Patent ID: 7446496

Claim:
A system for detecting abnormality of a mobile robot having at least a drive motor, an internal sensor that senses a quantity of state of the internal 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. 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. abnormality information outputting means for outputting, when an abnormality is self-diagnosed by the self-diagnosis means, information of the abnormality; c. abnormality degree discriminating means for inputting the output of the abnormality information outputting means and for discriminating degree of abnormality in accordance with ranks defined in advance including stopping of locomotion of the robot based on the abnormality information; and d. stable state controlling means for controlling the robot into a stable state in response to the discriminated degree of abnormality based on a predetermined action plan chart, wherein the stable state controlling means is configured to perform a plurality of actions and wherein the stable state controlling means, when controlling of the robot into the stable state, selects one or more of said a plurality of actions depending on the discriminated degree of abnormality.