Abnormality detection system of mobile robot

A system for detecting abnormality of a mobile robot having at least a drive motor, the system comprising an internal sensor that senses a quantity of state of the robot and a control unit constituted by an onboard microcomputer that operates the drive motor based on the quantity of state obtained from an output of the internal sensor to move, the control unit comprising a plurality of distributed control units that are distributed to be disposed at each of onboard ecluipments mounted on the robot including at least the internal sensor and the drive motor, for self-diagnosing whether at least one of onboard eguipments is abnormal, and further comprising:

• a. self-diagnosis means for self-diagnosing whether the quantity of state is an abnormal value, or whether at least one of onboard equipments mounted on the robot including at least the drive motor and the internal sensor is abnormal;
• b. distributed control unit self-diagnosis result inputting means for inputting a self-diagnosis result by each of a plurality of the distributed control units;
• c. abnormality information outputting means for, when at least an abnormality of one of the quantity of state and the mounted eciuipments on the robot is self-diagnosed based on the self-diagnosis result by the self-diagnosis means and the inputted self-diagnosis result by the distributed control units, storing information of the abnormality in a shared memory provided in the control unit and outputting the information of the abnormality affixed with a time on which the abnormality occurred;
• and
• d. abnormality information storing means for storing the output of the abnormality information outputting means together with a parameter indicative of the quantity of state of the robot, in an internal memory provided in the control unit and in an external memory provided outside the robot.