JP2009106096A - Autonomous traveling device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous traveling device configured to prevent charging failure by ensuring a contact between a power supply terminal of a charger and a power receiving terminal of the device body when the device body returns to the charger. <P>SOLUTION: The power receiving means 6 of the device body 1 includes a power receiving terminal 6a and a metal part 6b, the power supply means 11 of a charger 10 for charging the battery charger of the device body 1 icludes a power supply terminal 11a coming in contact with the power receiving terminal 6a and a magnet 11b for attracting the metal part 6b, and at least one of the power receiving means 6 of the device body 1 and the power supply means 11 of a charger 10 is movable up and down and right and left. The magnet 11b of the charger 10 attracts the metal part 6b when the device body 1 returns to the charger 10, and at least one of the power receiving means 6 and the power supply means 11 of a charger 10 is movable up and down and right and left, so that the power supply terminal 11a and the power receiving terminal 6a are surely brought into contact with each other regardless of situation and charging failure can be prevented. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an autonomous traveling device and a program including a device main body having a rechargeable battery and autonomously traveling, and a charging device for charging the rechargeable battery when the device main body is returned.

Conventionally, when this type of autonomous mobile device charges the rechargeable battery of the device main body, the device main body is guided to the place of the charging device installed at a fixed position, where power is supplied from the power supply means and the rechargeable battery is charged. (For example, refer to Patent Document 1).
JP-A-4-210704

  However, in the conventional configuration, for example, when a charging device is installed on a carpet and the device body returns to the charging device, the amount of sinking on the carpet varies depending on the difference in weight between the charging device and the device body. Deviation in the height direction occurs between the power supply terminal of the apparatus and the power reception terminal of the apparatus main body, making it difficult to contact the power supply terminal of the charging apparatus and the power reception terminal of the apparatus main body. In addition, even when a deviation occurs in the left-right direction due to the position variation of the return operation of the device main body to the charging device, there is a problem that it is difficult to contact the power supply terminal of the charging device and the power receiving terminal of the device main body. .

  The present invention solves the above-described conventional problems. When the apparatus main body is returned to the charging apparatus for charging the rechargeable battery, the power supply terminal of the charging apparatus and the power receiving terminal of the apparatus main body are connected regardless of the situation. An object of the present invention is to provide an autonomous traveling device and a program that ensure contact and prevent charging defects.

  In order to solve the above-described conventional problems, an autonomous traveling device and a program according to the present invention include a device main body having a rechargeable battery and autonomously traveling, and a charging device for charging the rechargeable battery when the device main body is returned. The power receiving means of the apparatus main body has a power receiving terminal and a metal part, and the power feeding means of the charging apparatus has a power feeding terminal that contacts the power receiving terminal when charging the apparatus main body and charges and a magnet that attracts the metal part. At least one of the power receiving means of the apparatus main body and the power supply means of the charging device is movable in the left-right and up-down directions.

  As a result, when the apparatus main body returns to the charging apparatus for charging the rechargeable battery, the magnet of the charging apparatus attracts the metal portion of the apparatus main body, and at least one of the power receiving means of the apparatus main body and the power supply means of the charging apparatus Is movable in the left-right and up-down directions, it is possible to ensure a contact between the power feeding terminal of the charging device and the power receiving terminal of the main body of the device regardless of the situation, thereby preventing inadequate charging.

  The autonomous traveling device and the program of the present invention can ensure that the power feeding terminal of the charging device and the power receiving terminal of the device main body are in contact with each other regardless of the situation, thereby preventing charging defects.

  A first invention includes a device main body having a rechargeable battery and autonomously traveling, and a charging device for charging the rechargeable battery when the device main body is returned, wherein the power receiving means of the device main body includes a power receiving terminal and a metal part. The charging device has a power feeding terminal that contacts the power receiving terminal and charges when the device main body is returned, and a magnet that attracts the metal part, and the power receiving means of the device main body and the power feeding means of the charging device At least one of them is an autonomous traveling device that can move in the horizontal and vertical directions. As a result, when the apparatus main body returns to the charging apparatus for charging the rechargeable battery, the magnet of the charging apparatus attracts the metal portion of the apparatus main body, and at least one of the power receiving means of the apparatus main body and the power supply means of the charging apparatus Is movable in the left-right and up-down directions, it is possible to ensure contact between the power feeding terminal of the charging device and the power receiving terminal of the device main body and prevent charging defects regardless of the situation.

  In the second invention, in particular, in the first invention, the magnet constituting the power supply means of the charging device is an electromagnet. Contact with the power receiving terminal can be ensured and charging failure can be prevented.

  In particular, in the second invention, the power supply terminal of the charging device and the power receiving terminal of the device main body are efficiently obtained at the time of return for charging by energizing the electromagnet of the charging device only when the device main body returns. Can be prevented from being incompletely charged.

  In the fourth invention, in particular, in the second or third invention, the electromagnet of the charging apparatus is driven by an alternating current, and the apparatus main body detects an alternating magnetic field from the electromagnet and recognizes that it is close to the charging apparatus. By providing the approach detection means, it is possible to surely inform the apparatus main body of the approach to the charging apparatus without providing any special means for notifying the approach to the charging apparatus, and the power supply terminal of the charging apparatus and the apparatus main body It is possible to ensure contact with the power receiving terminal and prevent charging defects.

  According to a fifth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, the device body is provided with light emitting means, and the charging device is provided with light receiving means. By transmitting to the charging device by the light emitting means and the light receiving means, it is possible to reliably transmit from the device main body to the charging device without providing a contact point such as temperature information transmission of the rechargeable battery. Inadequate charging due to malfunctions can be prevented.

  The sixth invention provides a special means, in particular, in any one of the second to fifth inventions, by transmitting information on the state of charge to the apparatus body according to the period of the alternating magnetic field from the electromagnet of the charging apparatus. Therefore, it is possible to inform the apparatus main body of the charging state such as the completion of charging, and to ensure contact between the power supply terminal of the charging apparatus and the power receiving terminal of the apparatus main body, thereby preventing inadequate charging.

  According to a seventh aspect of the invention, in particular, in any one of the second to fifth aspects of the invention, special information can be obtained by transmitting information on the state of charge to the apparatus main body according to the positive / negative duty of the alternating magnetic field from the electromagnet of the charging apparatus. Without providing a battery, it is possible to inform the apparatus main body of the state of charge such as completion of charging, and to ensure contact between the power supply terminal of the charging apparatus and the power receiving terminal of the apparatus main body, thereby preventing inadequate charging.

  In an eighth aspect of the invention, in particular, in any one of the second to seventh aspects of the invention, when the power receiving terminal of the apparatus main body and the power supply terminal of the charging apparatus are separated during charging, the alternating magnetic field of the charging apparatus is detected and the apparatus main body is When the charging operation is performed again, when the power feeding terminal of the charging device and the power receiving terminal of the device main body are separated, the alternating operation of the charging device is detected and the traveling means is controlled to perform the returning operation again. The contact between the power feeding terminal of the charging device and the power receiving terminal of the device main body can be ensured to prevent charging defects.

  The ninth aspect of the invention is particularly an autonomous traveling apparatus using a microcomputer or the like by causing a computer to execute at least a part of the functions of the autonomous traveling apparatus according to any one of the first to eighth aspects of the invention. It is possible to easily realize part or all of the above, and flexibly cope with changes in characteristics such as changes in various sensors or changes in characteristics such as aging, and changes in constants for realizing operations. Further, the program can be easily distributed by recording on a recording medium or distributing the program using a communication line.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
The figure shows an autonomous traveling device in Embodiment 1 of the present invention.

  As shown in FIG. 1, the autonomous traveling device in the present embodiment includes a device main body 1 having a rechargeable battery 7 and autonomously traveling, and a charging device 10 for charging the rechargeable battery 7 when the device main body 1 is returned. It has.

  The power receiving means 6 of the apparatus main body 1 has a power receiving terminal 6a and a metal portion 6b as shown in FIG. 2, and the power supply means 11 of the charging apparatus 10 receives power when the apparatus main body 1 is returned (during charging). The power supply terminal 11a that contacts the terminal 6a for charging and the magnet 11b that attracts the metal portion 6b have at least one of the power receiving means 6 of the apparatus main body 1 and the power supply means 11 of the charging apparatus 10 (in the present embodiment). Only the power feeding means 11) can be moved in the left-right vertical direction and the front-back direction.

  Returning to FIG. 1, details of the apparatus main body 1 will be described.

  In addition to the power receiving means 6, the apparatus body 1 detects the presence or absence of an obstacle and the distance based on the time from transmission of ultrasonic waves using ultrasonic waves until detection of reflected waves reflected by the obstacles, or infrared light. Obstacle detection means 2 for detecting the presence or absence of an obstacle using the like, driving means 4 for driving the left and right drive wheels 3 of the apparatus main body 1 to drive the apparatus main body 1, obstacle detection means 2, A control means 5 for controlling the traveling means 4 and the like, a Hall element or a Hall IC, etc., an approach detection means 8 for detecting an approach to the charging apparatus 10 by receiving a magnetic signal emitted from the charging apparatus 10, and a follower wheel 9 It has.

  Further, the apparatus main body 1 includes a voltage detection unit 12 that detects a voltage received from the charging device 10 through the power receiving terminal 6, and an induction signal from the induction unit 15 of the charging apparatus 10 in front of the bottom surface of the apparatus main body 1. The temperature information of the rechargeable battery 7 converted into a digital value by the control means 5 from the information of the induction signal detecting means 16 for detecting the temperature and the temperature detection element (not shown) such as a thermistor installed in the rechargeable battery 7 is infrared. And a light emitting means 14 for charging information transmitted to the charging device 10 at the number of times of blinking of light (for example, the number of blinks per second).

  2 to 4, the obstacle detection means 2 includes a left side detection means 2a, a left front detection means 2b, and a right front detection means 2c provided at four locations on the front and side of the apparatus main body 1. As shown in FIG. 3, the approach detection means 8 comprises a left side approach detection means 8a and a right side approach detection means 8b provided on the left and right sides of the side face of the apparatus body 1, as shown in FIG. . Further, as shown in FIG. 3, the guidance signal detection means 16 includes a left front guidance signal detection means 16a and a right front guidance signal detection means 16b that are arranged in front of the bottom surface of the apparatus main body 1 at a predetermined interval. . The left front guidance signal detection means 16a and the right front guidance signal detection means 16b are arranged with an interval of about 2 to 3 times the width of the guidance means 15 of the charging device 10. The left front guidance signal detection means 16a and the right front guidance signal detection means 16b are actually composed of Hall elements that detect magnetism, as in the approach detection means 8.

  The control means 5 controls the obstacle detection means 2, the traveling means 4, and the light emission means 14 from the inputs of the obstacle detection means 2, the approach detection means 8, the voltage detection means 12, and the guidance signal detection means 16. is there.

  Further, as described above, the power receiving means 6 of the apparatus main body 1 includes the power receiving terminal 6a and the metal portion 6b, but additionally includes a magnetic field detecting means 6c. The details are as shown in FIG. That is, the power receiving terminal 6a serves as a positive electrode and a negative electrode that receive power from the power supply terminal 11a, and a pair of metal portions 6b are disposed above the power receiving terminal 6a. Further, between the pair of metal portions 6b, magnetic field detection means 6c for detecting an output proportional to the direction of the magnetic lines generated when the magnet 11b of the charging device 10 is the electromagnet 11c (FIG. 7) and the magnetic line density is arranged. ing. This magnetic field detection means 6c is actually composed of a Hall element or the like.

  As is clear from FIGS. 2 and 4, the power receiving terminal 6 a is disposed slightly inside the maximum outline from the shape of the apparatus main body 1. Further, the power feeding means 11 of the charging device 10 and the power receiving means 6 of the apparatus main body 1 are arranged at the same height.

  Next, the details of the charging apparatus 10 will be described with reference to FIGS.

  The charging device 10 is installed at a fixed position, and includes a power supply unit 13 that supplies power to the power supply unit 11 and an elongated magnetic tape or magnet provided on the back side of the bottom surface of the charging device 10. Are transmitted from the obstacle detecting means 2 of the apparatus main body 1 and the light receiving means 17 for charging information which is provided at a position facing the light emitting means 14 of the apparatus main body 1 and inputs information from the light emitting means 14. Return request detecting means 18 for detecting a return request signal to the charging device 10 is provided.

  Return request detection means 18 includes left return request detection means 18a and right return request detection means 18b. Actually, it is composed of an ultrasonic reception sensor, and receives an ultrasonic signal transmitted from the obstacle detection means 2 of the apparatus main body 1 and its drive cycle differs between the normal state and the return request (for example, every 40 ms in normal time). The transmission request of the apparatus main body 1 is recognized by detecting the transmission request at the time of return request.

  About the autonomous traveling apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated based on FIGS.

  When the apparatus main body 1 is activated after completion of charging, the apparatus main body 1 moves backward by a predetermined distance in order to leave the charging apparatus 10 and then reverses 180 degrees to drive the obstacle detection means 2 in a normal driving cycle (for example, every 40 ms). While driving and detecting obstacles, go straight in an angular direction determined randomly. Then, when an obstacle is detected at a distance (for example, 10 cm) set in front of the apparatus main body 1 by the obstacle detection means 2, the operation stops and repeats the operation of going straight in the angular direction determined at random again. Then, when the preset time elapses or the voltage of the rechargeable battery 7 detected by the voltage detection means 12 decreases to a preset voltage, the obstacle detection means 2 is set to return to the place of the charging device 10. While driving with a driving cycle at the time of return request (for example, every 60 ms), a so-called wall motion is performed in which the distance to the obstacle (wall) detected by the obstacle detection means 2 is kept constant (for example, The distance D detected by the left side detection means 2a shown in FIG.

  During the movement along the wall, as shown in FIG. 6, when the device main body 1 moves toward the charging device 10, it is transmitted from the obstacle detection means 2 of the device main body 1 and detected by the return request detection means 18 of the charging device 10. If the ultrasonic driving cycle is different from the normal cycle (for example, 60 ms), the charging device 10 recognizes that the device main body 1 has returned to the charging device 10, and the electromagnet 11c of the power supply means 11 is Drive with alternating current (FIG. 7). Thereby, as shown by the dotted line in FIG. 7A, the magnetic force lines are sent from the power feeding means 11 (electromagnet 11c). In such a state, when the apparatus main body 1 continues to move along the wall and the apparatus main body 1 approaches the vicinity of the charging device 10 as shown in FIG. 7B, the left side approach detection means 8a of the apparatus main body 1 The magnetic field lines sent from the electromagnet 11c of the charging device 10 driven by the alternating current are detected, and the device main body 1 recognizes that it has reached the vicinity of the charging device 10.

  Since the left side approach detection unit 8a outputs in proportion to the density of the magnetic lines of force, the output of the left side approach detection unit 8a becomes maximum in the vicinity of the electromagnet 11c of the charging device 10. After the magnetic field lines sent from the electromagnet 11c of the charging device 10 are detected by the left side approach detection unit 8a of the apparatus body 1, when the apparatus body 1 continues to move along the wall, the output of the left side approach detection unit 8a It becomes the maximum in the vicinity of the ten suction portions 11d. When the apparatus main body 1 detects the maximum value of the alternating magnetic field from the attracting portion 11d of the power supply means 11 of the charging apparatus 10, the apparatus main body 1 recognizes that it has reached the charging apparatus 10 and stops the apparatus main body 1 (actually Passes slightly in front of the electromagnet 11c and recognizes arrival at the charging device 10 at a point where the output of the left side approach detection means 8a starts to decrease from increasing).

  Then, on the side (left side in FIG. 7A) on which the magnetic force lines from the attracting portion 11d of the power supply means 11 are detected, until the guidance means 15 is detected by the right front guidance signal detection means 16b as shown in FIG. 7C. The guide means 15 is present between the left front guide signal detection means 16a and the right front guide signal detection means 16b of the apparatus body 1 by this rotation. Thereafter, the control means 5 performs the advance shown in the operation flow of FIG. 8 based on the detection output of the induction means 15 of the charging device 10 by the left front induction signal detection means 16a and the right front induction signal detection means 16b.

  That is, when the apparatus main body 1 is moved straight (Step 1 in FIG. 8) and the guiding means 15 is detected by the left front guidance signal detection means 16a during the forward movement (Step 2), the direction is changed to the left (Step 3), and the right front guidance signal is detected. If the guiding means 15 is detected by the means 16b (Step 4), the direction is changed to the right (Step 5). By repeating this, the apparatus main body 1 moves straight along the guiding means 15 of the charging device 10 substantially. When the distance between the power supply means 11 of the charging device 10 and the power reception means 6 of the apparatus main body 1 approaches, the metal portion 6b of the apparatus main body 1 is attracted to the adsorption portion 11d of the electromagnet 11c by the magnetic force generated by the electromagnet 11c of the power supply means 11. The power receiving terminal 6a of the apparatus main body 1 and the power supply terminal 11a of the charging apparatus 10 come into contact with each other and power is supplied from the charging apparatus 10. When power is supplied, the voltage detection means 12 detects the voltage supplied from the charging device 10 (Step 6), recognizes that the power receiving terminal 6a and the power supply terminal 11a of the charging device 10 are in contact, and the control means 5 The straight travel of 1 is stopped (Step 7).

  When the power receiving terminal 6a of the apparatus main body 1 and the power supply terminal 11a of the charging device 10 are in contact with each other and the power is supplied from the charging device 10, the temperature information of the rechargeable battery 7 is infraredly transmitted by the light emitting means 14 periodically (for example, every 30 seconds). It is transmitted toward the light receiving means 17 of the charging device 10 by light. The light receiving means 17 of the charging device 10 inputs temperature information of the rechargeable battery 7 from the light emitting means 14 of the apparatus main body 1, and receives power information from the power supply means 11 under a predetermined condition (for example, power supply is stopped at a predetermined temperature or higher). Stop or stop power feeding. At that time, the charging device 10 changes the cycle of the alternating current for driving the electromagnet 11c to a cycle different from the charging period (for example, 60 Hz during the charging period and 30 Hz of the half period when the power supply ends). Then, the control means 5 of the apparatus main body 1 detects that the period of the alternating magnetic field from the power supply means 11 of the charging device 10 input through the magnetic field detection means 6c of the power receiving means 6 is changed from that during the charging period. The end of power feeding from the charging device 10 is detected.

  Further, when the power feeding means 11 of the charging apparatus 10 and the power receiving means 6 of the apparatus main body 1 are separated for some reason during the charging operation, the control means 5 travels while detecting an alternating magnetic field from the power feeding means 11 of the charging apparatus 10. The means 4 is controlled and the return operation is performed again.

  This operation will be described with reference to FIG.

  When the user accidentally touches the device main body 1 and the charging device 10 during the power receiving operation, and the power feeding means 11 of the charging device 10 and the power receiving means 6 of the device main body 1 are disconnected (FIG. 9A), voltage detection is performed. When the power supply from the charging device 10 is lost by the means 12, the control means 5 recognizes that the power supply means 11 of the charging device 10 and the power receiving means 6 of the device main body 1 are disconnected. Then, the control means 5 controls the traveling means 4 to rotate the apparatus main body 1 clockwise as shown in FIG. 9B. Moreover, the control means 5 detects the magnetic force line sent out from the electromagnet 11c of the charging device 10 driven by the alternating current detected by the left side approach detection means 8a.

  The rotation of the left side is continued until the maximum value of the output of the left side approach detection means 8a is detected (the output of the left side approach detection means 8a is output in proportion to the density of the magnetic field lines, and near the attracting portion 11d of the electromagnet 11c. At the position of the maximum value of the left side approach detection means 8a, the apparatus main body 1 is in a state of facing substantially sideways with the left side facing the charging device 10. Actually, the attracting portion 11d of the electromagnet 11c. The position where the rotation of the apparatus main body 1 has slightly passed in front of and the output of the left side approach detection means 8a starts to decrease from the increase). Then, on the left side, as shown in FIG. 9 (c), the right front guidance signal detection means 16b rotates the guidance means 15 until it is detected (by this rotation, the guidance means 15 causes the left front guidance signal detection means 16a of the apparatus body 1 to move to the right front. It exists between the induction signal detection means 16b). Thereafter, by performing the above-described advance (the operation flow of FIG. 8), the power receiving means 6 of the apparatus main body 1 and the power supply means 11 of the charging apparatus 10 are again brought into contact as described above.

  As described above, when the returning operation of the apparatus main body 1 to the charging device 10 is performed, the control unit 5 changes the direction of the apparatus main body 1 according to the detection states of the left front guidance signal detection unit 16a and the right front guidance signal detection unit 16b. However, the apparatus main body 1 moves straight along the guiding means 15 of the charging apparatus 10 by moving straight ahead. And even if the position of the power receiving terminal 6a of the apparatus main body 1 and the power feeding terminal 11a of the charging device 10 is slightly shifted, the magnetic force generated by the electromagnet 11c of the power feeding means 11 that can move left and right and up and down is applied to the attracting portion 11d of the electromagnet 11c. The metal portion 6b of the apparatus main body 1 is adsorbed, and the power receiving terminal 6a of the apparatus main body 1 and the power supply terminal 11a of the charging apparatus 10 ensure proper contact.

  As described above, in the present embodiment, when the apparatus main body returns to the charging apparatus for charging the rechargeable battery, the metal part of the apparatus main body is attracted by the magnet of the charging apparatus, and the power receiving means and the charging of the apparatus main body are charged. Since at least one of the power supply means of the device can move in the left / right and up / down directions, it is possible to ensure contact between the power supply terminal of the charging device and the power receiving terminal of the device main body and prevent charging defects regardless of the situation. It is.

  In the present embodiment, the configuration using the electromagnet 11c has been described. However, a simple magnet that attracts the metal portion 6b may be used, and the configuration is not limited to the electromagnet 11c. Further, the light emitting means 14 and the light receiving means 17 are provided in the apparatus main body 1 and the temperature information of the rechargeable battery 7 is communicated by infrared light. However, the present invention is not limited to this, and the power receiving means of the apparatus main body 1 is used. 6 and the power supply means 11 of the charging device 10 may be configured to transmit information by magnetic force using an electromagnet and a Hall element. In this case as well, it is possible to prevent inadequate charging due to contact failure and information transmission failure due to misalignment without providing a contact.

  In the present embodiment, the alternating current cycle for driving the electromagnet 11c of the charging device 10 is changed to a cycle different from the charging period, so that the end of power feeding is transmitted to the device body 1 side. However, even if the end of power feeding is transmitted to the apparatus main body 1 side by the positive and negative duty of the alternating magnetic field, the end time of charging can be reliably transmitted to the apparatus main body 1 side as well.

  In the present embodiment, the power feeding means 11 of the charging device 10 can be freely moved up and down and left and right. However, the present invention is not limited to this, and the power receiving means 6 side of the apparatus body 1 can be freely moved up and down and left and right. Even if it can be moved, an appropriate contact can be secured and charging failure can be prevented.

  Further, when the power feeding means 11 of the charging device 10 and the power receiving means 6 of the apparatus main body 1 are separated during the power receiving operation, the apparatus main body 1 is rotated so as to perform a return operation based on the magnetic lines of force from the power feeding means 11. However, the same effect can be obtained even when the recursive landing operation is performed based on the signal of the guiding means 15 of the charging device 10 using the guiding signal detecting means 16.

(Embodiment 2)
Next, the autonomous mobile device in Embodiment 2 of the present invention will be described.

  In the present embodiment, a program for causing a computer to execute at least a part of the functions of the autonomous mobile device described in the first embodiment is used.

  Each means described in the first embodiment is a program for cooperating hardware resources such as a CPU (or microcomputer), a RAM, a ROM, a storage / recording device, an electrical / information device including an I / O, a computer, a server, etc. It is made to implement with the form. In the form of a program, it is possible to easily distribute and update new functions and install them by recording them on a recording medium such as magnetic media or optical media, or distributing them using a communication circuit such as the Internet.

  As described above, the autonomous traveling device and the program according to the present invention can ensure contact between the power feeding terminal of the charging device and the power receiving terminal of the device main body and prevent charging defects regardless of the situation. It can be applied to autonomous traveling devices such as cleaning robots and other work robots.

The block diagram which shows the structure of the autonomous running apparatus in Embodiment 1 of this invention. External perspective view of device body and charging device of the autonomous traveling device Plan view of the main body and charging device of the autonomous traveling device Side view when charging the main body and charging device of the autonomous traveling device Front view of power receiving means of the autonomous traveling device Operation explanatory diagram in which the main body of the autonomous traveling device moves to the charging device Explanatory drawing of the contact operation between the main body of the autonomous traveling device and the charging device Operation flow chart of the autonomous traveling device Explanatory drawing of retraction / returning operation between the main body of the autonomous traveling device and the charging device

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Apparatus main body 2 Obstacle detection means 3 Drive wheel 4 Traveling means 5 Control means 6 Power receiving means 6a Power receiving terminal 6b Metal part 7 Rechargeable battery 8 Approaching detection means 9 Subordinate wheel 10 Charging device 11 Power feeding means 11a Power feeding terminal 11b Magnet 11c Electromagnet 12 Voltage Detection means 13 Power supply means 14 Light emitting means 15 Guiding means 16 Guidance signal detecting means 17 Light receiving means 18 Return request detecting means

Claims (9)

An apparatus main body having a rechargeable battery and traveling autonomously, and a charging apparatus for charging the rechargeable battery when the apparatus main body is returned, wherein the power receiving means of the apparatus main body includes a power receiving terminal and a metal part, The power supply means includes a power supply terminal that contacts the power receiving terminal when charging the apparatus main body and performs charging, and a magnet that attracts the metal portion, and at least one of the power receiving means of the apparatus main body and the power supply means of the charging apparatus is in the horizontal and vertical directions. Autonomous traveling device that can be moved to. The autonomous traveling device according to claim 1, wherein the magnet constituting the power supply means of the charging device is an electromagnet. The autonomous traveling device according to claim 2, wherein the electromagnet of the charging device is energized only when the device main body is returned. The autonomous traveling device according to claim 2 or 3, wherein the electromagnet of the charging device is driven by an alternating current, and the device main body is provided with an approach detection means for detecting an alternating magnetic field from the electromagnet and recognizing the proximity to the charging device. . The light emitting means is provided in the apparatus main body and the light receiving means is provided in the charging apparatus, respectively, and information on the rechargeable battery in the apparatus main body during charging is transmitted to the charging apparatus by the light emitting means and the light receiving means. The autonomous traveling device described in 1. The autonomous traveling device according to any one of claims 2 to 5, wherein information on a charging state is transmitted to the device main body according to a period of an alternating magnetic field from an electromagnet of the charging device. The autonomous traveling apparatus according to any one of claims 2 to 5, wherein information on a charging state is transmitted to the apparatus main body according to positive and negative duties of an alternating magnetic field from an electromagnet of the charging apparatus. The autonomous system according to any one of claims 2 to 7, wherein when the power receiving terminal of the apparatus main body and the power supply terminal of the charging apparatus are separated during charging, the alternating magnetic field of the charging apparatus is detected and the apparatus main body is caused to return again. Traveling device. The program for making a computer perform at least one part of the function in the autonomous running apparatus of any one of Claims 1-8.

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