ABNORMALITY DETECTOR OF MOVING ROBOT

摘要

An abnormality detector of a moving robot (1) arranged such that self-diagnosis is made in the abnormality detector of the moving robot whether the internal state quantity has an abnormal value or not or whether at least any one, e.g. an inner field sensor, is abnormal or not, abnormality information is delivered when a decision is made that an abnormality has occurred with the date of occurrence being attached thereto and stored in an internal memory (68g) and an external memory (94a). Reliability of abnormality detection of the moving robot can thereby be enhanced and the circumstance leading to abnormality can be grasped accurately because the abnormality information is stored with the date of occurrence being attached thereto. In addition to the date of occurrence, parameters indicative of the state quantity can be attached to the abnormality information being stored in the external memory.