JP2008102698A - Self-propelled device charging system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a self-propelled device autonomously travel to a charging device surely with a simple configuration at lower cost in a self-propelled device charging system having the self-propelled device and the charging device for supplying power for charging the self-propelled device. <P>SOLUTION: A security robot 4 includes a detection section 45 having a plurality of first light beam sensors 452a disposed at predetermined intervals along the entire circumference of the side face, and a second light beam sensor 452b disposed to be directed to the direction of movement of the security robot 4. When preset charging timing of the security robot 4 is decided, it is configured to rotate the security robot 4 so that the light beam M emitted by an emission section 22 of a charging device 2 is detected by the second light beam sensor 452b and at least one first light beam sensor 452a out of the two first light beam sensors 452a, 452a disposed on the left and right of the second light beam sensor 452b. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a self-propelled device charging system.

In recent years, a self-propelled device that travels based on a predetermined travel pattern and performs a given function or mission is known.
For example, such a self-propelled device can autonomously travel to a predetermined charging device in order to charge a storage battery that stores the drive power of the self-propelled device.

Specifically, for example, a light blinking signal from a blinking light source arranged in the charging device is received, a distance to the charging device is calculated according to the principle of triangulation by the light cutting method, and charging is performed based on the calculation result. A self-propelled device that autonomously travels to the device (see, for example, Patent Document 1), a charging unit that generates a plurality of types of signals with different codes and the like, and receives a signal generated from the charging device Based on the type of signal sensed by the receiver, it runs autonomously to the charging device while changing the movement method of the self-propelled device by running diagonally or rotating straight after rotating 90 degrees, etc. A self-propelled device (see, for example, Patent Document 2), an infrared beam is generated from the charging device, and a detector for detecting the infrared beam generated from the charging device is provided forward and backward. Self-propelled that autonomously travels to the charging device while rotating the self-propelled device so that the detector directed to the front detects the beam directly and the reflected beam is detected by the detector directed to the rear The first and second infrared signals are generated from the charging device (for example, see Patent Document 3) and the charging device, and are attached to the swing plate installed in the main body of the self-propelled device. And an infrared receiving unit that receives the first and second infrared signals generated from the charging device while being swung, and in the direction in which the first and second infrared signals received by the infrared receiving unit are generated. A self-propelled device that autonomously travels to a charging device by moving the self-propelled device along the center (for example, see Patent Document 4) has been proposed.
JP 2004-151924 A JP 2006-127448 A JP-T-2001-525567 JP 2004-275716 A

However, the self-propelled device disclosed in Patent Document 1 autonomously travels to the charging device using the principle of triangulation by the light cutting method. In order to use the principle, the self-propelled device includes an image sensor. Further, since it is necessary to provide a laser light emission source, a scanner mechanism, and the like, there is a problem that the configuration of the self-propelled device becomes complicated and the cost is high.
In addition, the self-propelled device of Patent Document 2 autonomously travels to the charging device by traveling diagonally or straightly after rotating 90 degrees based on the type of signal sensed by the receiving unit. Since the rotation angle at the time is constant, there is a problem that it is difficult to reach the charging device unless the angle between the self-propelled device and the charging device is always constant when the receiving unit senses a signal.
In addition, the self-propelled device of Patent Document 3 autonomously travels to the charging device using not only the direct beam of the infrared beam generated from the charging device but also the reflected beam, but a reflecting mirror is installed in the room where the charging device is installed. There is a problem that the battery cannot travel autonomously unless the reflected beam can be generated, for example.
The self-propelled device of Patent Document 4 autonomously travels to the charging device along the center of the direction in which the first and second infrared signals generated from the charging device are generated. Since it is necessary to provide two infrared generators, namely, an infrared generator that generates one infrared signal and an infrared generator that generates a second infrared signal, the configuration of the charging device is complicated, and the cost is low. There is a problem of this.

  The subject of the present invention is a simpler and lower-cost configuration in a self-propelled device charging system comprising a self-propelled device and a charging device that supplies power for charging the self-propelled device. It is to make sure that the self-propelled device autonomously travels to the charging device.

In order to solve the above-mentioned problem, the invention described in claim 1
In a self-propelled device charging system comprising a self-propelled device that independently runs on a floor surface in a predetermined room, and a charging device that supplies electric power for charging to the self-propelled device,
The charging device is:
The self-propelled device is detachable, and when the self-propelled device is attached, a contact terminal that supplies power for the charging to the self-propelled device;
A light emitting means for emitting a light beam;
With
The self-propelled device is
A terminal that is in contact with the contact terminal and receives supply of power for the charging from the contact terminal;
A plurality of first detection means arranged on the upper surface of the main body of the self-propelled device and receiving and detecting the light beam emitted by the light emitting means are arranged at predetermined intervals along the entire side surface, The second detection means that receives and detects the light beam emitted by the light emitting means faces the traveling direction of the self-propelled device and is adjacent to two of the plurality of first detection means. Detectors arranged at equally spaced positions from
A rotation drive for rotating the self-propelled device;
A judging means for judging whether or not the charging timing of the self-propelled device set in advance is reached;
When it is determined by the determination means that the charging timing of the self-propelled device set in advance is reached, when the light beam is detected by the first detection means or the second detection means, the first The rotation drive unit so that the light beam is detected by two detection means and at least one first detection means of the two first detection means arranged on the left and right of the second detection means. Rotation control means to control;
In a state where the rotation drive unit is controlled by the rotation control unit, at least of the second detection unit and the two first detection units arranged on the left and right of the second detection unit within a predetermined time. If the light beam is not detected by one first detection means, travel control means for causing the self-propelled device to travel randomly,
It is characterized by providing.

The invention described in claim 2
In a self-propelled device charging system comprising a self-propelled device that independently runs on a floor surface in a predetermined room, and a charging device that supplies electric power for charging to the self-propelled device,
The charging device is:
The self-propelled device is detachable, and when the self-propelled device is attached, a contact terminal that supplies power for the charging to the self-propelled device;
A light emitting means for emitting a light beam;
With
The self-propelled device is
A terminal that is in contact with the contact terminal and receives supply of power for the charging from the contact terminal;
A plurality of first detection means for receiving and detecting the light beam emitted by the light emitting means are arranged at predetermined intervals along the entire circumference of the side surface, and receiving and detecting the light beam emitted by the light emitting means. A second detecting means that faces the traveling direction of the self-propelled device and is arranged at equal intervals from two adjacent first detecting means of the plurality of first detecting means;
A rotation drive for rotating the self-propelled device;
A judging means for judging whether or not the charging timing of the self-propelled device set in advance is reached;
When it is determined by the determination means that the charging timing of the self-propelled device set in advance is reached, when the light beam is detected by the first detection means or the second detection means, the first The rotation drive unit so that the light beam is detected by two detection means and at least one first detection means of the two first detection means arranged on the left and right of the second detection means. Rotation control means to control;
It is characterized by providing.

The invention described in claim 3
In the self-propelled device charging system according to claim 2,
The self-propelled device is
In a state where the rotation drive unit is controlled by the rotation control unit, at least of the second detection unit and the two first detection units arranged on the left and right of the second detection unit within a predetermined time. When a light beam is not detected by one first detection means, the self-propelled device is provided with a travel control means that randomly travels.

The invention according to claim 4
In the self-propelled device charging system according to claim 2 or 3,
The detection unit is arranged on an upper surface of a main body of the self-propelled device.

According to the first aspect of the present invention, the charging device includes light emitting means for emitting a light beam, and the self-propelled device receives the light beam emitted by the light emitting means of the charging device. A plurality of first detecting means for detecting are arranged at predetermined intervals along the entire circumference of the side surface, and second detecting means for receiving and detecting the light beam emitted by the light emitting means of the charging device is a self-propelled device. A detection unit disposed at equal intervals from two adjacent first detection units among the plurality of first detection units, a rotation drive unit that rotates the self-propelled device, It is possible to determine whether the charging timing of the self-propelled device set in advance is reached by the determining means, and the charging timing of the self-propelled device preset by the determining means is determined by the rotation control means Judged to be And when the light beam is detected by the first detection means or the second detection means, the second detection means and the two first detection means arranged on the left and right of the second detection means. The rotation drive unit can be controlled so that the light beam is detected by at least one of the first detection means.
That is, since the self-propelled device only includes a detection unit for detecting the charging device, the configuration is simple and the cost is low, and the charging device is detected by the self-propelled device. Therefore, the configuration is simple and the cost is low. Further, the light beam is detected by the second detection means and at least one of the two first detection means arranged on the left and right of the second detection means, that is, self-running. The self-propelled device is rotated so that the self-propelled device can be reliably guided to the charging device by the detection unit and the light-emitting means included in the charging device, so that the mobile device reliably arrives at the charging device. can do. Therefore, in a self-propelled device charging system that includes a self-propelled device and a charging device that supplies power for charging to the self-propelled device, the self-propelled device is surely self-propelled with a simpler and lower-cost configuration. Can be made to stand on its own to the charging device.

Further, the self-propelled device is disposed within the predetermined time and on the left and right of the second detection means within a predetermined time while the rotation control unit is controlled by the rotation control means by the travel control means. If the light beam is not detected by at least one of the two first detection means, the self-propelled device can be run at random.
That is, when a light beam is not detected by the second detection means and at least one first detection means of the two first detection means arranged on the left and right of the second detection means, the second detection means And at least one first detection means of the two first detection means arranged on the left and right of the second detection means until a light beam is detected, that is, a detection unit provided in the self-propelled device, The self-propelled device is driven randomly until the self-propelled device can be reliably guided to the charging device by the light-emitting means included in the charging device, so that the self-propelled device can travel more reliably to the charging device. Can be made.

  In addition, since the first detection means and the second detection means are arranged along the entire circumference of the side surface of the detection unit arranged on the upper surface of the main body of the self-propelled device, the light beam is emitted from the entire 360 degree range. It can be detected reliably.

According to the second aspect of the present invention, the charging device includes light emitting means for emitting a light beam, and the self-propelled device receives the light beam emitted by the light emitting means of the charging device. A plurality of first detecting means for detecting are arranged at predetermined intervals along the entire circumference of the side surface, and second detecting means for receiving and detecting the light beam emitted by the light emitting means of the charging device is a self-propelled device. A detection unit disposed at equal intervals from two adjacent first detection units among the plurality of first detection units, a rotation drive unit that rotates the self-propelled device, It is possible to determine whether the charging timing of the self-propelled device set in advance is reached by the determining means, and the charging timing of the self-propelled device preset by the determining means is determined by the rotation control means Judged to be And when the light beam is detected by the first detection means or the second detection means, the second detection means and the two first detection means arranged on the left and right of the second detection means. The rotation drive unit can be controlled so that the light beam is detected by at least one of the first detection means.
That is, since the self-propelled device only includes a detection unit for detecting the charging device, the configuration is simple and the cost is low, and the charging device is detected by the self-propelled device. Therefore, the configuration is simple and the cost is low. Further, the light beam is detected by the second detection means and at least one of the two first detection means arranged on the left and right of the second detection means, that is, self-running. The self-propelled device is rotated so that the self-propelled device can be reliably guided to the charging device by the detection unit and the light-emitting means included in the charging device, so that the mobile device reliably arrives at the charging device. can do. Therefore, in a self-propelled device charging system that includes a self-propelled device and a charging device that supplies power for charging to the self-propelled device, the self-propelled device is surely self-propelled with a simpler and lower-cost configuration. Can be made to stand on its own to the charging device.

According to the invention described in claim 3, it is needless to say that the same effect as that of the invention described in claim 2 can be obtained. In the self-propelled device, the rotation drive unit is provided by the rotation control means. In a controlled state, within a predetermined time, the second detection means and at least one first detection means of two first detection means arranged on the left and right of the second detection means cause the light beam to be emitted. If not detected, the self-propelled device can run randomly.
That is, when a light beam is not detected by the second detection means and at least one first detection means of the two first detection means arranged on the left and right of the second detection means, the second detection means And at least one first detection means of the two first detection means arranged on the left and right of the second detection means until a light beam is detected, that is, a detection unit provided in the self-propelled device, The self-propelled device is driven randomly until the self-propelled device can be reliably guided to the charging device by the light-emitting means included in the charging device, so that the self-propelled device can travel more reliably to the charging device. Can be made.

  According to the invention described in claim 4, it is needless to say that the same effect as that of the invention described in claim 2 or 3 can be obtained. Since it is arranged along the entire circumference of the side surface of the detection unit arranged on the upper surface of the unit, the light beam can be reliably detected from the entire 360 ° range.

Hereinafter, the best mode of a self-propelled device charging system according to the present invention will be described in detail with reference to the drawings. The scope of the invention is not limited to the illustrated example.
In this embodiment, a security robot will be described as an example of a self-propelled device.

<Configuration of self-propelled device charging system>
First, the structure of the self-propelled device charging system 1 will be described with reference to FIGS.

  For example, as shown in FIG. 1, the self-propelled device charging system 1 runs independently on the floor F of a predetermined room R based on a predetermined driving pattern, and monitors suspicious persons entering the room R. The security robot 4 and the charging device 2 that supplies the security robot 4 with power for charging are configured.

(Configuration of charging device)
For example, as illustrated in FIGS. 1 and 2, the charging device 2 includes a main body portion 20 formed in a quadrangular prism shape, a contact terminal 21 disposed in front of the main body portion 20, and a front surface of the main body portion 20. And a light emitting unit 22 as a light emitting means.
Here, one side surface that is substantially orthogonal to the floor surface F of the main body 20 is defined as the front side (front surface), and one side surface that faces the front surface is defined as the rear side. Further, a direction orthogonal to the front-rear direction and substantially parallel to the floor surface F is defined as the left-right direction, and a direction orthogonal to both the front-rear direction and the left-right direction is defined as the up-down direction.

(Contact terminal)
For example, the security robot 4 is detachably attached to the contact terminal 21. When the security robot 4 is attached, the contact terminal 21 supplies power for charging a storage battery (not shown) of the security robot 4 to the security robot 4.

(Light emitting part)
The light emitting unit 22 includes, for example, an LED (Light Emitting Diode) or the like, and emits a directional light beam M, for example.

Here, the light beam M emitted by the light emitting unit 22 is received and detected by, for example, a light beam sensor 452 (described later) included in the detection unit 45 (described later) of the security robot 4.
For example, as shown in FIG. 3, the width of the light receiving range M1 increases as the distance from the light emitting unit 22 increases from the light emitting unit 22 when the distance from the light emitting unit 22 is between 0 and about x1, and the distance from the light emitting unit 22 is about x1. It becomes about (y5 + y5) at the point of, and when the distance from the light emitting unit 22 is between about x1 and about x2 m, the distance from the light emitting unit 22 decreases abruptly, and the distance from the light emitting unit 22 is about x2 When the distance from the light emitting unit 22 is between about x2 and about x10, the distance gradually decreases as the distance from the light emitting unit 22 increases, and when the distance from the light emitting unit 22 becomes about x10 or more, the light receiving range M1 No longer exists.

(Configuration of security robot)
The security robot 4 is, for example, as shown in FIGS. 1 and 4 to 6, a main body portion 40 formed in a substantially disk shape in plan view, and the security robot 4 runs independently on a floor F in a predetermined room R. A traveling unit 41 for monitoring, a monitoring unit 42 for monitoring a suspicious person or the like that the security robot 4 enters a predetermined room R, a charging unit 43 for charging the security robot 4, and a predetermined instruction by the user Input unit 44 for input, a detection unit 45 for security robot 4 to detect charging device 2, a control unit 46 for controlling these units, and the like.
Here, the direction along the traveling direction of the security robot 4 is the front-rear direction, the traveling direction side is the front side (front), and the opposite side of the traveling direction is the rear side. Further, a direction orthogonal to the front-rear direction and substantially parallel to the floor surface F is defined as the left-right direction, and a direction orthogonal to both the front-rear direction and the left-right direction is defined as the up-down direction.

(Main body)
The main body 40 is, for example, for protecting the traveling unit 41, the control unit 46, and the like from impact and dust, and is provided so as to cover the traveling unit 41, the control unit 46, and the like.

(Traveling part)
The traveling unit 41 includes, for example, a left caterpillar 411L and a right caterpillar 411R, a left traveling motor 412L and a right traveling motor 412R, a gyro sensor 413, a traveling sensor 414, and the like.

  The left caterpillar 411L and the right caterpillar 411R are disposed on the left side and the right side of the security robot 4, for example.

The left traveling motor 412L and the right traveling motor 412R function as a driving source for traveling the security robot 4 according to a control signal input from the control unit 46, for example, and rotate the security robot 4 as a rotational driving unit ( It functions as a driving source for turning left or right).
Specifically, the left traveling motor 412L and the right traveling motor 412R rotate the left caterpillar 411L and the right caterpillar 411R, respectively, via predetermined drive transmission members in accordance with a control signal input from the control unit 46.

  The gyro sensor 413 is, for example, a gyro sensor such as a mechanical type, an optical type, or a fluid type, and detects an angular velocity when the security robot 4 turns left or right, and outputs the angular velocity detection signal to the control unit 46. To do.

  The traveling sensor 411 is, for example, an ultrasonic sensor, an infrared sensor, or the like, and is provided at a predetermined location such as a front surface or a side surface of the main body 40 and detects an obstacle located in front of the security robot 4 or on the side. Then, the obstacle detection signal is output to the control unit 46.

(Monitoring Department)
The monitoring unit 42 includes, for example, an imaging lens 421, an imaging element 422, a signal processing unit 423, and the like.

  The imaging lens 421 is disposed, for example, in front of the main body 40 of the security robot 4.

  The imaging element 422 is an imaging element such as a complementary metal-oxide semiconductor (CMOS) type image sensor or a charge coupled device (CCD) type image sensor. For example, according to a control signal input from the control unit 46, for example, an imaging lens The subject image input via 421 is photoelectrically converted into image data and output to the signal processing unit 423.

  The signal processing unit 423 performs, for example, predetermined image processing on the image data input from the image sensor 422 in accordance with the control signal input from the control unit 46 and outputs the processed image data to the control unit 46.

(Charging part)
The charging unit 43 includes, for example, a terminal 431, an electric energy sensor 432, and the like.

  The terminal 431 is disposed, for example, in front of the main body 40 of the security robot 4, contacts the contact terminal 21 of the charging device 2, and power for charging a storage battery (not shown) of the security robot 4 from the contact terminal 21. Receive the supply.

  For example, the power amount sensor 432 detects the amount of power stored in a storage battery (not shown) of the security robot 4 and outputs the power amount detection signal to the control unit 46.

(Input section)
The input unit 44 includes, for example, various function keys and the like, and outputs a press signal accompanying the user's key operation to the control unit 46.

(Detection unit)
The detection unit 45 is disposed, for example, on the upper surface of the main body 40 of the security robot 4. For example, the detection unit 45 includes a protrusion 451 and a plurality of light beam sensors 452 arranged along the entire side surface of the protrusion 451. , And so on.

The protruding portion 451 is formed in, for example, a cylindrical shape, and is provided so as to protrude from the upper surface of the main body portion 40 of the security robot 4, for example.
The shape of the protruding portion 451 is not limited to a columnar shape, but may be a substantially circular shape (for example, a columnar shape or a cylindrical shape) in a plan view, or a polygon shape (for example, a polygonal column shape or the like) It may be a polygonal cylinder or the like.

  For example, the light beam sensor 452 is configured to detect light having a wavelength equivalent to the wavelength of the light beam M emitted by the light emitting unit 22 of the charging device 2. When the light beam M is received and detected, the light beam sensor 452 receives the light. The beam detection signal is output to the control unit 46.

Specifically, the light beam sensor 452 includes, for example, a plurality of (for example, five) first light beam sensors 452a that are arranged at predetermined intervals along the entire side surface of the protrusion 451, and Second light as second detection means which faces the traveling direction of the security robot 4 and is arranged at equal intervals from two adjacent first light beam sensors 452a and 452a among the plurality of first light beam sensors 452a. It consists of a beam sensor 452b and the like.
Note that the number of the first light beam sensors 452a is not limited to five and may be any number as long as it is plural.

(Control part)
For example, as illustrated in FIG. 6, the control unit 46 includes a CPU (Central Processing Unit) 461, a RAM (Random Access Memory) 462, a ROM (Read Only Memory) 463, and the like.

  The CPU 461 performs various control operations according to various processing programs for the security robot 4 stored in the ROM 462, for example.

  The RAM 462 includes, for example, a program storage area for expanding a processing program executed by the CPU 461, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.

  The ROM 463 is, for example, a system program that can be executed by the security robot 4, various processing programs that can be executed by the system program, data used when executing these various processing programs, and data of processing results that are arithmetically processed by the CPU 461. Memorize etc. Note that the program is stored in the ROM 463 in the form of a computer-readable program code.

  Specifically, the ROM 463 stores, for example, a normal operation mode program 463a, a determination program 463b, a rotation control program 463c, a random travel control program 463d, a straight travel control program 463e, and the like.

For example, the normal operation mode program 463a causes the CPU 461 to realize a function of controlling each part of the security robot 4 such as the traveling unit 41 and the monitoring unit 42 in order to cause the security robot 4 to perform a normal operation.
Here, the normal operation is, for example, an operation in which the security robot 4 travels independently on the floor F of the predetermined room R based on a predetermined traveling pattern and monitors the room R.

  For example, the determination program 463b causes the CPU 461 to realize a function of determining whether or not a preset charging timing of the security robot 4 has come.

Specifically, for example, the CPU 461 determines whether the amount of power stored in the storage battery (not shown) of the security robot 4 has become a certain amount or less based on the power amount detection signal input from the power amount sensor 432. When it is determined that the amount of electric power stored in the storage battery of the security robot 4 has become a certain amount or less, it is determined that the timing for charging the security robot 4 has come.
The CPU 461 functions as a determination unit by executing the determination program 463b.

  The rotation control program 463c is, for example, a case where the CPU 461 that has executed the determination program 463b determines that the charging timing of the security robot 4 is set in advance, and the first light beam sensor 452a or the second light beam sensor 452b. When the light beam M is detected by the second light beam sensor 452b, and at least one first light beam among the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. The left traveling motor 412L so that the light beam M is detected by the two or three light beam sensors 452 of the sensor 452a, that is, the traveling direction of the security robot 4 is directed in the direction in which the light beam M arrives. And the right traveling motor 412R to control the security robot 4 The function of the rolling, to realize the CPU461.

  Here, for example, the CPU 461 receives a light beam detection signal from one first light beam sensor 452a or two adjacent first light beam sensors 452a and 452a out of a plurality (five) of first light beam sensors 452a. If it is input, it is determined that the light beam M is detected by the first light beam sensor 452a.

  Specifically, when the CPU 461 determines that the light beam M is detected by the second light beam sensor 452b, or for example, as shown in FIG. 7, the light beam M is detected by the first light beam sensor 452a. When the determination is made, the light beam M is generated by the second light beam sensor 452b and at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. That is, that is, the second light beam sensor 452b and at least one of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, Until the light beam detection signal is input, the security robot 4 is rotated.

  The rotation control program 463c is, for example, on the left and right sides of the second light beam sensor 452b and the second light beam sensor 452b while the security robot 4 is traveling straight by control by the CPU 461 executing the straight traveling control program 463e. The left traveling motor 412L and the right traveling motor 412R are controlled so that the light beam M is continuously detected by at least one first light beam sensor 452a of the two disposed first light beam sensors 452a and 452a. The CPU 461 realizes the function of rotating the security robot 4.

  Specifically, for example, when the CPU 461 determines that the light beam sensor 452 detecting the light beam M has been switched while the security robot 4 is traveling straight, the CPU 461 stops the straight traveling of the security robot 4. The light beam M is detected by the second light beam sensor 452b and at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. As described above, the security robot 4 is rotated, and the security robot 4 starts to travel straight ahead.

  More specifically, the CPU 461, for example, includes three light beam sensors 452 including a second light beam sensor 452b and two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. When the light beam M is not detected by the three light beam sensors 452 after the light beam M is detected by the above, the second light beam sensor 452b and the second light beam sensor 452b are arranged on the left and right sides. The security robot 4 is rotated so that the light beam M is detected by two or three light beam sensors 452 of at least one of the two first light beam sensors 452a and 452a. .

Further, the CPU 461, for example, a second light beam sensor 452b, one first light beam sensor 452a out of two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, When the light beam M is not detected by the two light beam sensors 452 after the light beam M is detected by the two light beam sensors 452, the second light beam sensor 452b and the second light beam sensor 452 The light beam M is detected by two or three light beam sensors 452 of at least one of the two first light beam sensors 452a and 452a arranged on the left and right of 452b. The security robot 4 is rotated.
Note that, for example, two of the second light beam sensor 452b and one first light beam sensor 452a out of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. After the light beam M is detected by the light beam sensor 452, three light beams, that is, a second light beam sensor 452b and two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. When the light beam M is detected by the beam sensor 452, the CPU 461 does not rotate the security robot 4.

Here, the light beam M is detected by the three light beam sensors 452 including the second light beam sensor 452b and the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. This is a case where the contact terminal 431 of the security robot 4 and the terminal 21 of the charging device 2 face each other.
Therefore, first, the CPU 461 uses the three light beam sensors 452 including the second light beam sensor 452b and the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. When the security robot 4 is rotated so that the light beam M is not detected by the three light beam sensors 452 within the first predetermined time, the security robot 4 is arranged on the left and right sides of the second light beam sensor 452b. The security robot 4 is rotated so that the light beam M is detected by one of the two first light beam sensors 452a and 452a and the first light beam sensor 452a. .
The CPU 461 functions as a rotation control unit by executing the rotation control program 463c.

  The random traveling control program 463d causes the CPU 461 to realize a function of controlling each part of the security robot 4 such as the traveling unit 41 in order to cause the security robot 4 to randomly travel, for example.

  Specifically, for example, when the CPU 461 that has executed the determination program 463b determines that the charging timing of the security robot 4 set in advance is reached, the CPU 461 causes the security robot 4 to run at random.

In addition, the CPU 461, for example, in a state where the left traveling motor 412L and the right traveling motor 412R are controlled by the CPU 461 executing the rotation control program 453c, that is, in a state where the security robot 4 is rotating, within a predetermined time. The light beam M is detected by the second light beam sensor 452b and at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. If not, the security robot 4 is run at random.
More specifically, for example, the first light beam sensor 452b and two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b within the first predetermined time are provided. The light beam M is not detected by the light beam sensor 452, and then the second light beam sensor 452b and the two first light beam sensors 452a arranged on the left and right of the second light beam sensor 452b within the second predetermined time. , 452a, and the first light beam sensor 452a and the two light beam sensors 452 do not detect the light beam M, the CPU 461 determines the predetermined time (= first predetermined time + second predetermined time). ), The second light beam sensor 452b, and two of the first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b are small. Also one of the first light beam sensor 452a, it is determined that the light beam M is not detected by, it is a random travel security robot 4.

In addition, after the light beam M is detected by the first light beam sensor 452a or the second light beam sensor 452b, the second light beam sensor 452b and the second light beam sensor 452b are within a predetermined time while the security robot 4 is rotating. The light beam M is detected by two or three light beam sensors 452 of at least one of the two first light beam sensors 452a and 452a arranged on the left and right of the two light beam sensors 452b. The case where the light beam M is detected only by one light beam sensor 452 is a case where the distance between the charging device 2 and the security robot 4 is a predetermined distance or more, for example.
For example, as shown in FIG. 3, the width of the light receiving range M1 of the light beam M by the light beam sensor 452 decreases as the distance from the light emitting unit 22 increases when the distance from the light emitting unit 22 is between about x1 and about x10. . Therefore, when the distance between the charging device 2 and the security robot 4 is equal to or greater than a predetermined distance, the light beam M can be detected by one light beam sensor 452, but the light beams M 452 can simultaneously detect light. The beam M cannot be detected.
The CPU 461 functions as a travel control unit by executing the random travel control program 453d.

  The straight traveling control program 463e is, for example, the second light beam sensor 452b and the second light beam sensor 452b within a predetermined time in a state where the security robot 4 is rotating under the control of the CPU 461 executing the rotation control program 463c. When the light beam M is detected by at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of the security robot 4, the security robot 4 is caused to travel straight (forward). Therefore, in order to run the security robot 4 toward the charging device 2, the CPU 461 realizes a function of controlling each part of the security robot 4 such as the running unit 41.

<Processing by self-propelled device charging system (charging process)>
Next, processing related to charging by the security robot 4 of the self-propelled device charging system 1 will be described with reference to the flowcharts of FIGS.

  First, the CPU 461 of the security robot 4 executes the normal operation mode program 463a to start normal operation by the security robot 4 (step S11).

  Next, the CPU 461 executes the determination program 463b, and determines whether or not the preset charging timing of the security robot 4 has come (step S12).

  If it is determined in step S12 that the charging timing of the security robot 4 set in advance is not reached (step S12; No), the CPU 461 repeats the process of step S12.

  On the other hand, if it is determined in step S12 that the preset charging timing of the security robot 4 has been reached (step S12; Yes), the CPU 461 ends the normal operation by the security robot 4 (step S13), and the random travel control program 463d. To start random running by the security robot 4 (step S14).

  Next, the CPU 461 determines whether or not the light beam M is detected by the light beam sensor 452 (step S15).

  If it is determined in step S15 that the light beam M is not detected by the light beam sensor 452 (step S15; No), the CPU 461 repeats the process of step S15.

  On the other hand, if it is determined in step S15 that the light beam M has been detected by the light beam sensor 452 (step S15; Yes), the CPU 461 ends random running by the security robot 4 (step S16).

  Next, the CPU 461 executes the rotation control program 463c to start measuring time by a time measuring unit (not shown) (step S17), and is arranged on the left and right of the second light beam sensor 452b and the second light beam sensor 452b. The security robot 4 is rotated so that the light beam M is detected by the two first light beam sensors 452a and 452a (step S18).

  Next, the CPU 461 detects the light beam M by the three light beam sensors 452 including the second light beam sensor 452b and the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. It is determined whether or not it has been done (step S19).

  In step S19, the light beam M is detected by the three light beam sensors 452 including the second light beam sensor 452b and the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. If the CPU 461 determines that it has been satisfied (step S19; Yes), the process proceeds to step S25.

  On the other hand, in step S19, the light beam M is generated by the three light beam sensors 452 including the second light beam sensor 452b and the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. If it is determined that it has not been detected (step S19; No), the CPU 461 determines whether or not the first predetermined time has elapsed based on the time measurement result by the time measuring unit (not shown) (step S20).

  If it is determined in step S20 that the first predetermined time has not elapsed (step S20; No), the CPU 461 repeatedly performs the processing from step S18.

  On the other hand, if it is determined in step S20 that the first predetermined time has elapsed (step S20; Yes), the CPU 461 has a second light beam sensor 452b and two first light beams arranged on the left and right of the second light beam sensor 452b. The security robot 4 is rotated so that the light beam M is detected by one of the light beam sensors 452a and 452a and the first light beam sensor 452a of the light beam sensors 452a (step S21).

  Next, the CPU 462 includes two of the second light beam sensor 452b and one first light beam sensor 452a out of the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. It is determined whether or not the light beam M is detected by the two light beam sensors 452 (step S22).

  In step S22, two of the second light beam sensor 452b and one first light beam sensor 452a out of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. If it is determined that the light beam M is not detected by the light beam sensor 452 (step S22; No), the CPU 461 determines a predetermined time (= first predetermined time + second) based on a time measurement result by a time measuring unit (not shown). It is determined whether or not a predetermined time has elapsed (step S23).

  If it is determined in step S23 that the predetermined time has not elapsed (step S23; No), the CPU 461 repeats the processing after step S21.

  On the other hand, if it is determined in step S23 that the predetermined time has elapsed (step S23; Yes), the CPU 461 determines that the distance between the charging device 2 and the security robot 4 is equal to or greater than the predetermined distance, and the time counting unit ( The timing by (not shown) is terminated (step S24), and the processes after step S14 are repeated.

  In step S22, the second light beam sensor 452b and one first light beam sensor 452a out of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, If it is determined that the light beam M is detected by the two light beam sensors 452 (step S22; Yes), the CPU 461 ends the time measurement by the time measuring unit (not shown) (step S25) and executes the straight traveling control program 463e. Then, the straight traveling by the security robot 4 is started (step S26).

  Next, the CPU 461 executes the rotation control program 463c to determine whether or not the light beam sensor 452 that detects the light beam M has been switched (step S27).

  If it is determined in step S27 that the light beam sensor 452 that detects the light beam M has not been switched (step S27; No), the CPU 451 proceeds to the process of step S30.

  On the other hand, when it is determined in step S27 that the light beam sensor 452 that detects the light beam M has been switched (step S27; Yes), the CPU 461 detects that the light beam sensor 452 that detects the light beam M is the second light. The second light from the two light beam sensors 452 of the beam sensor 452b and one of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. It is determined whether or not the three light beam sensors 452 of the beam sensor 452b and the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b have been switched (step S28).

  In step S28, the light beam sensor 452 detecting the light beam M is a second light beam sensor 452b, and two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. A first light beam sensor 452a, a second light beam sensor 452b, two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, When the CPU 461 determines that the three light beam sensors 452 have not been switched (step S28; No), the CPU 461 ends the straight traveling by the security robot 4 (step S29), and repeats the processing from step S17 onward.

  On the other hand, in step S28, the light beam sensor 452 detecting the light beam M is a second light beam sensor 452b and two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. The first light beam sensor 452a, the second light beam sensor 452b, the second light beam sensor 452b, and the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. When the CPU 461 determines that the terminal 431 is in contact with the contact terminal 21 of the charging device 2 electrically or by a switch, the CPU 461 determines that the three light beam sensors 452 are switched (step S28; Yes). Judgment is made (step S30).

  If it is determined in step S30 that the terminal 431 is not in contact with the contact terminal 21 of the charging device 2 (step S30; No), the CPU 461 repeatedly performs the processing from step S27.

  On the other hand, if it is determined in step S30 that the terminal 431 has come into contact with the contact terminal 21 of the charging device 2 (step S30; Yes), the CPU 461 performs security based on the power amount detection signal input from the power amount sensor 432. It is determined whether charging of the robot 4 has been completed (step S31).

  If it is determined in step S31 that charging of the security robot 4 has not been completed (step S31; No), the CPU 461 repeats the process of step S31.

  On the other hand, when it is determined in step S31 that charging of the security robot 4 has been completed (step S31; Yes), the CPU 461 repeatedly performs the processing from step S11.

According to the self-propelled device charging system 1 of the present invention described above, the security robot 4 that runs autonomously on the floor F of the predetermined room R, and the charging device 2 that supplies the security robot 4 with power for charging. And.
The charging device 2 is detachably attachable to the security robot 4, and when the security robot 4 is attached, the contact terminal 21 that supplies power for charging to the security robot 4 and the light emitting unit 22 that emits the light beam M. And.
In addition, the security robot 4 is in contact with the contact terminal 21 to receive and detect the terminal 431 that receives supply of power for charging from the contact terminal 21 and the light beam M emitted from the light emitting unit 22. A plurality of light beam sensors 452a are arranged at a predetermined interval along the entire circumference of the side surface, and a second light beam sensor 452b that receives and detects the light beam M emitted by the light emitting unit 22 is advanced by the security robot 4. A left traveling motor that rotates the security robot 4 and a detection unit 45 that is oriented at an equal interval from two adjacent first light beam sensors 452a and 452a among the plurality of first light beam sensors 452a. 412L and a right traveling motor 412R, which are preset by a CPU 461 that has executed the determination program 463b. It can be determined whether or not the charging timing of the security robot 4 has come, and the CPU 461 that has executed the rotation control program 463c determines that the charging timing of the security robot 4 that has been preset by the CPU 461 that has executed the determination program 463b has come. When the light beam M is detected by the first light beam sensor 452a or the second light beam sensor 452b, the second light beam sensor 452b and the second light beam sensor 452b are arranged on the left and right sides. The left traveling motor 412L and the right traveling motor 412R are controlled so that the light beam M is detected by at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a. The robot 4 can be rotated.
That is, since the security robot 4 includes only the detection unit 45 for detecting the charging device 2, the configuration is simple and the cost is low, and the charging device 2 is detected by the security robot 4. Therefore, the configuration is simple and the cost is low. Further, the light beam M is generated by the second light beam sensor 452b and at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b. The security robot 4 is detected so that the security robot 4 can be reliably guided to the charging device 2 by the detection unit 45 provided in the security robot 4 and the light emitting unit 22 provided in the charging device 1. Since it rotates, it can arrive at the charging device 2 reliably. Accordingly, in the self-propelled device charging system 1 that includes the security robot 4 and the charging device 2 that supplies the security robot 4 with power for charging, the security robot 4 can be surely configured with a simpler and lower cost configuration. Can be driven independently up to the charging device 2.

The security robot 4 is in a state where the security robot 4 is rotated by the CPU 461 executing the random travel control program 463d and the CPU 461 executing the rotation control program 463c controlling the left travel motor 412L and the right travel motor 412R. Within a predetermined time, the second light beam sensor 452b and at least one of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, When the light beam M is not detected, the security robot 4 can be run at random.
That is, the light beam M is generated by the second light beam sensor 452b and at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. If not detected, the second light beam sensor 452b and at least one first light beam sensor 452a out of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, Until the light beam M is detected, that is, until the security robot 4 can be reliably guided to the charging device 2 by the detection unit 45 provided in the security robot 4 and the light emitting unit 22 provided in the charging device 2, the security robot 4 is run at random, charging the security robot 4 more reliably It can be self-supporting travel to the location 2.

  In addition, since the first light beam sensor 452a and the second light beam sensor 452b are disposed along the entire side surface of the detection unit 45 disposed on the upper surface of the main body 40 of the security robot 4, a 360 ° full range is provided. Therefore, the light beam M can be reliably detected.

The security robot 4 includes a second light beam sensor 452b, and at least one first light beam sensor 452a out of two first light beam sensors 452a and 452a arranged on the left and right sides of the second light beam sensor 452b, After the light beam M is detected by the CPU 461, the CPU 461 that executes the straight traveling control program 463 e and the CPU 461 that executes the rotation control program 463 c are arranged to the left and right of the second light beam sensor 452 b and the second light beam sensor 452 b. It is possible to approach the charging device 2 while continuing to detect the light beam M with at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged.
Therefore, the security robot 4 can be reliably guided to the charging device 2, and the security robot 4 can be autonomously driven to the charging device 2 even more reliably.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist thereof.

The location where the light beam sensor 452 is disposed is not limited to the protruding portion 451 but may be any predetermined member provided at a predetermined portion of the main body 40 of the security robot 4.
Specifically, for example, a belt capable of rotating along the entire side surface of the main body 40 is provided in the main body 40, and the light beam sensor 452 may be disposed along the entire side of the belt. . In this case, the belt constitutes the detection unit 45 instead of the protrusion 451.
Further, for example, the light beam sensor 452 may be arranged directly on the main body 40 along the entire side surface of the main body 40. In this case, the main body portion 40 constitutes the detection portion 45 instead of the protruding portion 451.

  When a light beam detection signal is input from one first light beam sensor 452a or two adjacent first light beam sensors 452a and 452a among a plurality of (for example, five) first light beam sensors 452a, Although it is determined that the light beam M is detected by the first light beam sensor 452a, for example, a light beam detection signal is received from one first light beam sensor 452a or a plurality of adjacent first light beam sensors 452a,. When input, it may be determined that the light beam M has been detected by the first light beam sensor 452a.

  The self-propelled device is not limited to the security robot 4 and may be any self-propelled device capable of autonomous traveling.

The CPU 461 that executes the rotation control program 463c is controlled by the second light beam sensor 452b and the second light beam sensor after the light beam M is detected by the first light beam sensor 452a or the second light beam sensor 452b. If the security robot 4 can be rotated so that the light beam M is detected by at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of 452b. Is optional.
Here, in the control, the second light beam sensor 452b and one of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, Rather than rotating the security robot 4 so that the light beam M is detected by the two light beam sensors 452, the second light beam sensor 452b and the two second light beam sensors 452b arranged on the left and right sides of the second light beam sensor 452b are used. It is more convenient if the security robot 4 is preferentially rotated so that the light beam M is detected by the three light beam sensors 452a and 452a.

The light beam M is detected by the second light beam sensor 452b and at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b. The control method by the CPU 461 that executes the straight traveling control program 463e and the CPU 461 that executes the rotation control program 463c is arranged on the left and right of the second light beam sensor 452b and the second light beam sensor 452b. If the security robot 4 can travel straight toward the charging device 2 while continuing to detect the light beam M with at least one first light beam sensor 452a of the two first light beam sensors 452a and 452a. Is optional.
Here, in the control, the second light beam sensor 452b and one of the two first light beam sensors 452a and 452a arranged on the left and right of the second light beam sensor 452b, Rather than rotating the security robot 4 so that the light beam M is detected by the two light beam sensors 452, the two first light beams 452b and the two first light beams arranged on the left and right of the second light beam sensor 452b are used. It is more convenient if the security robot 4 is preferentially rotated such that the light beam M is detected by the three light beam sensors 452a and 452a.

<Modification>
The security robot 4 included in the self-propelled device charging system 1 is, for example, a first light beam arranged on the left side of the second light beam sensor 452b and the second light beam sensor 452b, as in the security robot 4A shown in FIG. A slit 453A may be provided between the sensor 452a and between the second light beam sensor 452b and the first light beam sensor 452a disposed on the right side of the second light beam sensor 452b.

  Specifically, the slit 453A is disposed, for example, in the projecting portion 451 so as to be movable in the front-rear direction, and moves in the forward direction according to a control signal input from the control unit 46, for example. It protrudes from 451 or moves backward and is accommodated in the protruding portion 451.

More specifically, for example, a failure input from the travel sensor 414 while the security robot 4A travels straight toward the charging device 2 under the control of the CPU 461 that executes the straight travel control program 463e. If the controller 46 (CPU 461) determines that the distance between the security robot 4A and the charging device 2 is equal to or less than a certain distance based on the object detection signal, for example, the slit 453A shown in FIG. For example, the slit 453A is controlled so that the slit 453A is switched from the state accommodated in the portion 451 to the state in which the slit 453A protrudes from the protruding portion 451 shown in FIG.
Here, after the slit 453A protrudes from the protruding portion 451, the rotation of the security robot 4 may be controlled so that the light beam M is continuously detected only by the second light beam sensor 453b.

  Furthermore, for example, when it is determined that the terminal 431 has come into contact with the contact terminal 21 of the charging device 2, the control unit 46 (CPU 461), for example, a state in which the slit 453 </ b> A protrudes from the protruding portion 451 shown in FIG. For example, the slit 453A is controlled so that the slit 453A shown in FIG.

  In the case of the modified example, when the distance between the security robot 4A and the charging device 2 is equal to or less than a certain distance, the slit 453A protrudes from the protruding portion 451, and the detection range of the light beam M of the second light beam sensor 452b is increased. In order to reduce the width, the security robot 4A is rotationally controlled so that the traveling direction of the security robot 4A is surely directed in the direction in which the light beam M arrives, that is, the security robot 4 can be reliably guided to the charging device 2. As a result, the self-propelled device 4A can be made to autonomously travel to the charging device 2 more reliably and reliably.

It is a top view which shows the structure of the self-propelled apparatus charging system in this invention. It is a perspective view of the charging device in the present invention. It is a figure which shows the light-receiving range of the light beam light-emitted from the light emission part of the charging device in this invention. It is a perspective view of the security robot in the present invention. It is a top view of the security robot in the present invention. It is a block diagram which shows the functional structure of the security robot in this invention. It is a figure for demonstrating the method of rotation of the security robot in this invention. It is a flowchart for demonstrating the 1st process regarding the charge by the security robot of the self-propelled apparatus charging system in this invention. It is a flowchart for demonstrating the 2nd process regarding the charge by the security robot of the self-propelled apparatus charging system in this invention. It is a flowchart for demonstrating the 3rd process regarding the charge by the security robot of the self-propelled apparatus charging system in this invention. It is a top view of the security robot in a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled apparatus charging system 2 Charging apparatus 21 Contact terminal 22 Light emission part (light emission means)
4 Security robot (self-propelled device)
45 Detection unit 412L Left travel motor (rotary drive unit)
412R Right travel motor (rotary drive)
431 Terminal 452a First light beam sensor (first detection means)
452b Second light beam sensor (second detection means)
461 CPU (determination means, rotation control means, travel control means)
463b Judgment program (judgment means)
463c Rotation control program (rotation control means)
463d Random travel control program (travel control means)
F Floor surface M Light beam R Predetermined room

Claims (4)

In a self-propelled device charging system comprising a self-propelled device that independently runs on a floor surface in a predetermined room, and a charging device that supplies electric power for charging to the self-propelled device,
The charging device is:
The self-propelled device is detachable, and when the self-propelled device is attached, a contact terminal that supplies power for the charging to the self-propelled device;
A light emitting means for emitting a light beam;
With
The self-propelled device is
A terminal that is in contact with the contact terminal and receives supply of power for the charging from the contact terminal;
A plurality of first detection means arranged on the upper surface of the main body of the self-propelled device and receiving and detecting the light beam emitted by the light emitting means are arranged at predetermined intervals along the entire side surface, The second detection means that receives and detects the light beam emitted by the light emitting means faces the traveling direction of the self-propelled device and is adjacent to two of the plurality of first detection means. Detectors arranged at equally spaced positions from
A rotation drive for rotating the self-propelled device;
A judging means for judging whether or not the charging timing of the self-propelled device set in advance is reached;
When it is determined by the determination means that the charging timing of the self-propelled device set in advance is reached, when the light beam is detected by the first detection means or the second detection means, the first The rotation drive unit so that the light beam is detected by two detection means and at least one first detection means of the two first detection means arranged on the left and right of the second detection means. Rotation control means to control;
In a state where the rotation drive unit is controlled by the rotation control unit, at least of the second detection unit and the two first detection units arranged on the left and right of the second detection unit within a predetermined time. If the light beam is not detected by one first detection means, travel control means for causing the self-propelled device to travel randomly,
A self-propelled device charging system comprising: In a self-propelled device charging system comprising a self-propelled device that independently runs on a floor surface in a predetermined room, and a charging device that supplies electric power for charging to the self-propelled device,
The charging device is:
The self-propelled device is detachable, and when the self-propelled device is attached, a contact terminal that supplies power for the charging to the self-propelled device;
A light emitting means for emitting a light beam;
With
The self-propelled device is
A terminal that is in contact with the contact terminal and receives supply of power for the charging from the contact terminal;
A plurality of first detection means for receiving and detecting the light beam emitted by the light emitting means are arranged at predetermined intervals along the entire circumference of the side surface, and receiving and detecting the light beam emitted by the light emitting means. A second detecting means that faces the traveling direction of the self-propelled device and is arranged at equal intervals from two adjacent first detecting means of the plurality of first detecting means;
A rotation drive for rotating the self-propelled device;
A judging means for judging whether or not the charging timing of the self-propelled device set in advance is reached;
When it is determined by the determination means that the charging timing of the self-propelled device set in advance is reached, when the light beam is detected by the first detection means or the second detection means, the first The rotation drive unit so that the light beam is detected by two detection means and at least one first detection means of the two first detection means arranged on the left and right of the second detection means. Rotation control means to control;
A self-propelled device charging system comprising: In the self-propelled device charging system according to claim 2,
The self-propelled device is
In a state where the rotation drive unit is controlled by the rotation control unit, at least of the second detection unit and the two first detection units arranged on the left and right of the second detection unit within a predetermined time. A self-propelled device charging system comprising travel control means for randomly traveling the self-propelled device when no light beam is detected by one first detecting means. In the self-propelled device charging system according to claim 2 or 3,
The said detection part is arrange | positioned at the upper surface of the main-body part of the said self-propelled apparatus, The self-propelled apparatus charging system characterized by the above-mentioned.

Images