 (FIG. 1), in addition to the positive and negative terminals, a temperature sensor terminal is generally required for timing the completion of charging so as not to overcharge. In this embodiment, two batteries are provided, and a total of six connection terminals are provided so that each battery can be charged independently so as to be able to cope with individual differences of batteries.

図３は、清掃ロボット１と充電ステーション８との距離と角度を確認しながら帰還動作中と、充電ステーション８前面の所定位置に向けて帰還した状態を示している。
清掃ロボット１の周囲に複数配設したリモート信号発信機９から信号を発信し、充電ステーション８のリモート信号受信機１１a 、１１ｂ、１１ｃがその信号を受けると、充電ステーション８の距離Ｒ離れた２個の超音波発信機１２a と１２ｂは所定時間タイミングをずらして発信する。それらの超音波を清掃ロボット１の左右振り分けで離れて配置した２個の超音波受信機１０a 、１０b が受信し、超音波の到達時間から清掃ロボット１と充電ステーション８との距離Ｍ１、Ｍ２、Ｎ１、Ｎ２の距離を計測する。
なお、リモート信号受信機１１a 、１１b 、１１c を３個設けているのは、受信の指向角度を広げるためである。FIG. 3 shows a state in which a return operation is being performed while confirming the distance and angle between the cleaningrobot 1 and the chargingstation 8 and a state in which thecleaning robot 1 returns toward a predetermined position on the front surface of the chargingstation 8.
When a signal is transmitted from a plurality ofremote signal transmitters 9 disposed around the cleaningrobot 1 and theremote signal receivers 11a, 11b, and 11c of the chargingstation 8 receive the signals, the distance R of the chargingstation 8 is separated by 2 Theultrasonic transmitters 12a and 12b transmit with a predetermined time shift. These ultrasonic waves are received by two ultrasonic receivers 10a and 10b which are separated by the left and right distribution of the cleaningrobot 1, and the distances M1, M2 between the cleaningrobot 1 and the chargingstation 8 are determined from the arrival time of the ultrasonic waves. The distance between N1 and N2 is measured.
The reason why threeremote signal receivers 11a, 11b and 11c are provided is to widen the directivity angle of reception.

充電ステーション８の中央をＸＹ座標の原点（０，０）とし、清掃ロボット１の超音波受信機１０a の座標を（Ｘ1 、Ｙ１）とし、超音波受信機１０ｂの座標を（Ｘ２、Ｙ２）とすると、下記の関係式(1),(2) が成り立つ。
Ｍ１2＝（Ｘ1 ＋Ｒ／２）2＋Ｙ１2 …(1)
Ｍ２2＝（Ｘ1 −Ｒ／２）2＋Ｙ１2 …(2)The center of the chargingstation 8 is the origin of the XY coordinates (0, 0), the coordinates of the ultrasonic receiver 10a of the cleaningrobot 1 are (X1, Y1), and the coordinates of the ultrasonic receiver 10b are (X2, Y2). Then, the following relational expressions (1) and (2) are established.
M12 = (X1 + R / 2)2 + Y12 (1)
M22 = (X1−R / 2)2 + Y12 (2)

この２式より、下記の(3),(4) 式に基づいて、超音波受信機１０a の座標（Ｘ1 、Ｙ１）を算出することができる。
Ｘ１＝（Ｍ１2−Ｍ２2）／（２Ｒ） …(3)
Ｙ１＝［Ｍ１2−｛（Ｍ１2−Ｍ２2）／（２Ｒ）＋（Ｒ／２）｝2］1/2 …(4)
同様に、下記の(5),(6) 式に基づいて、超音波受信機１０ｂの座標（Ｘ1 、Ｙ１）も算出することができる
Ｘ２＝（Ｎ１2−Ｎ２2）／（２Ｒ） …(5)
Ｙ２＝［Ｎ１2−｛（Ｎ１2−Ｎ２2）／（２Ｒ）＋（Ｒ／２）｝2］1/2 …(6)
そして、超音波受信機１０ａと１０ｂの中央の座標（Ｘｏ，Ｙｏ）と、充電ステーションに対する対面角度θも下記の(7) 〜(9) 式に基づいて算出できる。
Ｘｏ＝（Ｘ１＋Ｘ２）／２ …(7)
Ｙｏ＝（Ｙ１＋Ｙ２）／２ …(8)
θ＝ｔａｎ-1｛（Ｙ２−Ｙ１）／（Ｘ1 −Ｘ2 ）｝ …(9)From these two equations, the coordinates (X1, Y1) of the ultrasonic receiver 10a can be calculated based on the following equations (3) and (4).
X1 = (M12 −M22 ) / (2R) (3)
Y1 = [M12 − {(M12 −M22 ) / (2R) + (R / 2)}2 ]1/2 (4)
Similarly, the coordinates (X1, Y1) of the ultrasonic receiver 10b can also be calculated based on the following equations (5), (6): X2 = (N12 −N22 ) / (2R) ( Five)
Y2 = [N12 − {(N12 −N22 ) / (2R) + (R / 2)}2 ]1/2 (6)
The central coordinates (Xo, Yo) of the ultrasonic receivers 10a and 10b and the facing angle θ with respect to the charging station can also be calculated based on the following equations (7) to (9).
Xo = (X1 + X2) / 2 (7)
Yo = (Y1 + Y2) / 2 (8)
θ = tan−1 {(Y2−Y1) / (X1−X2)} (9)

このように、充電ステーション８に対する清掃ロボット１の位置と角度を認識することができる。これを何度か繰り返し、図３の右側に示したように、充電ステーション８前面の所定位置に向かうように清掃ロボット１を走行させて帰還し、その場で停止させることができる。  Thus, the position and angle of the cleaningrobot 1 with respect to the chargingstation 8 can be recognized. This is repeated several times, and as shown on the right side of FIG. 3, the cleaningrobot 1 can travel and return to a predetermined position on the front surface of the chargingstation 8 and can be stopped on the spot.

図４Ａは、清掃ロボット１が充電ステーション８前面の所定位置に停止した後、その場で１８０°回転し、バック走行しているところを示している。ただし、この時、清掃ロボット１が、充電ステーション８への帰還走行中に超音波の測定誤差や走行制御誤差などで位置ズレをしたり、その場の１８０°回転で位置ズレΔＸを発生させた場合を示している。そして、清掃ロボット１は、その状態のまま矢印方向に集塵作業部６を前側にして、バック走行を開始する。  FIG. 4A shows a state where the cleaningrobot 1 stops at a predetermined position on the front surface of the chargingstation 8 and then rotates 180 degrees on the spot and travels backward. However, at this time, the cleaningrobot 1 is displaced due to an ultrasonic measurement error, a traveling control error, or the like during return traveling to the chargingstation 8, or a positional displacement ΔX is generated by 180 ° rotation on the spot. Shows the case. Then, the cleaningrobot 1 starts back traveling with the dustcollection working unit 6 in the direction of the arrow in the forward direction in the state.

図４Ｂは、図４Ａの状態から清掃ロボット１がバック走行を行った時に、集塵作業部６に配設したバンパ１５が充電ステーション８の両側に設けた２個のガイド１６ａ、１６ｂの内のガイド１６ａに接触したところを示している。  FIG. 4B shows that thebumper 15 disposed in the dustcollection work unit 6 is located in the twoguides 16 a and 16 b provided on both sides of the chargingstation 8 when the cleaningrobot 1 performs the back running from the state of FIG. The place which contacted the guide 16a is shown.

バンパ１５に障害物に当たると、集塵作業部６に対してバンパ１５は、清掃ロボット１のバック走行の方向Ｙ１に直交する前記横方向Ｗにスライド移動することができ、集塵作業部６には、前述したように、それがどの方向から当たったのかを検知できるようなバンパセンサ６３（図６）が内蔵されている。  When thebumper 15 hits an obstacle, thebumper 15 can slide in the lateral direction W perpendicular to the back travel direction Y1 of the cleaningrobot 1 with respect to the dustcollection work unit 6. As described above, a bumper sensor 63 (FIG. 6) is incorporated so that it can be detected from which direction it hits.

前記バンパセンサ６３（図６）により、バンパ１５がガイド１６ａに接触したことを検知して、集塵作業部６はバンパ１５がガイド１６ａから離れる横方向Ｗ（矢印の方向）にスライド動作を行いながらバック走行を続ける。即ち、ガイド１６ａと１６ｂの間隔は、集塵作業部６と略同じか又は若干広く設定されているため、ガイド１６ａと１６ｂの間に、集塵作業部６が納まるようにバック走行する。  The bumper sensor 63 (FIG. 6) detects that thebumper 15 has come into contact with the guide 16a, and the dustcollection working unit 6 performs a sliding operation in the lateral direction W (in the direction of the arrow) in which thebumper 15 is separated from the guide 16a. Continue running back. That is, since the distance between theguides 16a and 16b is set to be approximately the same as or slightly wider than that of the dustcollection work unit 6, the vehicle travels back so that the dustcollection work unit 6 is accommodated between theguides 16a and 16b.

図４Ｃは、充電ステーション８の前面に設けられた４個のストッパピン１７ａ、１７ｂ、１７ｃ、１７ｄに集塵作業部６のバンパ１５が前記ストッパピン１７ａ、１７ｂ、１７ｃ、１７ｄのそれぞれに接触したところを示している。この時、前記バンパセンサ６３（図６）がストッパピン１７ａ、１７ｂ、１７ｃ、１７ｄに接触したことを検知するため、清掃ロボット１のバック走行が停止する。  FIG. 4C shows that thebumper 15 of the dustcollection working unit 6 contacts the stopper pins 17a, 17b, 17c, and 17d on the fourstopper pins 17a, 17b, 17c, and 17d provided on the front surface of the chargingstation 8. However, it shows. At this time, the back running of the cleaningrobot 1 is stopped in order to detect that the bumper sensor 63 (FIG. 6) has come into contact with the stopper pins 17a, 17b, 17c, and 17d.

ところで、もしも、位置ズレΔＸ（図４Ａ）だけでなく、充電ステーションに対して対面角度θもズレていた場合には、４個のストッパピン１７ａ、１７ｂ、１７ｃ、１７ｄの内の外側のストッパピン１７ａ又は１７ｄが先に接触する。そこで、接触していない側に近接するように走行部２をゆっくりと回転動作させ、接触していなかった側のストッパピン１７ａ又は１７ｄもバンパ１５に接触したところで回転動作を停止すれば良い。以上で清掃ロボット１の集塵部６は充電ステーション８に対して、所定の位置に正確に帰還した状態になる。  By the way, if not only the positional deviation ΔX (FIG. 4A) but also the facing angle θ with respect to the charging station, the outer stopper pin among the fourstopper pins 17a, 17b, 17c, 17d. 17a or 17d contacts first. Therefore, the travelingunit 2 may be rotated slowly so as to approach the non-contact side, and the rotation operation may be stopped when thestopper pin 17a or 17d on the non-contact side also contacts thebumper 15. Thus, thedust collection unit 6 of the cleaningrobot 1 is accurately returned to the predetermined position with respect to the chargingstation 8.

図６に示す４個のストッパピン１７ａ、１７ｂ、１７ｃ、１７ｄの内のストッパピン１７ｂと１７ｃの内の先端には、接触検知センサ６４が設けられている。このストッパピン１７ｂと１７ｃがバンパ１５と接触した時には、接触検知センサ６４が充電ステーション８に清掃ロボット１が帰還したことを検知し、集塵作業部６の第１接続端子部１３と充電ステーション８の第２接続端子部１４の連結動作に移行する。
したがって、接触検知センサ６４は、前記２つの端子部１３，１４が互いに平行となった状態で対面しているか否かを検出する傾き検出手段を構成している。前記走行制御手段６１は、前記接触検知センサ６４で検出された傾きに基づいて清掃ロボット１を回転させて前記２つの端子部１３，１４が互いに平行となるように清掃ロボット１の姿勢を制御する。A contact detection sensor 64 is provided at the tip of the stopper pins 17b and 17c among the fourstopper pins 17a, 17b, 17c and 17d shown in FIG. When the stopper pins 17b and 17c come into contact with thebumper 15, the contact detection sensor 64 detects that the cleaningrobot 1 has returned to the chargingstation 8, and the firstconnection terminal portion 13 of the dustcollection working unit 6 and the chargingstation 8 are detected. The operation shifts to the connecting operation of the secondconnection terminal portion 14.
Therefore, the contact detection sensor 64 constitutes an inclination detection means for detecting whether or not the twoterminal portions 13 and 14 are facing each other in a parallel state. The traveling control means 61 controls the posture of the cleaningrobot 1 so that the twoterminal portions 13 and 14 are parallel to each other by rotating the cleaningrobot 1 based on the inclination detected by the contact detection sensor 64. .

なお、４個のストッパピン１７ａ、１７ｂ、１７ｃ、１７ｄは、２個のストッパピン１７ａと１７d のみとし、そのそれぞれの先端に接触検知センサ６４を設けて、両端の２個のストッパピン１７ａ，１７ｄの両者の接触検知センサ６４が検知した時に、集塵作業部６の第１接続端子部１３と充電ステーション８の第２接続端子部１４の連結動作に移行させても良い。  The fourstopper pins 17a, 17b, 17c, and 17d are only the twostopper pins 17a and 17d. A contact detection sensor 64 is provided at each of the tips, and the twostopper pins 17a, 17d at both ends are provided. When the two contact detection sensors 64 detect the firstconnection terminal portion 13 of the dustcollection working unit 6 and the secondconnection terminal portion 14 of the chargingstation 8, the connection operation may be shifted.

更に又、不図示の接触検知センサを内蔵したストッパピン１７ｂと１７ｃを廃止し、バンパ１５で横方向Ｗの両端のストッパピン１７ａ，１７ｄを検知して、清掃ロボット１の集塵部６が充電ステーション８に対して、所定の位置に正確に帰還して停止制御するとともに、清掃ロボット１側のリモート信号発信機９で帰還完了信号を発信させ、充電ステーション８のリモート信号受信機１１でその信号を受信し、集塵作業部６の第１接続端子部１３と充電ステーション８の第２接続端子部１４の連結動作に移行させても良い。  Furthermore, the stopper pins 17b and 17c having built-in contact detection sensors (not shown) are eliminated, and thebumper 15 detects the stopper pins 17a and 17d at both ends in the lateral direction W, and thedust collecting unit 6 of the cleaningrobot 1 is charged. Thestation 8 is accurately returned to a predetermined position and controlled to stop, and aremote signal transmitter 9 on thecleaning robot 1 side transmits a feedback completion signal, and theremote signal receiver 11 of the chargingstation 8 transmits the signal. May be transferred to the connecting operation of the firstconnection terminal portion 13 of the dustcollection working unit 6 and the secondconnection terminal portion 14 of the chargingstation 8.

第１接続端子部１３：
図７は、清掃ロボット１を斜め後から見たところで、集塵作業部６の一部の集塵ケース６ａを透かして描き、集塵作業部６の後面には６個配列した第１接続端子部１３の構成を示している。図８は、図７の第１接続端子部１３とその近傍を拡大して示している。First connection terminal portion 13:
FIG. 7 is a perspective view of the cleaningrobot 1 obliquely from behind, with a part of thedust collecting case 6a of the dustcollecting working unit 6 being drawn through, and six first connection terminals arranged on the rear surface of the dustcollecting working unit 6 The structure of thepart 13 is shown. FIG. 8 is an enlarged view of the firstconnection terminal portion 13 of FIG. 7 and the vicinity thereof.

図８に示すように、集塵ケース６a には、第１接続端子部１３の端子１８に対応して６個のケース穴６ｂが形成されている。第１接続端子部１３には、ケース穴６ｂを内側から塞ぐように外部に一部を露出させた露出接続端子１８が、集塵ケース６a に固定された台板１９とは電気的に絶縁されて固設されている台板２０に対して回転軸２１で回転可能に取り付けられている。
回転軸２１の内側には不図示のバネが配されて、露出接続端子１８がケース穴６ｂを塞ぐように付勢されている。露出接続端子１８の内面側には、間隙を設けて対面するように切片２２を配設しており、切片２２は、図５に示す走行部２に配設されたバッテリ３に電気的に接続されている。As shown in FIG. 8, sixcase holes 6 b are formed in thedust collecting case 6 a corresponding to theterminals 18 of the firstconnection terminal portion 13. The firstconnection terminal portion 13 has an exposedconnection terminal 18 partially exposed to the outside so as to close thecase hole 6b from the inside, and is electrically insulated from thebase plate 19 fixed to thedust collecting case 6a. Thebase plate 20 is fixed to thebase plate 20 so as to be rotatable by a rotary shaft 21.
A spring (not shown) is disposed on the inner side of the rotating shaft 21, and the exposedconnection terminal 18 is urged so as to close thecase hole 6b. Asection 22 is disposed on the inner surface side of the exposedconnection terminal 18 so as to face each other with a gap, and thesection 22 is electrically connected to thebattery 3 disposed in the travelingunit 2 shown in FIG. Has been.

図９は、図２の充電ステーション８を斜め後から示しており、ケース８ａの内部が分かるように透かして示している。図５の清掃ロボット１の２個のバッテリ３（図５）に対応して、図６の充電ステーション８には、２個の充電器２３、リモート信号受信機１１ａ、１１b 、１１ｃ、超音波発信機１２ａ、１２b 、ガイド１６ａ、１６ｂが配設されている。更に、図８の集塵作業部６の第１接続端子部１３の６個の端子１８に対応する位置には、図１０に示す６個の端子２４が第２接続端子部１４に配置されている。  FIG. 9 shows the chargingstation 8 of FIG. 2 obliquely from behind, and is shown in a watermark so that the inside of the case 8a can be seen. Corresponding to the two batteries 3 (FIG. 5) of the cleaningrobot 1 of FIG. 5, the chargingstation 8 of FIG. 6 includes twochargers 23,remote signal receivers 11a, 11b, 11c, and ultrasonic transmission.Machines 12a and 12b and guides 16a and 16b are arranged. Further, sixterminals 24 shown in FIG. 10 are arranged on the secondconnection terminal portion 14 at positions corresponding to the sixterminals 18 of the firstconnection terminal portion 13 of the dustcollection working portion 6 of FIG. Yes.

充電ユニット１４ａ：
図１０は、図９に示した充電ユニット１４ａとその近傍を拡大して示している。図１０に示すように、第２接続端子部１４は、軸方向Ｙに摺動可能な６個の接続端子軸からなる端子２４と、その端部にそれぞれ固定された６個の円板２５と、円板２５に間隙を設けて対面し、接触可能な６個の二股の切片２６とで構成されている。Chargingunit 14a:
FIG. 10 is an enlarged view of the chargingunit 14a shown in FIG. 9 and the vicinity thereof. As shown in FIG. 10, the secondconnection terminal portion 14 includes a terminal 24 composed of six connection terminal shafts slidable in the axial direction Y, and sixdiscs 25 respectively fixed to the end portions. Thedisc 25 is composed of six bifurcatedsections 26 which face each other with a gap therebetween and can contact each other.

６個の接続端子軸２４の内、隣り合う３個の接続端子軸２４を１つのユニット単位にして、２つのユニットを構成している。そして、それぞれ３個づつの接続端子軸２４はお互いに電気的に絶縁した構成で、台板２７ａと台板２８ａ及び台板２７ｂと図面上で影部のため不図示の台板２８ｂで上下に挟み込んで連結している。
したがって、台板２７ａ，２７ｂ，２８ａ，２８ｂは第２接続端子部１４の端子２４を横方向Ｗに直交する方向Ｙに突出進退可能に支持する端子支持手段を構成している。Of the sixconnection terminal shafts 24, two adjacentconnection terminal shafts 24 are used as one unit to constitute two units. Each of the threeconnection terminal shafts 24 is electrically insulated from each other. Thebase plate 27a, the base plate 28a, the base plate 27b, and the base plate 28b (not shown) are vertically shown on the drawing because of shadows. It is sandwiched and connected.
Accordingly, thebase plates 27a, 27b, 28a, 28b constitute terminal support means for supporting the terminal 24 of the secondconnection terminal portion 14 so as to be able to protrude and retreat in the direction Y orthogonal to the lateral direction W.

上側の台板２７ａ，２７ｂの上部には、ケース８ａ（図９）との間にそれぞれバネ２９が掛けられて、６個の接続端子軸２４を充電ステーション８の外方に向って押し出す方向Ｙ１に付勢している。図１０は、バネ２９で引っ張られている台板２７ａ，２７ｂは、摺動規制板３０でバネ２９に抗して付勢された状態を示している。  Thesprings 29 are respectively hung on the upper portions of theupper base plates 27a and 27b between the case 8a (FIG. 9) and the sixconnection terminal shafts 24 are pushed out of the chargingstation 8 in the direction Y1. Is energized. FIG. 10 shows a state in which thebase plates 27 a and 27 b pulled by thespring 29 are biased against thespring 29 by the slidingrestriction plate 30.

摺動規制板３０は、傾き防止板３１ａ、３１ｂに支えられて軸３２の軸方向Ｙに摺動可能に軸３２に嵌合し、クランク３３に対して軸３４で回転可能に連結している。クランク３３は、モータ３５と結合している円板３６に対して偏芯した位置の軸３７と回転可能に連結している。円板３６の回転中心からの距離がそれぞれ異なる位置に、２個の穴３６a 、３６ｂの開口穴があり、穴３６ａの真下には穴を検知するための反射型のフォトセンサ３８ａが固設されている。  The slidingrestriction plate 30 is supported by theinclination prevention plates 31a and 31b, is fitted to theshaft 32 so as to be slidable in the axial direction Y of theshaft 32, and is rotatably connected to the crank 33 by theshaft 34. . The crank 33 is rotatably connected to ashaft 37 that is eccentric with respect to adisc 36 that is coupled to themotor 35. There are two holes 36a and 36b at positions where the distances from the rotation center of thedisk 36 are different from each other, and a reflection type photosensor 38a for detecting the hole is fixed directly below the hole 36a. ing.

図１０の待機状態から、モータ３５が回転して円板３６が１８０°回転すると、穴３６ｂが反射型のフォトセンサ３８ｂの真上にくることで円板３６が１８０°回転したことを検知できる。
この時、クランク３３の動作に連動している摺動規制板３０は、軸３２に嵌合して前方に押し出される。そして、摺動規制板３０に台板２７ａ、２７ｂが当接して摺動規制されていた２つの接続端子ユニットは、バネ２９の付勢力で前に押し出される。これにより、充電ステーション８の前面から６個の接続端子軸２４が突出した充填状態になるとともに、その反対側の端部の６個の円板２５は、６個の切片２６にそれぞれ接触する。
したがって、クランク３３、モータ３５および円板３６は、前記端子支持手段により突出可能に支持された各端子１８を前記突出退避方向Ｙに、それぞれ進退させる進退駆動手段を構成している。When themotor 35 is rotated and thedisk 36 is rotated 180 ° from the standby state of FIG. 10, it is possible to detect that thedisk 36 is rotated 180 ° by the hole 36b coming directly above the reflective photosensor 38b. .
At this time, the sliding restrictingplate 30 interlocked with the operation of the crank 33 is fitted to theshaft 32 and pushed forward. Then, the two connection terminal units that have been regulated by thebase plates 27 a and 27 b coming into contact with the slidingregulation plate 30 are pushed forward by the biasing force of thespring 29. As a result, the sixconnection terminal shafts 24 protrude from the front surface of the chargingstation 8 and the sixdiscs 25 at the opposite ends contact the sixpieces 26, respectively.
Therefore, the crank 33, themotor 35, and thedisc 36 constitute advancing / retreating driving means for advancing and retracting each terminal 18 supported by the terminal supporting means in a projecting and retracting direction Y.

ここで、円板３６の孔３６ａ，３６ｂの位置をフォトセンサ３８ａ，３８ｂが検出することにより、現在の状態が、第２接続端子部１４の突出状態であるか否かが判別される。図６に示す接続制御手段６５は、充電を行わない待機状態の場合には、図１０に示すフォトセンサ３８ａが前記円板３６の孔３６ａを検出する位置になるように進退駆動手段を動作させる。
一方、清掃ロボット１と充電ステーション８の両端子部１３，１４が互いに対面し、かつ、本質的にズレがない状態または修正された状態になった場合には、接続制御手段６５が、前記進退駆動手段を動作させて、フォトセンサ３８ｂが円板３６の孔３６ｂを検出する位置になるように前記充填状態に移動させることにより、前記端子２４を突出させて前記両端子１８，２４を互いに接続させる。Here, when the photosensors 38a and 38b detect the positions of the holes 36a and 36b of thedisc 36, it is determined whether or not the current state is the protruding state of the secondconnection terminal portion 14. The connection control means 65 shown in FIG. 6 operates the advancing / retreating drive means so that the photosensor 38a shown in FIG. 10 is positioned to detect the hole 36a of thedisk 36 in the standby state where charging is not performed. .
On the other hand, when theterminal portions 13 and 14 of the cleaningrobot 1 and the chargingstation 8 face each other and are essentially in a state of no shift or a corrected state, the connection control means 65 moves forward and backward. The drive means is operated to move the photosensor 38b to the filling state so that the photosensor 38b detects the hole 36b of thedisk 36, thereby projecting the terminal 24 and connecting theterminals 18 and 24 to each other. Let

この時、切片２６は充電器２３（図９）に常に電気的に接続されているため、切片２６を介して接続端子軸２４が充電器２３と電気的に接続された状態になる。
この時は図４Ｃのように、充電ステーション８に清掃ロボット１が帰還して、充電できる体勢になっているおり、充電器２３（図９）に電気的に接続される図１０の接続端子軸２４が突出動作すると、接続端子軸２４は、図８の集塵ケース6 ａのケース穴６ｂを通して露出接続端子１８を回転軸２１を回転中心にして押し込むとともに、露出接続端子１８の後面が切片２２に押し付けられる。
これにより、図９の充電器２３と、図６のバッテリ３が電気的に接続されて、充電が開始される。At this time, since thesegment 26 is always electrically connected to the charger 23 (FIG. 9), theconnection terminal shaft 24 is electrically connected to thecharger 23 via thesegment 26.
At this time, as shown in FIG. 4C, the cleaningrobot 1 returns to the chargingstation 8 and is ready to charge, and the connection terminal shaft of FIG. 10 is electrically connected to the charger 23 (FIG. 9). When theprotrusion 24 moves, theconnection terminal shaft 24 pushes the exposedconnection terminal 18 around the rotation shaft 21 through thecase hole 6b of thedust collecting case 6a of FIG. Pressed against.
Thereby, thecharger 23 of FIG. 9 and thebattery 3 of FIG. 6 are electrically connected, and charging is started.

したがって、床面を自律的に移動する清掃ロボット１の測距センサの精度誤差や走行制御の精度誤差があって、清掃ロボット１が充電のために充電ステーションに帰還した時に、位置ズレや角度ズレがあっても、清掃ロボット１と充電ステーションの接続端子１８，２４が精度良く結合することが可能になる。  Therefore, when there is an accuracy error of the distance measuring sensor of the cleaningrobot 1 that autonomously moves on the floor surface or an accuracy error of the traveling control, when the cleaningrobot 1 returns to the charging station for charging, a positional shift or an angle shift. Even if there is, the cleaningrobot 1 and theconnection terminals 18 and 24 of the charging station can be accurately combined.

充電の完了は、図８および図１０の６個の接続端子１８，２４の内の２個が、２個のバッテリ３（図６）のそれぞれの充電完了のタイミングを知らせるための端子であるので、それに基づいて図９の充電器２３が判断して充電を完了させる。
その充電完了とともに、再度、図１０のモータ３５を回転させ、円板３６を１８０°回転したところで、円板３６の穴３６ａをフォトセンサ３８ａが検知してモータ３５の回転を停止し、図１０の待機状態に戻って、清掃ロボット１が集塵作業を行うためにいつでも出動できるような待機状態となる。As for the completion of charging, two of the sixconnection terminals 18 and 24 in FIG. 8 and FIG. 10 are terminals for informing the timing of charging completion of the two batteries 3 (FIG. 6). Based on this, thecharger 23 of FIG. 9 determines and completes the charging.
When the charging is completed, themotor 35 of FIG. 10 is rotated again, and when thedisk 36 is rotated 180 °, the photosensor 38a detects the hole 36a of thedisk 36, and the rotation of themotor 35 is stopped. The standby state is set such that the cleaningrobot 1 can be dispatched at any time to perform the dust collection operation.

なお、もしも、充電完了前に、図６の充電ステーション８から清掃ロボット1 が出動しなければならない場合には、図１の清掃ロボット１のリモート信号発信機９から出動する旨の信号を、図２の充電ステーション８のリモート信号受信機１１に送り、その信号で図１０の待機状態に戻してから清掃ロボット１を出動させるようにすればよい。  If thecleaning robot 1 must be dispatched from the chargingstation 8 in FIG. 6 before charging is complete, a signal indicating that the cleaningrobot 1 in FIG. It is sufficient to send thecleaning robot 1 to theremote signal receiver 11 of the chargingstation 8 of No. 2 and return to the standby state of FIG.

この充電完了前に出動させる信号伝達を、図２のリモート信号発信機９とリモート信号受信機１１で行わせたが、第１接続端子部１３と第２接続端子１４の接続端子を増設し、その接続端子で出動信号を伝達してもよい。  The signal transmission to be dispatched before the completion of charging is performed by theremote signal transmitter 9 and theremote signal receiver 11 of FIG. 2, but the connection terminals of the firstconnection terminal portion 13 and thesecond connection terminal 14 are increased, The output signal may be transmitted through the connection terminal.

このように充電時以外の時は、図８の集塵作業部６の露出接続端子１８とバッテリ３は電気的に遮断されているとともに、図９の充電ステーション８の充電接続端子軸２４（図１０）と充電器２３も電気的に遮断されている。そのため、不用意に露出接続端子１８（図８）や、充電接続端子軸２４（図１０）に手で触れても感電することはなく、ホコリなどが付着して漏電の発生も防止できる。  As described above, when the battery is not charged, the exposedconnection terminal 18 and thebattery 3 of the dustcollection working unit 6 of FIG. 8 are electrically disconnected, and the charging connection terminal shaft 24 (see FIG. 9) of the chargingstation 8 of FIG. 10) and thecharger 23 are also electrically disconnected. Therefore, even if the exposed connection terminal 18 (FIG. 8) or the charging connection terminal shaft 24 (FIG. 10) is inadvertently touched by hand, no electric shock is caused, and dust or the like adheres to prevent the occurrence of electric leakage.

ここで、以上に述べた実施例では、図１０の充電ステーション８の６個の第２接続端子１４は、1 個のモータ３５で同じタイミングで、図２の集塵作業部６の第１接続端子部１３に接続するため、清掃ロボット1 に搭載された２個のバッテリ３（図１）が、ほぼ同じような状態で使用されていればよいが、新しいバッテリと古いバッテリが組み込まれることが想定される場合には、それぞれのバッテリに対応するように、図１０の充電ユニット１４ａに２個のモータ３５を搭載して、３個づつの接続端子２４が独立して接続動作を行わせるようにすれば、それぞれのバッテリ充電時間のタイムラグにも対応可能である。  Here, in the embodiment described above, the sixsecond connection terminals 14 of the chargingstation 8 of FIG. 10 are connected to the first connection of the dustcollection working unit 6 of FIG. In order to connect to theterminal portion 13, it is sufficient that the two batteries 3 (FIG. 1) mounted on thecleaning robot 1 are used in substantially the same state, but a new battery and an old battery may be incorporated. In the case where it is assumed, twomotors 35 are mounted on thecharging unit 14a of FIG. 10 so as to correspond to each battery so that each of the threeconnection terminals 24 performs a connection operation independently. If so, it is possible to cope with the time lag of each battery charging time.

図１１および図１２は、実施例２を示す。
集塵作業部８には、清掃ロボット１の走行部２に対して集塵作業部６を上下に昇降するための昇降部３９を備えている。この昇降部３９は、集塵作業を行う時には集塵作業部を降下させ、集塵作業を行わずに移動したり、作業停止している時には上昇させるのが本来の機能である。この実施例は、この昇降機能を接続端子の接続動作にも活用した例である。11 and 12 show a second embodiment.
The dustcollection work unit 8 includes an elevatingunit 39 for moving the dustcollection work unit 6 up and down with respect to the travelingunit 2 of the cleaningrobot 1. The elevatingunit 39 has an original function of lowering the dust collecting unit when performing the dust collecting operation, and moving thedust collecting unit 39 without performing the dust collecting operation or raising it when the operation is stopped. This embodiment is an example in which this elevating function is also used for the connection operation of the connection terminals.

清掃ロボット１が充電ステーション８に帰還してきた時には、図１１のように集塵作業部８を上に昇降部３９で持ち上げた状態である。この時は、集塵作業部６の接続端子４０と充電ステーション８の接続端子４１は、上下方向で離間した状態である。
バンパセンサ６３（図６）により、集塵作業部６のバンパ１５が充電ステーション８のストッパピン１７に接触したことを検知すると、清掃ロボット１の充電ステーション８への帰還走行動作を停止するとともに、昇降部３９を動作させて集塵作業部６を降下の動作を開始する。図１２のように、接続端子４０と接続端子４１が接続するところまで降下すると、降下動作を停止して充電を開始する。充電が完了すると、再び上昇動作を行って出動待機状態となる。When the cleaningrobot 1 returns to the chargingstation 8, the dustcollection working unit 8 is lifted up by the liftingunit 39 as shown in FIG. 11. At this time, theconnection terminal 40 of the dustcollection working unit 6 and the connection terminal 41 of the chargingstation 8 are in a state of being separated in the vertical direction.
When it is detected by the bumper sensor 63 (FIG. 6) that thebumper 15 of the dust collectingwork unit 6 has come into contact with thestopper pin 17 of the chargingstation 8, the return traveling operation of the cleaningrobot 1 to the chargingstation 8 is stopped and the elevator is moved up and down. Thepart 39 is operated to start the operation of lowering the dust collectingwork part 6. As shown in FIG. 12, when theconnection terminal 40 and the connection terminal 41 are lowered to a position where they are connected, the lowering operation is stopped and charging is started. When the charging is completed, the ascending operation is performed again to enter the dispatch standby state.

この図１１と図１２の実施例の場合、充電ステーション８の側の接続端子４１は、図７と図８のような構造にし、集塵作業部６の側の接続端子４０は、昇降動作に連動してバッテリと電気的に接続させる構造にすれば、上記のような感電や漏電も防止可能である。
なお、図１１および図１２は集塵作業部６の降下動作で接続させたが、逆に集塵作業部６の上昇動作で接続するようにしてもよい。
その他の構成は、実施例１と同様であり、同一部分または相当部分に同一符号を付して、その説明を省略する。11 and 12, the connection terminal 41 on the chargingstation 8 side has a structure as shown in FIGS. 7 and 8, and theconnection terminal 40 on the dustcollection work unit 6 side is moved up and down. If the structure is configured to be electrically connected to the battery in conjunction with each other, it is possible to prevent the above electric shock and leakage.
11 and 12 are connected by the lowering operation of the dustcollection working unit 6, but conversely, they may be connected by the upward operation of the dustcollection working unit 6.
Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same portions or corresponding portions, and the description thereof is omitted.

なお、前述の各実施例では、第２接続端子部１４の端子２４を突出退避方向Ｙに進退させることとしたが、第２接続端子部１４の端子２４を突出退避させる代わりに、第１接続端子部１３の端子１８を突出退避させるようにしてもよい。
また、充電法式としては、バッテリの自然放電を補うために、負荷から切り離して絶えず微小電流を流しておくトリクル充電方式を採用してもよい。In each of the above-described embodiments, theterminal 24 of the secondconnection terminal portion 14 is advanced and retracted in the protruding and retracting direction Y, but instead of the terminal 24 of the second connectingterminal portion 14 protruding and retracted, the first connection Theterminal 18 of theterminal portion 13 may be protruded and retracted.
In addition, as a charging method, a trickle charging method in which a minute current is continuously supplied after being disconnected from the load may be employed in order to compensate for the spontaneous discharge of the battery.

更に、以上述べた各実施例では、移動ロボットの一例として清掃ロボットを例示して記載したが、清掃ロボットのみに限定するものではなく、床面を自律的に移動するロボットであれば本発明を適用することができる。移動ロボットとしては、たとえば、全方向に移動可能な走行部を備えていてもよい。  Further, in each of the embodiments described above, the cleaning robot is exemplified and described as an example of the mobile robot. However, the present invention is not limited to the cleaning robot, and the present invention is not limited to the robot that moves autonomously on the floor surface. Can be applied. As a mobile robot, you may provide the traveling part which can move to all directions, for example.

変形例：
なお、前述の各実施例では、横方向Ｗにスライド可能な集塵作業部６に第１接続端子部１３を設けた清掃ロボット１について説明したが、必ずしも第１接続端子部１３を横方向Ｗにスライドさせる機構を設ける必要はない。
以下に説明する各変形例では、第１接続端子部１３を横方向Ｗにスライド移動することなく、第１接続端子部１３と第２接続端子部１４の端子１８，２４同士を接合させる充電ユニット１４ａの構成について説明する。Variations:
In each of the above-described embodiments, the cleaningrobot 1 in which the firstconnection terminal unit 13 is provided in the dustcollection working unit 6 slidable in the lateral direction W has been described. However, the firstconnection terminal unit 13 is not necessarily disposed in the lateral direction W. There is no need to provide a mechanism for sliding the lens.
In each modification described below, a charging unit that joins theterminals 18 and 24 of the firstconnection terminal portion 13 and the secondconnection terminal portion 14 without sliding the firstconnection terminal portion 13 in the lateral direction W. The configuration of 14a will be described.

変形例１；
図１３Ａに示すように、充電ユニット１４ａは、横方向Ｗに沿って設けられたレール７０に沿って移動可能に設定されている。充電ユニット１４ａには、該充電ユニット１４ａを横方向Ｗに移動させるための移動モータＭおよび駆動輪７１からなる駆動装置が設けられている。Modification 1;
As shown in FIG. 13A, the chargingunit 14 a is set so as to be movable along arail 70 provided along the lateral direction W. The chargingunit 14 a is provided with a driving device including a moving motor M and drivingwheels 71 for moving the chargingunit 14 a in the lateral direction W.

清掃ロボット１の第１接続端子部１３と第２接続端子１４との間にズレが生じた場合には、清掃ロボット１の第１接続端子部１３を横方向Ｗ方向に移動させることなく、当該ズレに応じて、図１３Ｂに示すように、充電ユニット１４ａを横方向Ｗに移動すると共に、第２接続端子部１４の端子２４を突出させることにより、清掃ロボット１に設けられた第１接続端子部１３の端子１８と、第２接続端子１４の端子２４とを互いに接続させることができる。
したがって、第１接続端子部１３を清掃ロボット１本体に設けることも可能であると共に、集塵作業部６等の横方向Ｗに移動する部分を有しない種々の移動ロボットにおいてもスムースな充電が可能となる。When a deviation occurs between the firstconnection terminal portion 13 and thesecond connection terminal 14 of the cleaningrobot 1, the firstconnection terminal portion 13 of the cleaningrobot 1 is moved in the lateral direction W without moving the firstconnection terminal portion 13 in the lateral direction W. As shown in FIG. 13B, the first connection terminal provided in thecleaning robot 1 by moving the chargingunit 14 a in the lateral direction W and projecting theterminal 24 of the secondconnection terminal portion 14 according to the deviation. The terminal 18 of thepart 13 and theterminal 24 of thesecond connection terminal 14 can be connected to each other.
Therefore, the firstconnection terminal portion 13 can be provided in the main body of the cleaningrobot 1 and can be smoothly charged even in various mobile robots that do not have a portion that moves in the lateral direction W, such as the dustcollection work portion 6. It becomes.

変形例２；
図１３Ｃに示すように、充電ユニット１４ａは、床面や壁面等に固定されている。
図１の清掃ロボット１は、集塵作業部６をスライド移動させることなく、走行部２のみを駆動することにより、該清掃ロボット１に設けた第１接続端子部１３と第２接続端子１４との位置合わせを行った後、第２接続端子部１４の端子２４が突出し、両端子１８，２４が互いに接合される。Modification 2;
As illustrated in FIG. 13C, the chargingunit 14a is fixed to a floor surface, a wall surface, or the like.
The cleaningrobot 1 in FIG. 1 drives only the travelingunit 2 without sliding the dustcollection working unit 6, thereby providing a firstconnection terminal unit 13 and asecond connection terminal 14 provided on thecleaning robot 1. After the alignment, theterminal 24 of the secondconnection terminal portion 14 protrudes, and both theterminals 18 and 24 are joined to each other.

変形例３；
図１３Ｄに示すように、充電ユニット１４ａは、横方向Ｗに沿って設けられたレール７０に沿って横方向Ｗに移動可能に設定されている。充電ユニット１４ａには、該充電ユニット１４ａを横方向Ｗに移動させるための駆動装置が設けられている。一方、第２接続端子１４に設けた端子２４は、突出した状態で固定して設けられている。Modification 3;
As shown in FIG. 13D, the chargingunit 14 a is set so as to be movable in the lateral direction W along arail 70 provided along the lateral direction W. The chargingunit 14a is provided with a driving device for moving the chargingunit 14a in the lateral direction W. On the other hand, the terminal 24 provided on thesecond connection terminal 14 is fixedly provided in a protruding state.

本発明は、特に、移動ロボットの充電システムおよび充電ユニットに適用することができる。  The present invention is particularly applicable to mobile robot charging systems and charging units.

本発明の実施例１にかかる移動ロボットを示す概略斜視図である。It is a schematic perspective view which shows the mobile robot concerning Example 1 of this invention.同移動ロボットおよび充電ユニットを示す概略斜視図である。It is a schematic perspective view which shows the mobile robot and charging unit.移動ロボットの充電ユニットへの帰還方法を示す概略平面図である。It is a schematic plan view which shows the return method to the charging unit of a mobile robot.移動ロボットの充電ユニットへの帰還方法を示す概略平面図である。It is a schematic plan view which shows the return method to the charging unit of a mobile robot.移動ロボットを示す一部破断した概略平面図である。It is the schematic plan view partly broken showing the mobile robot.移動ロボットおよび充電ユニットの概略構成図である。It is a schematic block diagram of a mobile robot and a charging unit.移動ロボットを示す概略斜視図である。It is a schematic perspective view which shows a mobile robot.第１接続端子部近傍を示す概略斜視図である。It is a schematic perspective view which shows the 1st connection terminal part vicinity.充電ステーションを示す概略斜視図である。It is a schematic perspective view which shows a charging station.充電ユニットを示す概略斜視図である。It is a schematic perspective view which shows a charging unit.本発明の実施例２にかかる移動ロボットおよび充電ユニットを示す概略側面図である。It is a schematic side view which shows the mobile robot and charging unit concerning Example 2 of this invention.本発明の実施例２にかかる移動ロボットおよび充電ユニットを示す概略側面図である。It is a schematic side view which shows the mobile robot and charging unit concerning Example 2 of this invention.図１３Ａ〜図１３Ｄは本発明の変形例にかかる充電ユニットを示す概略正面図および概略平面図である。13A to 13D are a schematic front view and a schematic plan view showing a charging unit according to a modification of the present invention.

符号の説明Explanation of symbols

１：清掃ロボット（移動ロボット）
２：走行部
３：バッテリ
４：走行車輪
６：集塵作業部（スライド部）
１３：第１接続端子部
１４：第２接続端子部
１４ａ：充電ユニット
１８，２４：端子
２７ａ，２７ｂ，２８ａ，２８ｂ：台板（端子支持手段）
３３：クランク（進退駆動手段）
３５：モータ（進退駆動手段）
３６：円板（進退駆動手段）
５２：スライド支持手段
５６：スライド移動手段
６１：走行制御手段
６２：スライド制御手段
６３：バンパセンサ（ズレ検出手段）
６４：接触検知センサ（傾き検出手段）
６５：接続制御手段
Ｗ：横方向1: Cleaning robot (mobile robot)
2: traveling unit 3: battery 4: traveling wheel 6: dust collection working unit (sliding unit)
13: 1st connection terminal part 14: 2ndconnection terminal part 14a: Chargingunit 18, 24:Terminal 27a, 27b, 28a, 28b: Base plate (terminal support means)
33: Crank (advance / retreat driving means)
35: Motor (advance / retreat driving means)
36: Disc (advance / retreat drive)
52: Slide support means 56: Slide movement means 61: Travel control means 62: Slide control means 63: Bumper sensor (deviation detection means)
64: Contact detection sensor (tilt detection means)
65: Connection control means W: Lateral direction

Claims (11)

Translated fromJapanese
バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットと、床面もしくは壁面等に設置された充電ユニットとを備え、前記充電ユニットを介して前記バッテリの充電を行う充電システムであって、
前記ロボットに設けられ複数の端子を有する第１接続端子部と、
前記充電ユニットに設けられ、前記各端子に接続される複数の端子を有する第２接続端子部と、
前記充電ユニットの第２接続端子部に前記ロボットの前記第１接続端子部が対面した状態となるように、前記ロボットの走行を制御する走行制御手段と、
前記第１または第２接続端子部の一方をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、
前記スライド支持手段によりスライド移動可能に支持された接続端子部を前記横方向にスライド移動させるスライド駆動手段と、
前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、
前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、
前記第１または第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、
前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、
前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記進退駆動手段により前記端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えた充電システム。A charging system comprising: a mobile robot that travels on a floor surface by rotating a traveling wheel with electric power from a battery; and a charging unit installed on the floor surface or a wall surface, and the battery is charged via the charging unit. There,
A first connection terminal portion provided on the robot and having a plurality of terminals;
A second connection terminal portion provided in the charging unit and having a plurality of terminals connected to the terminals;
Travel control means for controlling the travel of the robot so that the second connection terminal portion of the charging unit faces the first connection terminal portion of the robot;
Slide support means for supporting one of the first or second connection terminal portions so as to be slidable in a lateral direction perpendicular to the traveling direction of the robot;
Slide drive means for slidingly moving the connection terminal portion supported by the slide support means so as to be slidable in the lateral direction;
A displacement detecting means for detecting the lateral displacement between the first connection terminal portion and the second connection terminal portion;
Slide control means for driving the slide drive means based on the detected deviation to correct the deviation between the two terminal portions;
Terminal support means for supporting the terminal of the first or second connection terminal portion so as to protrude and retract in a direction orthogonal to the lateral direction;
Advancing and retracting drive means for advancing and retracting the terminal supported by the terminal supporting means so as to be able to protrude;
Connection control means for projecting the terminals by the advance / retreat driving means to connect the terminals to each other in a state where the both terminal portions face each other and are essentially free from or displaced. Charging system. 請求項１において、
前記スライド支持手段が前記ロボットに設けられ、前記ロボットの走行部に対し前記スライド支持手段を介してスライド移動可能なスライド部に前記第１接続端子部が設けられている充電システム。In claim 1,
A charging system in which the slide support means is provided in the robot, and the first connection terminal part is provided in a slide part that is slidable with respect to a traveling part of the robot via the slide support means. 請求項２において、
前記スライド部には、所定の作業を行う作業部が設けられている充電システム。In claim 2,
A charging system in which the slide unit is provided with a working unit for performing a predetermined work. 請求項１、２もしくは３において、
前記端子支持手段が前記充電ユニットに設けられている充電システム。In claim 1, 2 or 3,
A charging system in which the terminal support means is provided in the charging unit. 請求項１において、
前記２つの端子部が互いに平行となった状態で対面しているか否かを検出する傾き検出手段を更に備え、
前記走行制御手段は、前記傾き検出手段で検出された傾きに基づいて前記ロボットを回転させて前記２つの端子部が互いに平行となるように前記ロボットの姿勢を制御することを特徴とする充電システム。In claim 1,
Further comprising an inclination detecting means for detecting whether or not the two terminal portions face each other in a parallel state;
The traveling control means controls the posture of the robot so that the two terminal portions are parallel to each other by rotating the robot based on the inclination detected by the inclination detecting means. . バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットと、床面もしくは壁面等に設置された充電ユニットとを備え、前記充電ユニットを介して前記バッテリの充電を行う充電システムであって、
前記ロボットに設けられ複数の端子を有する第１接続端子部と、
前記充電ユニットに設けられ、前記各端子に接続される複数の端子を有する第２接続端子部と、
前記充電ユニットの第２接続端子部に前記ロボットの前記第１接続端子部が対面した状態となるように、前記ロボットの走行を制御する走行制御手段と、
前記第１または第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、
前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、
前記両端子部が互いに対面した状態状態で、前記進退駆動手段により前記端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えた充電システム。A charging system comprising: a mobile robot that travels on a floor surface by rotating a traveling wheel with electric power from a battery; and a charging unit installed on the floor surface or a wall surface, and the battery is charged via the charging unit. There,
A first connection terminal portion provided on the robot and having a plurality of terminals;
A second connection terminal portion provided in the charging unit and having a plurality of terminals connected to the terminals;
Travel control means for controlling the travel of the robot so that the second connection terminal portion of the charging unit faces the first connection terminal portion of the robot;
Terminal support means for supporting the terminal of the first or second connection terminal portion so as to protrude and retract in a direction orthogonal to the lateral direction;
Advancing and retracting drive means for advancing and retracting the terminal supported by the terminal supporting means so as to be able to protrude;
A charging system comprising: connection control means for projecting the terminals by the advance / retreat driving means to connect the terminals to each other in a state where the both terminal portions face each other. バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットと、床面もしくは壁面等に設置された充電ユニットとを備え、前記充電ユニットを介して前記バッテリの充電を行う充電システムであって、
前記ロボットに設けられ複数の端子を有する第１接続端子部と、
前記充電ユニットに設けられ、前記各端子に接続される複数の端子を有する第２接続端子部と、
前記充電ユニットの第２接続端子部に前記ロボットの前記第１接続端子部が対面した状態となるように、前記ロボットの走行を制御する走行制御手段と、
前記第１または第２接続端子部の一方をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、
前記スライド支持手段によりスライド移動可能に支持された接続端子部を前記横方向にスライド移動させるスライド駆動手段と、
前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、
前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、
前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記一方の端子を他方の端子に向って前進させて前記両端子を互いに接続させる接続制御手段とを備えた充電システム。A charging system comprising: a mobile robot that travels on a floor surface by rotating a traveling wheel with electric power from a battery; and a charging unit installed on the floor surface or a wall surface, and the battery is charged via the charging unit. There,
A first connection terminal portion provided on the robot and having a plurality of terminals;
A second connection terminal portion provided in the charging unit and having a plurality of terminals connected to the terminals;
Travel control means for controlling the travel of the robot so that the second connection terminal portion of the charging unit faces the first connection terminal portion of the robot;
Slide support means for supporting one of the first or second connection terminal portions so as to be slidable in a lateral direction perpendicular to the traveling direction of the robot;
Slide drive means for slidingly moving the connection terminal portion supported by the slide support means so as to be slidable in the lateral direction;
A displacement detecting means for detecting the lateral displacement between the first connection terminal portion and the second connection terminal portion;
Slide control means for driving the slide drive means based on the detected deviation to correct the deviation between the two terminal portions;
Connection control means for connecting the two terminals to each other by advancing the one terminal toward the other terminal in a state where the both terminal portions face each other and are essentially free from or displaced. And a charging system. バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットに、床面もしくは壁面等に設置された充電ユニットを介して前記バッテリの充電を行う充電ユニットであって、
前記ロボットに設けられた第１接続端子部の複数の各端子に接続される複数の端子を有する第２接続端子部と、
前記第２接続端子部をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、
前記第２接続端子部を前記横方向にスライド移動させるスライド駆動手段と、
前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、
前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、
前記第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、
前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、
前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記進退駆動手段により前記第２接続端子部の端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えた充電ユニット。A charging unit that charges the battery via a charging unit installed on a floor surface or a wall surface to a mobile robot that travels on the floor surface by rotating traveling wheels with electric power from the battery,
A second connection terminal part having a plurality of terminals connected to a plurality of terminals of the first connection terminal part provided in the robot;
Slide support means for slidably supporting the second connection terminal portion in a lateral direction orthogonal to the traveling direction of the robot;
Slide driving means for slidingly moving the second connection terminal portion in the lateral direction;
A displacement detecting means for detecting the lateral displacement between the first connection terminal portion and the second connection terminal portion;
Slide control means for driving the slide drive means based on the detected deviation to correct the deviation between the two terminal portions;
Terminal support means for supporting the terminal of the second connection terminal portion so as to be able to protrude and retract in a direction orthogonal to the lateral direction;
Advancing and retracting drive means for advancing and retracting the terminal supported by the terminal supporting means so as to be able to protrude;
In a state where the both terminal portions face each other and there is essentially no deviation or a corrected state, the terminals of the second connection terminal portion are projected by the advance / retreat driving means to connect the two terminals to each other. A charging unit comprising connection control means. バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットに、床面もしくは壁面等に設置された充電ユニットを介して前記バッテリの充電を行う充電ユニットであって、
前記ロボットに設けられた第１接続端子部の複数の各端子に接続される複数の端子を有する第２接続端子部と、
前記第２接続端子部の端子を前記横方向に直交する方向に突出退避可能に支持する端子支持手段と、
前記端子支持手段により突出可能に支持された端子を前記突出退避方向に進退させる進退駆動手段と、
前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記進退駆動手段により前記第２接続端子部の端子を突出させて前記両端子を互いに接続させる接続制御手段とを備えた充電ユニット。A charging unit that charges the battery via a charging unit installed on a floor surface or a wall surface to a mobile robot that travels on the floor surface by rotating traveling wheels with electric power from the battery,
A second connection terminal part having a plurality of terminals connected to a plurality of terminals of the first connection terminal part provided in the robot;
Terminal support means for supporting the terminal of the second connection terminal portion so as to be able to protrude and retract in a direction orthogonal to the lateral direction;
Advancing and retracting drive means for advancing and retracting the terminal supported by the terminal supporting means so as to be able to protrude;
In a state where the both terminal portions face each other and there is essentially no deviation or a corrected state, the terminals of the second connection terminal portion are projected by the advance / retreat driving means to connect the two terminals to each other. A charging unit comprising connection control means. バッテリからの電力で走行車輪を回転させて床面を走行する移動ロボットに、床面もしくは壁面等に設置された充電ユニットを介して前記バッテリの充電を行う充電ユニットであって、
前記ロボットに設けられた第１接続端子部の複数の各端子に接続される複数の端子を有する第２接続端子部と、
前記第２接続端子部をロボットの走行方向に直交する横方向にスライド移動可能に支持するスライド支持手段と、
前記第２接続端子部を前記横方向にスライド移動させるスライド駆動手段と、
前記第１接続端子部と第２接続端子部との前記横方向のズレを検出するズレ検出手段と、
前記検出されたズレに基づいて前記スライド駆動手段を駆動して前記２つの端子部のズレを修正するスライド制御手段と、
前記両端子部が互いに対面し、かつ、本質的に前記ズレがない状態または修正された状態で、前記一方の端子を他方の端子に向って前進させて前記両端子を互いに接続させる接続制御手段とを備えた充電ユニット。A charging unit that charges the battery via a charging unit installed on a floor surface or a wall surface to a mobile robot that travels on the floor surface by rotating traveling wheels with electric power from the battery,
A second connection terminal part having a plurality of terminals connected to a plurality of terminals of the first connection terminal part provided in the robot;
Slide support means for slidably supporting the second connection terminal portion in a lateral direction orthogonal to the traveling direction of the robot;
Slide driving means for slidingly moving the second connection terminal portion in the lateral direction;
A displacement detecting means for detecting the lateral displacement between the first connection terminal portion and the second connection terminal portion;
Slide control means for driving the slide drive means based on the detected deviation to correct the deviation between the two terminal portions;
Connection control means for connecting the two terminals to each other by advancing the one terminal toward the other terminal in a state where the both terminal portions face each other and are essentially free from or displaced. And a charging unit. バッテリで床面を走行可能な移動ロボットと、床面に設置されて該移動ロボットのバッテリを充電するための充電ユニットとを備え、
前記移動ロボットは、バッテリを搭載し、走行車輪を有する走行部と走行部に対してスライド駆動モータで横方向にスライド移動可能なスライド部とを備え、
前記スライド部は、該スライド部のスライド方向から近接する物体を検知するための一対の側面物体検知センサと、前記スライド方向に垂直な方向から近接する物体を検知するための後面物体検知センサと、前記バッテリを充電するための複数の第一接続端子とを備え、
前記充電ユニットには、前記充電ユニットの前面から前方に突出し、前記スライド部の幅と同等または若干広い幅で、前記スライド部を挟み込む形状一対のガイド部と、前記第一接続端子に対応した位置に設けられた複数の第二接続端子とを備え、
前記移動ロボットの前記スライド部が前記充電ユニットに対面した状態で走行している際に、前記充電ユニットの前記ガイド部を一方の前記側面物体検知センサが検知した時には、当該一方の前記センサが前記ガイド部を検知しなくなる方向に前記スライド部をスライドさせ、
前記充電ユニットを前記後面物体検知センサが検知した時は、前記移動ロボットの走行動作と前記スライド部のスライド動作とを停止させて、前記第一接続端子を前記第二接続端子に電気的に接続させる接続制御手段を設けたことを特徴とする移動ロボットの自動充電システム。A mobile robot capable of running on the floor with a battery, and a charging unit installed on the floor for charging the battery of the mobile robot,
The mobile robot is equipped with a traveling unit having a battery and having traveling wheels, and a slide unit that can slide and move laterally with a slide drive motor with respect to the traveling unit.
The slide part includes a pair of side object detection sensors for detecting an object approaching from the slide direction of the slide part, and a rear object detection sensor for detecting an object approaching from a direction perpendicular to the slide direction; A plurality of first connection terminals for charging the battery;
The charging unit protrudes forward from the front surface of the charging unit, and has a pair of guide portions sandwiching the slide portion with a width equal to or slightly wider than the slide portion, and a position corresponding to the first connection terminal A plurality of second connection terminals provided in the
When one of the side object detection sensors detects the guide portion of the charging unit while the slide portion of the mobile robot is running in a state of facing the charging unit, the one sensor is Slide the slide part in a direction that stops detecting the guide part,
When the rear object detection sensor detects the charging unit, the traveling operation of the mobile robot and the sliding operation of the slide portion are stopped, and the first connection terminal is electrically connected to the second connection terminal. An automatic charging system for a mobile robot, characterized in that a connection control means is provided.
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