Cleaning robot

Abstract

We provide a cleaning robot that allows for easy battery installation. [Solution] The cleaning robot A1 comprises a main body 1 including a lever assembly 3b and a battery housing 41, and a battery unit 21A inserted into the battery housing 41. The lever assembly 3b includes a hook 36 configured to reciprocate between a protruding position 36A and a retracted position, and a biasing member 37 that biases the hook 36 upward. The hook 36 includes a projection 361 that protrudes upward. The projection 361 includes a first surface 361a that slopes upward from the front side to the back side in the insertion direction of the battery unit 21A. The projection 361 locks the battery unit 21A when the hook 36 is in the protruding position 36A.

Description

Technical Field

[0001] The present disclosure relates to a cleaning robot.

Background Art

[0002] In recent years, cleaning robots have been used to improve the efficiency of cleaning work in facilities such as offices, commercial facilities, and factories. As such cleaning robots, there has been an increasing demand for autonomous cleaning robots that can autonomously travel on the floor while sucking dust.

[0003] For example, Patent Document 1 discloses a conventional robot. The robot includes a battery assembly and a storage unit. The battery assembly includes a battery body provided with a rotating part. The rotating part includes two rotating pairs, a connecting member connecting the two rotating pairs, and locking hooks provided one by one in the vicinity of each rotating pair. The storage unit includes a storage cavity having an opening. A locking groove is provided in the vicinity of the opening. The procedure for mounting the battery body in the storage cavity includes a step of inserting the battery assembly into the storage unit and a step of moving the locking hook so as to engage with the locking groove. That is, since the conventional robot requires two steps to mount the battery assembly, the procedure is complicated.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] One problem of the present disclosure is to provide a cleaning robot that has been improved from the prior art. In particular, in view of the above circumstances, one problem of the present disclosure is to provide a cleaning robot that can easily mount a battery.

[0006] A cleaning robot provided by exemplary embodiments of the present disclosure comprises a body including a lever assembly and a battery housing, and a battery unit. The lever assembly includes a hook and a biasing member. The hook is configured to reciprocate between an extended position and a retracted position. The biasing member biases the hook upward. The battery unit is inserted into the battery housing. The hook includes the first surface extending upward. The protrusion locks the battery unit when the hook is in the extended position and does not lock the battery unit when the hook is in the retracted position.

[0007] In a preferred embodiment of the present disclosure, the battery unit includes a battery case housing the battery and includes a case handle located on the front side in the insertion direction, the case handle being in the same position as the hook in the width direction of the battery unit.

[0008] In a preferred embodiment of the present disclosure, the battery case includes a case recess that is recessed to the rear, and the case recess is in contact with the protrusion when the hook is in the protruding position.

[0009] In a preferred embodiment of the present disclosure, the hook includes a tip located on the front side with respect to the protrusion. The tip includes an upper surface extending forward from the first surface. The battery housing includes an opening located on the front side and a plane extending backward from the opening. The plane is located at the same level as or above the upper surface.

[0010] In a preferred embodiment of the present disclosure, the battery housing includes a hollow end face located on the rear side in the insertion direction, and a stopper provided on the hollow end face.

[0011] A preferred embodiment of the present disclosure further comprises a battery cover that covers the battery housing, the battery cover being located in front of the hook.

[0012] In a preferred embodiment of the present disclosure, the battery cover has a cover projection which engages with a hook recess provided on the hook.

[0013] In a preferred embodiment of the present disclosure, the battery cover includes a laterally extended portion projecting from the main body in the left-right direction and a fitting claw projecting from the main body in the up-down direction, and the battery housing includes a first recess recessed in the left-right direction and a second recess recessed in the up-down direction. The laterally extended portion engages with the first recess, and the fitting claw engages with the second recess.

[0014] According to the above configuration, it is possible to provide a cleaning robot that can be easily fitted with a battery. [Brief explanation of the drawing]

[0015] [Figure 1] This is a perspective view showing a cleaning robot according to an exemplary embodiment. [Figure 2] This is a perspective view showing a cleaning robot according to an exemplary embodiment. [Figure 3] This is a front view showing a cleaning robot according to an exemplary embodiment. [Figure 4] This is a rear view showing a cleaning robot according to an exemplary embodiment. [Figure 5] This is a plan view showing a cleaning robot according to an exemplary embodiment. [Figure 6] This is a bottom view showing a cleaning robot according to an exemplary embodiment. [Figure 7] This is a left side view showing a cleaning robot according to an exemplary embodiment. [Figure 8] This is a cross-sectional view along line VIII-VIII in Figure 3. [Figure 9] This is a block diagram illustrating an overview of a cleaning robot according to an exemplary embodiment. [Figure 10] This is a perspective view showing the battery cover and battery unit separated from a cleaning robot according to an exemplary embodiment. [Figure 11] It is a partially enlarged perspective view showing a state in which a battery cover, a battery unit, and a battery housing portion are omitted from a cleaning robot according to an exemplary embodiment. [Figure 12] It is a partially enlarged cross-sectional view corresponding to the cross-sectional view of FIG. 8, showing a state in which the battery cover and the battery unit of the cleaning robot of this embodiment are removed. [Figure 13] It is a partially enlarged cross-sectional view corresponding to the cross-sectional view of FIG. 8, showing an intermediate state in which the battery unit of the cleaning robot of this embodiment is being inserted. [Figure 14] It is a partially enlarged cross-sectional view corresponding to the cross-sectional view of FIG. 8, showing a state in which the battery unit of the cleaning robot of this embodiment is inserted. [Figure 15] It is a partially enlarged cross-sectional view corresponding to the cross-sectional view of FIG. 8, showing a state in which the battery cover of the cleaning robot of this embodiment is attached. [Figure 16] It is a partially enlarged cross-sectional view corresponding to the cross-sectional view of FIG. 8, showing a state before removing the battery unit of the cleaning robot of this embodiment. [Figure 17] It is a partially enlarged cross-sectional view corresponding to the cross-sectional view of FIG. 8, showing a state in which the battery unit of the cleaning robot of this embodiment is temporarily placed in the battery housing portion. [Figure 18] It is a perspective view showing a lever assembly according to an exemplary embodiment. [Figure 19] It is a rear view showing a lever assembly according to an exemplary embodiment. [Figure 20] It is a front view showing a lever assembly according to an exemplary embodiment. [Figure 21] It is a plan view showing a lever assembly according to an exemplary embodiment. [Figure 22] It is a bottom view showing a lever assembly according to an exemplary embodiment. [Figure 23] It is a right side view showing a lever assembly according to an exemplary embodiment. [Figure 24] It is a cross-sectional view taken along XXIV-XXIV of FIG. 21, with the hook in the protruding position. [Figure 25] This is a cross-sectional view along the line XXV-XXV in Figure 21, with the hook in the retracted position. [Figure 26] This is a cross-sectional view along the line XXVI-XXVI in Figure 21, with the hook in a protruding position. [Figure 27] This is a partially enlarged cross-sectional view showing a modified example of the lever assembly. [Figure 28] This is a rear view showing a battery unit according to an exemplary embodiment. [Figure 29] This is a front view showing a battery unit according to an exemplary embodiment. [Figure 30] This is a rear view of the battery compartment of a cleaning robot according to an exemplary embodiment. [Figure 31] This is an enlarged perspective view of the battery compartment of a cleaning robot according to an exemplary embodiment. [Figure 32] This is a cross-sectional view along line XXXI-XXXI in Figure 7, with the hook in the retracted position. [Figure 33] This is a perspective view showing a battery cover according to an exemplary embodiment. [Figure 34] This is a front view showing a battery cover according to an exemplary embodiment. [Figure 35] This is a partially enlarged cross-sectional view of a cleaning robot according to an exemplary embodiment, showing a cross-section passing through the hook recess and the cover projection. [Figure 36] This is a partially enlarged cross-sectional view of a cleaning robot according to an exemplary embodiment, showing a cross-section passing through the first recess and the lateral extension. [Figure 37] This is a partially enlarged cross-sectional view of a cleaning robot according to an exemplary embodiment, showing a cross-section passing through the second recess and the fitting claw. [Figure 38] This is a partially enlarged cross-sectional view of a cleaning robot according to an exemplary embodiment, showing another cross-section passing through the second recess and the fitting claw. [Figure 39] This graph shows the relationship between centrifugal force acting on the battery unit during battery unit attachment and detachment in a cleaning robot according to an exemplary embodiment. [Figure 40]This graph shows the relationship between the size of the battery unit and the battery housing and the angle when attaching or detaching the battery unit in a cleaning robot according to an exemplary embodiment. [Modes for carrying out the invention]

[0016] Preferred embodiments of the cleaning robot of this disclosure will be described below with reference to the drawings. Referring to Figures 1 to 9, a cleaning robot A1 according to an exemplary embodiment is shown. The cleaning robot A1 cleans autonomously. More specifically, the cleaning robot A1 is configured to clean target dirt while autonomously moving. Targets for cleaning include floors of buildings such as offices, factories, hospitals, and shops. Types of dirt that can be cleaned include dust, dirt, food scraps, screws, footprints, etc. The cleaning robot A1 comprises a main body 1, an operating unit 200, a detection system 30, a charging terminal 32, and a drive system 70.

[0017] The wording in this disclosure corresponds as follows: Unless otherwise specified, “A is positioned on B” and “A is positioned on B” include “A is directly positioned on B” and “A is positioned on B with other objects interposed between A and B.” Unless otherwise specified, “A overlaps B when viewed in a certain direction” includes “A overlaps all of B” and “A overlaps part of B.” Furthermore, “A (the material of) includes material C” includes “A (the material of) consists of material C” and “the main component of A (the material of) is material C.” “Equivalent to A” should not be limited to a configuration consisting only of element A, but may include forms that include elements other than element A.

[0018] In this disclosure, the vertical direction z, the drive direction x, the left-right direction y, and the rotation direction r are described with reference. The vertical direction z corresponds to the height direction of the cleaning robot. The drive direction x corresponds to the drive direction when the cleaning robot is moving in a straight line. The left-right direction y corresponds to one direction perpendicular to the drive direction when the cleaning robot is moving in a straight line. The rotation direction r corresponds to the rotation direction when the cleaning robot is moving in a rotational direction. One or the other of the vertical direction z may be expressed as "up," "down," "upward," and "downward," etc. These terms do not need to coincide with the direction of gravity, but only need to correspond to a direction perpendicular to the surface of the object being cleaned. One or the other of the drive direction x may be expressed as "forward," "backward," "forward," and "backward," etc. These terms only need to correspond to a direction parallel to the surface of the object being cleaned. The terms "top surface" and "bottom surface" used in this disclosure do not necessarily have to refer to the outermost surface.

[0019] The main body 1 forms the skeleton of the cleaning robot A1. The main body 1 is made of, for example, metal and / or resin, and protects other components of the cleaning robot A1 from external impacts such as collisions with obstacles. The main body 1 has a generally rectangular parallelepiped shape. The shape of the main body 1 is not limited and may be triangular prism or cylindrical. In an exemplary embodiment, the dimensions of the main body 1 are as follows: The size of the main body 1 in the vertical direction z (height) is, for example, 70 cm. The size of the main body 1 in the driving direction x (depth) is, for example, 50 cm. The size of the main body 1 in the left-right direction y (width) is, for example, 50 cm.

[0020] The main body 1 includes a top surface 2, a bottom surface 3, a rear surface 4, a front surface 5, two sides 6, a body recess 7, a front bumper 8, and two side bumpers 9. The top surface 2, bottom surface 3, rear surface 4, front surface 5, two sides 6, body recess 7, front bumper 8, and two side bumpers 9 are formed from metal, carbon fiber, and resin, or a combination thereof, respectively. The top surface 2 and bottom surface 3 connect to the rear surface 4, the front surface 5, and the two sides 6, respectively. The rear surface 4 and front surface 5 connect to the two sides 6, respectively. Alternatively, the main body 1 may not include the front surface 5, and the two sides 6 may be connected. In this case, the main body 1 is triangular in plan view.

[0021] The rear surface 4 is provided with two protrusions 4a. Each protrusion 4a is a component that contacts the floor surface when the cleaning robot A1 is tilted until it is horizontal. Each protrusion 4a projects backward from the rear surface 4. In the illustrated example, the protrusions 4a are rectangular parallelepipeds. Each protrusion 4a is made of, for example, rubber. Each protrusion 4a may have a desired shape, be provided in a desired number, and be made of a desired material, as long as it does not deviate from its function.

[0022] The top surface 2 and bottom surface 3 are separated from each other in the vertical direction z. The back surface 4 and front surface 5 are separated from each other in the driving direction x. The two side surfaces 6 are separated from each other in the left-right direction y. The two side surfaces 6 are interposed between the top surface 2 and bottom surface 3 in the vertical direction z. The two side surfaces 6 are interposed between the back surface 4 and front surface 5 in the driving direction x. Each side surface 6 is provided with a gripping hole 6A for the user to insert their hand. Cliff sensors that emit infrared or ultrasonic waves onto the ground are provided at the bottom of the front bumper 8 and the two side bumpers 9, respectively. More specifically, four cliff sensors 35A are arranged at equal intervals at the bottom of the front bumper 8. One cliff sensor 35A is located at the bottom of each of the two side bumpers 9. According to the cliff sensors, the cleaning robot A1 can determine the presence or absence of steps and stop its movement or change its direction of travel.

[0023] The main body recess 7 is a portion of the main body 1 that is recessed from the front surface 5 towards the rear. The main body recess 7 is located between the front surface 5 and the front bumper 8 in the vertical direction z. The main body recess 7 includes two surfaces facing each other in the vertical direction z and a curved surface facing forward. The front bumper 8 is located below the front surface 5 in the vertical direction z and protrudes forward in the drive direction x. Each side bumper 9 is located below the corresponding side surface 6 in the vertical direction z and protrudes outward in the left-right direction y.

[0024] Additionally, the main body 1 may be equipped with a mechanism for detecting external shocks. Furthermore, the main body 1 may include a shelf 14. The shelf 14 supports the circuit board box 15. The circuit board box 15 includes a circuit unit 16 that performs the electrical functions of the cleaning robot A1. The circuit unit 16 includes, for example, a control device and an inverter, which include a processor and memory. The control device controls, for example, the operation unit 200 and the detection system 30. The inverter converts the DC voltage from the circuit unit 16 so that the multiple motors 7A perform the desired movements.

[0025] The main body 1 includes a battery compartment 41 and a battery cover 43. The battery compartment 41 is recessed inward from the back surface 4 into the main body 1. The battery compartment 41 is rectangular in shape. The lower surface of the battery compartment 41 is located above the bottom surface 3. Alternatively, the lower surface of the battery compartment 41 may be integrated with the bottom surface 3.

[0026] The battery 21 is located in the battery housing 41. The battery 21 is charged either wirelessly or via a wired connection. In an exemplary embodiment, the battery 21 is charged via a wired connection through a charging terminal 32. Power from the battery 21 is supplied to the circuit unit 16, the dust collection assembly 100, the operating unit 200, the detection system 30, and the drive system 70 by a mechanism (not shown). The battery housing 41 is located inside the main body 1 and is closed by a battery cover 43.

[0027] The main unit 1 includes a dust collection assembly 100. The dust collection assembly 100 performs the function of collecting dirt in the cleaning robot A1. The dust collection assembly 100 includes a brush 101, a dust box 102, a duct 103, a chamber 104, a vacuum unit 105, and an exhaust port 106.

[0028] The brush 101 is connected to the motor 7B and rotates to collect dirt from the target surface. The dust box 102 is detachably mounted below the bottom surface 3. The brush 101 and dust box 102 are located below the bottom surface 3 in the vertical z direction and are connected to each other. The dust box 102 is connected to the chamber 104 via the duct 103.

[0029] Chamber 104 houses a dust collection bag (for example, a paper bag) of a size appropriate to its own size. Chamber 104 is connected to a vacuum unit 105. The vacuum unit 105 is connected to an exhaust port 106 located on the rear 4.

[0030] The vacuum unit 105 includes, for example, a motor and a fan rotated by the motor. The operation of the vacuum unit 105 generates airflow over the dust collection assembly 100. The airflow passes through the dust box 102, duct 103, and chamber 104, and is finally exhausted from the exhaust port 106. Dirt that enters through the brush 101 is collected by this airflow into a dust collection pack attached to the chamber 104.

[0031] The brush 101 can collect fibrous dirt (e.g., hair). The dust box 102 can collect larger dirt (e.g., food scraps, clips, etc.) that cannot be carried to the dust collection pack attached to the chamber 104 by the airflow or suction force generated by the vacuum unit 105. Other dirt can be collected in the chamber 104 via the duct 103. As can be seen from this, the brush 101, dust box 102, and chamber 104 may require maintenance. For example, the brush 101 needs to be replaced with a new one when tangled fibrous dirt is removed or when the brush is worn out. The dust box 102 needs to be removed from the main unit and the accumulated dirt removed. The chamber 104 needs to be replaced with a new dust collection pack. In the cleaning robot A1, the dust box 102 and brush 101 can be maintained by tilting the cleaning robot A1.

[0032] The operating unit 200 is attached to the main body 1 and is a component operated by the user. The operating unit 200 includes a handle 2A, an arm 2B, and an input / output interface 2C. The handle 2A is configured for use by the user to tilt or raise the cleaning robot A1. The arm 2B is configured to allow the user to push the cleaning robot A1 when teaching the cleaning robot A1. The input / output interface 2C is configured to allow the user to input instructions to the cleaning robot A1. The input / output interface 2C may be a terminal electrically connected to the main body 1, or it may be an independent terminal including a computing unit. As an example, the input / output interface 2C is a touch-operable panel terminal. The input / output interface 2C may be detachable from the arm 2B.

[0033] In the illustrated example, the handle 2A is annular when viewed from above (in plan view). That is, as shown in Figure 5, the handle 2A includes two horizontal bars 2Aa extending in the left-right direction y and two vertical bars 2Ab extending in the drive direction x. The user can tilt the cleaning robot A1 by holding either the horizontal bars 2Aa or the vertical bars 2Ab. Therefore, when tilting the cleaning robot A1 to a horizontal position for maintenance, or when raising it from a horizontal position, the user can select a comfortable gripping position from the handle 2A. Furthermore, when the user wants to switch between the two horizontal bars 2Aa during the tilting process, they can slide their hand along the vertical bar 2Ab, allowing them to always work while holding the handle 2A. As can be understood from the operation of such a handle 2A, the handle 2A only needs to include at least one horizontal bar 2Aa extending in the left-right direction y and at least one vertical bar 2Ab extending in the drive direction x, and may be separate rather than an integrated annular structure. Alternatively, two horizontal bars 2Aa may extend diagonally in the left-right direction y, and be connected to each other without a vertical bar 2Ab.

[0034] Arm 2B is attached to the top surface 2 of the main body 1. In plan view, arm 2B surrounds the portion of the handle 2A other than the rear horizontal bar 2Aa. Arm 2B is configured to rotate between an integrated state and a detached state, with the attachment point to the main body 1 as the pivot point. In the illustrated example, arm 2B is in the integrated state. In Figure 7, the integrated state of arm 2B is shown by a solid line, and the detached state of arm 2B is shown by a dashed line (two-dotted line).

[0035] In the integrated state, arm 2B is in contact with the main body 1, and the input / output interface 2C is located in front of the main body 1. In the integrated state, the input / output interface 2C can be used by the user to input instructions to the cleaning robot A1 or to check the robot's status. In addition, it can also be used to display information to a person in front of the cleaning robot A1 or to display the rotation direction of the cleaning robot A1 while it is cleaning. In the uncoupled state, arm 2B is separated from the main body 1, and the input / output interface 2C is located behind the main body 1. In the uncoupled state, the user can grasp arm 2B and push the cleaning robot A1 to move it. The input / output interface 2C is connected to arm 2B.

[0036] The detection system 30 performs the function of enabling the cleaning robot A1 to detect objects. More specifically, the cleaning robot A1 uses the detection system 30 to detect surrounding objects while preparing for and during autonomous travel. The detection system 30 includes an imaging device 31, a sensor system 33, and a plurality of ultrasonic sensors 34. The imaging device 31 is, for example, a 3D camera that detects non-transparent objects. The sensor system 33 is, for example, a LiDAR (Light Detection and Ranging) that measures the distance to an object and the shape of the object. Each ultrasonic sensor 34 detects, for example, transparent objects (e.g., glass) that are difficult to detect with the imaging device 31.

[0037] The imaging device 31 is located on the front surface 5 in the driving direction x. The imaging device 31 is located near the center of the front surface 5 in the left-right direction y. The imaging device 31 is located above the center of the main body 1 in the up-down direction z. As an example, the imaging device 31 is a 3-D imaging sensor whose imaging center is oriented downwards from the horizontal. That is, the imaging device 31 captures images from a position higher than the center of the main body 1 toward the floor.

[0038] The sensor system 33 is located in the recess 7 of the main body. The sensor system 33 is positioned near the center of the main body 1 in the left-right direction y. If the sensor system 33 is a LiDAR, it emits laser light forward in the driving direction x and in part of the left-right direction y, and can measure the distance to an object and the shape of the object by reflecting the laser light.

[0039] Multiple ultrasonic sensors 34 are provided on the front surface 5 and on the two sides 6, respectively. In the illustrated example, four ultrasonic sensors 34A are arranged on each of the left and right sides of the imaging device 31. Additionally, four ultrasonic sensors 34B are arranged on each of the front and rear sides of each gripping hole 6A. Each ultrasonic sensor 34 is arranged such that the detection direction of each ultrasonic sensor 34 tapers outwards from the inside to the outside of the main body 1. Each ultrasonic sensor 34 may be configured to detect objects at positions that are difficult to detect by the imaging device 31. That is, the multiple ultrasonic sensors 34A can irradiate ultrasonic waves horizontally to objects at higher positions that are not imaged by the imaging device 31. The multiple ultrasonic sensors 34B can irradiate ultrasonic waves in the left and right direction y, which is not imaged by the imaging device 31.

[0040] The charging terminal 32 is located on the front surface 5 in the driving direction x. The charging terminal 32 is located near the center of the front surface 5 in the left-right direction y. In the up-down direction z, the charging terminal 32 is located between the imaging device 31 and the main body recess 7. The charging terminal 32 is configured to charge the battery 21 by being electrically connected to an external power supply or charging device.

[0041] The drive system 70 performs the function of driving the cleaning robot A1. The drive system 70 is located at the bottom of the main body 1 in the vertical z direction. The drive system 70 includes two drive wheels 71, front casters 73, two auxiliary casters 731, and two rear casters 74. The front casters 73, the two auxiliary casters 731, and the two rear casters 74 are driven wheels.

[0042] The two drive wheels 71 are spaced apart on either side in the left-right direction y, and are located approximately in the center of the main body 1 in the driving direction x. Each of the two drive wheels 71 is connected to one motor 7A. In Figures 6 and 8, the motors 7A are shown as hidden lines (dotted lines). The drive wheels 71 are rotated by the motors 7A. As a result, the cleaning robot A1 can rotate while moving forward, backward, and side to side. Each drive wheel 71 consists of two wheels aligned in the left-right direction y. Each wheel is larger than each of the front caster 73, the two auxiliary casters 731, and the two rear casters 74.

[0043] The front wheel caster 73 is located in front of the two drive wheels 71 in the drive direction x, and is approximately in the center of the main body 1 in the left-right direction y. The two auxiliary casters 731 are located between the two drive wheels 71 and the front wheel caster 73 in the drive direction x. The two auxiliary casters 731 are spaced apart on both sides in the left-right direction y. The two rear wheel casters 74 are located behind the two drive wheels 71 in the drive direction x, and are spaced apart on both sides in the left-right direction y.

[0044] The front wheel caster 73 and the two auxiliary casters 731 rotate around an axis extending in the left-right direction y. Each of the two rear wheel casters 74 is mounted on an axis perpendicular to the up-down direction z, and rotates around this axis. Furthermore, this axis is rotatable about the up-down direction z as its central axis. That is, in addition to the rotation of the wheel itself, the rear wheel caster 74 can swing around at a predetermined radius. Referring to Figure 8, the positions that the rear wheel caster 74 can take when viewed in the left-right direction y are shown. Specifically, the rear wheel caster 74 swings around axis O, taking a forward position 74A and a rearward position 74B. In Figure 8, the forward position 74A is shown by a solid line, and the rearward position 74B is shown by a dashed line.

[0045] Referring to Figure 9, a block diagram of an exemplary cleaning robot A1 is shown. In this exemplary embodiment, the cleaning robot A1 can perform the Simultaneous Localization and Mapping (SLAM) process described below.

[0046] First, the user operates the input / output interface 2C to start teaching the cleaning robot A1. After teaching begins, the user moves the cleaning robot A1 along a desired travel path. Specifically, the user pushes the cleaning robot A1 along the desired travel path while gripping the handle 2A. During this time, the cleaning robot A1 uses the imaging device 31, sensor system 33, and ultrasonic sensor 34 to detect the surrounding environment (the shape and arrangement of objects such as walls and shelves). Based on this, the cleaning robot A1 creates a map based on the detected surrounding environment and determines its own position on the map at each point in time.

[0047] After teaching the desired travel path, the user operates the input / output interface 2C to terminate the teaching process for the cleaning robot A1. Finally, the cleaning robot A1 records a map of the taught travel path in the circuit unit 16. In an exemplary embodiment, the map is either three-dimensional or two-dimensional data. For example, the taught data may include routes near the travel path that were not traveled during teaching, and travel times based on a given travel speed of the cleaning robot A1.

[0048] After completing the teaching process, cleaning robot A1 is moved by the user to the vicinity of the starting position of its travel path. The user may make cleaning robot A1 recognize the starting position using a sign displaying a 2D code or the like. Subsequently, cleaning robot A1 receives a command from the user to start cleaning. The input / output interface 2C may be used to give the start command. Cleaning may start at a time predetermined by the user. Cleaning robot A1 can automatically return to the memorized starting position.

[0049] Upon receiving the command to begin, cleaning robot A1 autonomously moves along the route it memorized during teaching. During this time, cleaning robot A1 recognizes its own position on the created map using the detection system 30. This operation is called playback. During playback, cleaning robot A1 identifies objects that were not mapped during teaching as obstacles. Based on their mobility and shape, cleaning robot A1 identifies whether the obstacle is an object or a person and takes appropriate action.

[0050] During playback, the cleaning robot A1 further cleans the target. Specifically, it collects dirt while moving by driving the brush 101 and vacuum unit 105. Additionally, the cleaning robot A1 may be equipped with a cleaning pad that is in contact with the surface to be cleaned. The cleaning pad is, for example, a mop. With this configuration, the cleaning robot A1 can wipe clean together with or independently of dirt collection.

[0051] The above describes the configuration in which cleaning robot A1 performs autonomous cleaning. On the other hand, cleaning robot A1 can also perform cleaning while being operated by a user. In this case, the user instructs cleaning robot A1 to operate in manual operation mode via the input / output interface 2C. In manual operation mode, the user can perform cleaning by pushing and moving arm 2B. Even in manual operation mode, cleaning robot A1 may use the detection system 30 to detect the presence or absence of obstacles.

[0052] The cleaning robot A1 further comprises a battery unit 21A inserted into a battery housing 41, and a lever assembly 3b as a mechanism for simplifying the installation of the battery unit 21A. The lever assembly 3b will be described below, with particular reference to Figures 10 to 27. In the following description, the direction in which the battery unit 21A is inserted or removed (drive direction x) will be referred to as the "insertion direction," and the front and rear may be referred to as the "back side" and the "front side," respectively. When describing the structure of the battery unit 21A, the term "insertion direction" will, in principle, refer to the direction when it is inserted into the battery housing 41.

[0053] The lever assembly 3b is included in the main body 1. More specifically, the lever assembly 3b is attached to the bottom surface 3. In the drive direction x, the lever assembly 3b is positioned offset to the rear of the cleaning robot A1. In the left-right direction y, the lever assembly 3b is positioned near the center of the cleaning robot A1. In the up-down direction z, the lever assembly 3b is positioned between the battery housing 41 and the bottom surface 3. The lever assembly 3b includes an upwardly positioned hook 36 and a biasing member 37 that biases the hook 36 upward.

[0054] The hook 36 constitutes the upper portion of the lever assembly 3b. The hook 36 is longer in the drive direction x than in the left-right direction y. The hook 36 is configured to reciprocate between a protruding position 36A and a retracted position 36B. The hook 36 is positioned higher in the protruding position 36A than in the retracted position 36B. The solid lines in Figures 18 and 23 and Figure 24 illustrate the hook 36 in the protruding position 36A, while the dashed lines in Figures 18 and 23 and Figures 25-26 illustrate the hook 36 in the retracted position 36B. In the protruding position 36A, part of the hook 36 is inside the battery housing 41. On the other hand, in the retracted position 36B, most of the hook 36 is outside (below) the battery housing 41. Alternatively, in the retracted position 36B, the entire hook 36 may be outside (below) the battery housing 41.

[0055] The hook 36 includes a projection 361 that protrudes upward. The projection 361 is located inside the battery housing 41 when it is in the protruding position 36A. In the illustrated example, the projection 361 is triangular when viewed in the left-right direction y.

[0056] The protrusion 361 includes a first surface 361a, a second surface 361b, and a apex 361c. The first surface 361a is inclined upward from the front to the back in the insertion direction. In the illustrated example, the first surface 361a is flat. Alternatively, the first surface 361a may be a curved surface. The second surface 361b is located on the back side of the insertion direction relative to the first surface 361a. In the illustrated example, the second surface 361b is a vertical surface extending in the vertical direction z. Alternatively, the second surface 361b may be inclined with respect to the vertical direction z. Preferably, the angle between the second surface 361b and the driving direction x is greater than the angle between the first surface 361a and the driving direction x. The apex 361c is interposed between the first surface 361a and the second surface 361b. The top portion 361c includes the uppermost part of the protrusion 361. In the protruding position 36A, the top portion 361c overlaps with the battery unit 21A when viewed in the insertion direction. On the other hand, in the retracted position 36B, the top portion 361c does not overlap with the battery unit 21A when viewed in the insertion direction.

[0057] The biasing member 37 is configured to maintain the hook 36 in the protruding position 36A. The biasing member 37 is located below the hook 36. In the illustrated example, the biasing member 37 is a spring. The biasing member 37 includes a portion that abuts against the lower surface of the hook 36.

[0058] This configuration simplifies the installation of the battery unit 21A. Specifically, it works as follows: As shown in Figure 12, the hook 36 is normally maintained in the protruding position 36A by the upward biasing force of the biasing member 37. Therefore, when the battery unit 21A is inserted into the battery housing 41, the battery unit 21A first comes into contact with the first surface 361a of the hook 36. At this time, the hook 36 receives a downward force from the battery unit 21A. As a result, as shown in Figure 13, the protrusion 361 moves to the outside of the battery housing 41, and the hook 36 moves to the retracted position 36B. This allows the battery unit 21A to be inserted into the back of the battery housing 41. When the battery unit 21A is fully inserted into the battery housing 41, as shown in Figure 14, the entire protrusion 361 pops out into the inside of the battery housing 41 again due to the reaction force of the biasing member 37, and the hook 36 returns to the protruding position 36A. At this time, the second surface 361b of the hook 36 comes into contact with the battery unit 21A. As a result, the movement of the battery unit 21A toward the front in the insertion direction is restricted, and as a result, it is locked into the battery housing 41. In this disclosure, "locked" means a state in which the movement of component A (e.g., battery unit 21A) is restricted by component B (e.g., lever assembly 3b). As described above, with the lever assembly 3b, the battery unit 21A can be mounted into the battery housing 41 simply by inserting it. Optionally, as shown in Figure 15, a battery cover 43 may be further attached to close the battery housing 41.

[0059] The lever assembly 3b also simplifies the removal of the battery unit 21A. Specifically, as shown in Figure 16, by removing the battery cover 43 and pushing the hook 36 downwards, the hook 36 moves down to a retracted position 36B outside the battery housing 41. When it reaches the retracted position 36B, the battery unit 21A is released from contact with the hook 36. Therefore, the battery unit 21A can be removed. That is, the battery unit 21A can be removed by pushing the hook 36 and moving the battery unit 21A from the back to the front. In this way, the battery unit 21A can be removed from the battery housing 41 simply by lowering the lever assembly 3b. Therefore, the cleaning robot A1 has the advantage of being able to easily attach and detach the battery unit 21A.

[0060] The protrusion 361 makes it easier to insert the battery unit 21A into the battery housing 41. The protrusion 361 includes an inclined first surface 361a on the front side. Therefore, simply pushing the battery unit 21A toward the rear in the insertion direction generates a component force that moves the hook 36 downward. As a result, the hook 36 can be smoothly moved from the protruding position 36A to the retracted position 36B simply by inserting the battery unit 21A. Therefore, the above configuration is advantageous in simplifying the installation of the battery unit 21A.

[0061] Furthermore, the protrusion 361 allows the battery unit 21A to be held more securely within the battery housing 41. The hook 36 of the lever assembly 3b has a state (protruding position 36A) where the substantially vertical second surface 361b abuts against the battery unit 21A. As a result, even if the installed battery unit 21A is pulled towards the front in the insertion direction, it is difficult for a downward force to be generated on the hook 36. In the cleaning robot A1, if the battery unit 21A becomes detached from the electrical contact with the main body 1 and the power is cut off, it may become impossible to perform operations that require electricity, or the software may need to be restarted. On the other hand, in the cleaning robot A1, since the lever assembly 3b is configured to lock the battery unit 21A, the battery unit 21A is properly held in the battery housing 41. Therefore, the cleaning robot A1 is advantageous in maintaining conductivity of the battery unit 21A and preventing the above-mentioned problems. As can be understood from this operation, the second surface 361b can take other shapes. For example, the second surface 361b may be inclined with respect to the contact surface with the second surface 361b of the battery unit 21A, or it may have a stepped shape including multiple steps.

[0062] The hook 36 further includes a tip portion 362 located in front of the protrusion 361 and a support portion 363 located behind the protrusion 361. The tip portion 362 includes an upper surface 362a and a lower surface 362b. The upper surface 362a extends forward from the first surface 361a. The upper surface 362a is parallel to the insertion direction when the hook 36 is in the protruding position 36A. On the other hand, the upper surface 362a slopes downward from the back to the front when the hook 36 is in the retracted position 36B. The lower surface 362b slopes upward from the back to the front when the hook 36 is in the protruding position 36A. On the other hand, the lower surface 362b is parallel to the insertion direction when the hook 36 is in the retracted position 36B. The support portion 363 includes a flat portion 363a and a bent portion 363b connected to each other. The flat portion 363a overlaps with the biasing member 37 when viewed in the vertical direction z. The flat portion 363a is the front part of the support portion 363 and is parallel to the upper surface 362a. That is, the flat portion 363a is parallel to the insertion direction when the hook 36 is in the protruding position 36A, while it slopes downward from the back to the front when the hook 36 is in the retracted position 36B. The bent portion 363b is the back part of the support portion 363 and is bent downward. The bent portion 363b has shaft holes 363c at both ends in the left-right direction y. The two shaft holes 363c are in the same position as each other in the insertion direction and the vertical direction z.

[0063] The lever assembly 3b may further comprise a hook case 38. The hook case 38 houses a portion of the hook 36. The dimensions of the hook case 38 in the left-right direction y are slightly larger than the dimensions of the hook 36 in the left-right direction y. The dimensions of the hook case 38 in the insertion direction are smaller than the dimensions of the hook 36 in the insertion direction. The hook case 38 includes a case body 381 and at least one case stopper 382. Unlike the illustrated example, the hook case 38 may be formed integrally with the bottom surface 3.

[0064] As shown in Figure 26, the case body 381 is a structure of the hook case 38. The case body 381 is open at the top. The hook 36 is inserted through this opening. In the illustrated example, the case body 381 includes a bottom plate 381a, two side plates 381b, an end plate 381c, a lever stopper 381d, a hole in the bottom plate 381e, four shaft holes 381f, and two notches 381g.

[0065] The bottom plate 381a is located below the case body 381. The bottom plate 381a includes an upper surface that abuts against the biasing member 37. The two side plates 381b are connected to the left and right ends y of the bottom plate 381a, respectively. The end plate 381c is connected to the rear end of the bottom plate 381a. Each of the two side plates 381b and the end plate 381c extends upward from the bottom plate 381a. The dimension of the end plate 381c in the vertical direction z is approximately the same as the dimension of each side plate 381b in the vertical direction z. Each of the bottom plate 381a, the two side plates 381b, and the end plate 381c is flat.

[0066] The lever stopper 381d protrudes upward from the bottom plate 381a. The maximum dimension of the lever stopper 381d in the vertical direction z is the same as the dimension of the end plate 381c and each side plate 381b in the vertical direction z. The lever stopper 381d prevents the hook 36 from excessively striking the case body 381 and causing the lever assembly 3b to malfunction. The bottom plate hole 381e penetrates the bottom plate 381a in the vertical direction z. The bottom plate hole 381e is rectangular when viewed in the vertical direction z. The end of the biasing member 37 is exposed from the bottom plate hole 381e. Four shaft holes 381f are provided in each of the two side plates 381b. Two of the four shaft holes 381f are in the same position in the insertion direction. Two of the shaft holes 381f are located towards the back, and the other two shaft holes 381f are located towards the front.

[0067] Two notches 381g are provided on each of the two side plates 381b. The two notches 381g are located on the front edges of the two side plates 381b and each accommodates two side projections 364 provided on the hook 36. Each side projection 364 protrudes from the tip 362 to both ends in the left-right direction y. Each side projection 364 moves vertically z inside one of the two notches 381g between the protruding position 36A and the retracted position 36B. As a result, each side projection 364 contacts the end of the corresponding notch 381g in both the protruding position 36A and the retracted position 36B. This configuration limits the vertical swing of the hook 36. That is, it prevents the tip 362 of the lever assembly 3b from protruding more than necessary into the battery housing 41. Furthermore, when the hook 36 is in the retracted position 36B, the lower surface 362b contacts the bottom plate 381a. In this case, if the lower surface 362b hits the bottom plate 381a too hard, there is a concern that the lever assembly 3b may be damaged. On the other hand, this structure prevents the tip 362 from hitting the hook case 38 too hard.

[0068] At least one case retaining portion 382 is provided on the front side of the case body 381. In the illustrated example, there are two case retaining portions 382, ​​each protruding from one of the two side plates 381b. The lever assembly 3b is fixed to the bottom surface 3 by screws inserted through each case retaining portion 382 and fixed to the bottom surface 3. Furthermore, although not shown in the illustration, the lever assembly 3b is fixed to the battery housing 41 by screws being screwed into the upper side of the hook case 38.

[0069] The lever assembly 3b may further comprise shafts 39a and 39b. Shafts 39a and 39b are inserted into the hook case 38 such that both ends protrude from the hook case 38 in the left-right direction y. Shaft 39a is inserted into shaft hole 363c and two of the four shaft holes 381f located towards the rear. Shaft 39a functions as a pivot point (or center of rotation) in the reciprocating motion of the hook 36 between the protruding position 36A and the retracted position 36B. Shaft 39b is located closer to and below shaft 39a. That is, shaft 39b is inserted into two shaft holes 381f located closer to and below the shaft hole 381f into which shaft 39a is inserted. Shaft 39b overlaps with the flat portion 363a when viewed in the vertical direction z. The biasing member 37 is wrapped around shaft 39b. The hook case 38 includes four E-rings 383. Two E-rings 383 are attached to the ends of the shaft 39a that protrude from the two side plates 381b. The other two E-rings 383 are attached to the ends of the shaft 39b that protrude from the side plates 381b. Each E-ring 383 is U-shaped when viewed in the left-right direction y.

[0070] Next, a modified example of the lever assembly 3b will be described with reference to Figure 27. The hook 36 may be configured to move up and down within a hook case 38 that opens upward. As shown in Figure 27, in the lever assembly 3b according to this modified example, the hook 36 is not penetrated by the shaft 39a. The biasing member 37 is located between the hook 36 and the bottom plate 381a in the vertical direction z. According to this modified example, the size of the lever assembly 3b in the insertion direction (drive direction x) can be reduced. Also, as can be seen from this modified example, the specific configuration of the lever assembly 3b is not limited in any way and can be designed in various ways.

[0071] Next, the configuration of the battery unit 21A will be described with reference to Figures 14, 28, and 29. The battery unit 21A includes a battery case 22 in which the battery 21 is housed. For example, the battery 21 includes multiple cells. The multiple cells may be arranged in a matrix along the xy plane. The battery case 22 is generally a rectangular parallelepiped. Each dimension of the battery case 22 is smaller than each dimension of the battery housing 41.

[0072] The battery case 22 includes a case handle 22a on one side. The case handle 22a is located on the front side in the insertion direction when the battery unit 21A is inserted into the battery housing 41. The case handle 22a is in the same position as the hook 36 at the center of the width direction (left-right direction y) of the battery unit 21A. In the illustrated example, the case handle 22a extends along the left-right direction y. When the battery unit 21A is inserted into the battery housing 41, the case handle 22a is located near the top of the hook 36 in the vertical direction z. Also, the case handle 22a is located in front of the second surface 361b in the insertion direction. With this configuration, it is easier to remove the battery unit 21A. The user can simultaneously grip the case handle 22a and apply pressure to the first surface 361a and tip 362 of the protrusion 361. In an exemplary embodiment, the case handle 22a is positioned in front of and above the hook 36, so that the user can remove the battery unit 21A by pressing down on the hook 36 with one finger (e.g., the thumb) and using the other fingers to grip the case handle 22a. In other words, when removing the battery unit 21A, it is not necessary to use a hand other than the one pressing down on the hook 36 to pull out the battery unit 21A. Therefore, with the above configuration, it is possible to remove the battery unit 21A with one hand.

[0073] The battery case 22 includes a case recess 22b that is recessed on the rear side in the insertion direction. The case recess 22b is in contact with the protrusion 361 when the hook 36 is in the protruding position 36A. In this disclosure, “recess” and “protrusion” refer to a recessed portion and a protruding portion from the surface of a member, respectively. The “recess” and “protrusion” can be formed on any number of surfaces. In the illustrated example, the case recess 22b is constructed by connecting two surfaces perpendicular to the left-right direction to one surface perpendicular to the insertion direction (side surface 22b1 in Figure 28). The case recess 22b is located near the center of the battery case 22 in the left-right direction y. In the battery unit 21A inserted into the battery housing 41, the case recess 22b is recessed to the vicinity of the second surface 361b in the insertion direction. As a result, the side surface 22b1 located on the rear side in the insertion direction of the case recess 22b can contact the second surface 361b. With this configuration, the position where the battery unit 21A contacts the protrusion 361 can be moved to the back of the case recess 22b by the amount of the recess. Furthermore, by providing the case handle 22a in the recessed part of the case recess 22b, the battery unit 21A, including the case handle 22a, has no part that protrudes toward the front in the insertion direction. As a result, the battery cover 43 can have a shape with fewer protrusions, which is advantageous in improving the aesthetic appearance of the cleaning robot A1 when the battery cover 43 is attached.

[0074] The second surface 361b of the protrusion 361 abuts against the side surface 22b1 when the hook 36 is in the protruding position 36A, but does not abut against the side surface 22b1 when the hook 36 is in the retracted position 36B. As can be understood from the operation of the protrusion 361, the protrusion 361 only needs to be configured to protrude upward and abut against the side surface 22b1 located on the front side in the insertion direction of the battery unit 21A, and its shape is arbitrary. Furthermore, as can be understood from the operation of the case recess 22b, the case recess 22b only needs to abut against the protrusion 361, and its shape is arbitrary. For example, the case recess 22b may consist only of a curved side surface 22b1 when viewed in the vertical direction z, or it may not have an opening on the top or front side.

[0075] As can be understood from the function of the case handle 22a and the case recess 22b, the battery case 22 may include only the case handle 22a or only the case recess 22b. In a configuration in which the battery case 22 includes only the case handle 22a, for example, the case handle 22a may be configured to protrude from the front end of the rectangular battery case 22. The case handle 22a may also be foldable. In a configuration in which the battery case 22 includes only the case recess 22b, the battery case 22 may be made easier to pull out by providing a rod extending in the driving direction x inside the case recess 22b.

[0076] The battery case 22 further includes terminal 22c. Terminal 22c serves to electrically connect the battery 21 to the main unit 1. Terminal 22c is located at one end of the battery case 22 in the left-right direction y. In the illustrated example, when viewed from the rear, terminal 22c is located on the right side.

[0077] Next, the configuration of the main body 1 related to the installation of the battery unit 21A (step 40, battery housing 41, and battery cover 43) will be explained with reference to Figures 12 to 17 and 30 to 38.

[0078] The battery housing 41 comprises an opening 411 and a hollow lower surface 418. The opening 411 is located on the front side of the main body 1. The opening 411 is the front end of the battery housing 41. The opening 411 is located on the rear surface 4. The opening 411 is rectangular when viewed in the insertion direction. When viewed from the rear, the opening 411 is larger than the battery unit 21A. As shown in Figure 14, the hollow lower surface 418 extends inward from the lower end of the opening 411. The hollow lower surface 418 is horizontal to the ground. In other words, the battery housing 41 includes a plane (hollow lower surface 418) that extends inward from the opening 411. It is desirable that the hollow lower surface 418 is located at the same level as or above the upper surface 362a of the tip portion 362. Figure 32 illustrates the y-z plane passing through the upper surface 362a and the hollow lower surface 418. This figure shows an example where the lower cavity surface 418 is located above the upper surface 362a. With this configuration, the battery unit 21A can be inserted without the end of the battery case 22 touching the tip 362 of the hook 36. Therefore, the above configuration is advantageous for more smoothly mounting the battery unit 21A.

[0079] Referring to Figures 14, 16, and 17, the height Hb of the battery unit 21A and the height Ho of the opening 411 are illustrated. In the illustrated example, the height Ho is larger than the height Hb. This allows the battery unit 21A to be temporarily placed in the battery housing 41 while being pulled out or inserted. "Temporary placement" means that a part of an element is temporarily supported on another element. By being able to "temporarily place" it, a part of the mass of the battery unit 21A is supported by the opening 411. Therefore, the force required to grip the case handle 22a can be reduced. The inclination when removing the battery unit 21A refers to the angle between the bottom surface of the temporarily placed battery unit 21A and the bottom surface 418 of the cavity in the battery housing 41.

[0080] Figure 17 illustrates a battery unit 21A temporarily placed in the battery housing 41. Figure 17 illustrates the angle θ between the lower surface of the battery unit 21A and the lower surface 418 of the cavity in the battery housing 41. The angle θ between the lower surface of the battery unit 21A and the lower surface of the battery housing 41 is preferably between 15° and 50°, and more preferably between 30° and 40°. The height Hb of the battery unit 21A and the height Ho of the opening 411 are configured such that θ falls within these ranges.

[0081] The effects of this configuration are described in detail below. When removing the battery unit 21A, the battery unit 21A rotates around the case handle 22a. As a result, centrifugal force acts on the user from the battery unit 21A. If the centrifugal force is large, it can cause problems such as dropping the battery unit 21A. The centrifugal force generated during rotation is correlated with the angle θ between the bottom surface of the battery unit 21A and the bottom surface of the battery housing 41. If the centrifugal force is Nθ, the mass of the battery unit 21A is m, and the acceleration due to gravity is g, then the relationship is as follows.

number

[0082] Figure 39 shows a graph relating θ to centrifugal force (hereinafter referred to as Graph 1). The horizontal axis of Graph 1 represents θ, and the vertical axis represents the ratio of Nθ to θ, with Nθ at θ=0° being set to 1. For example, compared to when θ=0°, the centrifugal force generated when removing the battery unit 21A is approximately 0.75 times when θ=15° and approximately 0.5 times when θ=30°. In other words, from the standpoint of centrifugal force, the angle θ between the bottom surface of the battery unit 21A and the bottom surface of the battery housing 41 is in the range of 0° to 90°, and it is preferable for it to be as large as possible, with θ=15° or more being desirable and θ=30° or more being even more desirable. On the other hand, a large height Ho means that the opening 411 is large in the vertical direction z, so the space occupied by the battery housing 41 relative to the main body 1 becomes unnecessarily large. The relationship between height Ho, height Hb, and θ is as follows.

number

[0083] Figure 40 shows a graph (hereinafter referred to as Graph 2) with Y on the vertical axis and θ on the horizontal axis. Y represents the ratio of the height of the opening 411 to the height of the battery unit 21A. From Graph 2, when θ is 50°, Y is approximately 1.5, and when θ is 40°, Y is approximately 1.3. From the viewpoint of space efficiency, it is better for Y to be close to 1, and it is desirable for θ to be 50° or less, and even more desirable for it to be 40° or less. By configuring the height Ho of the opening 411 and the height Hb of the battery unit 21A based on Equation 2 so that θ is within the above range, it is possible to minimize the space required for the battery unit 21A while reducing the force required by the user's hand when removing it.

[0084] The main body 1 may further include a step 40, which includes a step top surface 401. The step 40 protrudes rearward from the rear surface 4. In the illustrated example, the step 40 protrudes forward from the lower end of the opening 411. That is, the step top surface 401 connects to the lower cavity surface 418 of the battery housing 41. For example, the normal to the step top surface 401 is slightly inclined with respect to the vertical direction z. It is desirable that the step top surface 401 of the step 40 is large enough to accommodate the battery unit 21A. With such a configuration, the force required when installing the battery unit 21A is reduced, and the possibility of the battery unit 21A falling when removing it is reduced. Furthermore, with the step 40, the battery unit 21A can be easily removed without setting a large height Ho of the opening 411 relative to the battery height Hb in the vertical direction z. Therefore, the above configuration makes the attachment and detachment of the battery unit 21A safer.

[0085] The upper surface 401 of step 40 is preferably large enough to allow the battery unit 21A to be placed with the case handle 22a positioned upwards (i.e., vertically). For example, the dimension of step 40 in the driving direction x may be more than half of the dimension of the battery unit 21A in the vertical direction z. In this case, the battery unit 21A can be pulled out in a position where it is positioned behind the case handle 22a (i.e., horizontally), and then rotated on step 40 to a vertical position. The vertical position of the battery unit 21A corresponds to a case where the angle θ it makes with the lower surface 418 of the cavity is 90°. At this time, almost no centrifugal force is generated when pulling out the battery unit 21A. Therefore, with this configuration, the effect of centrifugal force when removing the battery unit 21A can be reduced compared to a configuration in which the battery unit 21A can only be pulled out horizontally. Therefore, the above configuration makes the attachment and detachment of the battery unit 21A safer.

[0086] As can be understood from the function of step 40, the step surface 401 does not need to be inclined with respect to the vertical direction z, and it is desirable that it be configured to make it easy to place the battery unit 21A. For example, the step surface 401 may have irregularities in at least part of it. The irregularities prevent the battery unit 21A from sliding when it is temporarily placed on the step surface 401.

[0087] The battery housing 41 may further include a hollow end face 412 and a connector 414 provided on the hollow end face 412. The hollow end face 412 is the face of the battery housing 41 located towards the back in the insertion direction. The connector 414 functions as an electrical contact with the battery 21. The connector 414 is positioned corresponding to the terminal 22c (on the right side when viewed from the rear in the illustrated example). As a result, when the battery unit 21A is inserted, the terminal 22c mates with the connector 414. Consequently, power from the battery unit 21A is supplied to the main body 1. The lever assembly 3b has its second surface 361b in contact with the side surface 22b1 of the battery unit 21A. As a result, the lever assembly 3b reduces the movement of the battery unit 21A in the direction that would cause it to detach from the connector 414. Therefore, this configuration is advantageous in reducing poor connections between the battery unit 21A and the connector 414.

[0088] The battery housing 41 may further include at least one stopper 413. At least one stopper 413 is provided on the cavity end face 412. Figure 30 illustrates two stoppers 413 spaced apart in the left-right direction y. The two stoppers 413 are in the same position in the up-down direction z. Each stopper 413 is tapered, becoming narrower from the back to the front in the insertion direction. When the battery unit 21A is inserted into the battery housing 41 through the opening 411, the end of the battery 21 comes into contact with the stopper 413. With this configuration, it is possible to prevent the battery unit 21A from being inserted too far into the battery housing 41 and to reduce the force applied to the connector 414. In addition, the stopper 413 holds the battery unit 21A together with the lever assembly 3b, and it is possible to reduce the movement of the battery unit 21A in the insertion direction. This is because, when the battery unit 21A is installed in the battery housing 41, the battery unit 21A receives an elastic force from the stopper 413 toward the front, while also receiving a force from the protrusion 361 toward the back. Furthermore, it is desirable that the stopper 413 be made of a material with a low Young's modulus, such as rubber. This is advantageous for absorbing the shock when the battery unit 21A is inserted into the battery housing 41. Furthermore, it is desirable that the stopper 413 be positioned in the center of the cavity end face 412 in the vertical z direction. With such a configuration, the stopper 413 makes contact with the battery unit 21A at a height close to the center of gravity of the battery unit 21A, and can therefore absorb the shock to the battery unit 21A more effectively.

[0089] The battery housing 41 may further include a plurality of protrusions 415. Referring to Figures 30 and 31, the plurality of protrusions 415 are clearly shown. In Figure 30, for ease of understanding, the battery cover 43 and battery unit 21A are omitted, and the hook 36 is shown in the retracted position 36B. In Figure 31, for ease of understanding, the battery cover 43 and battery unit 21A are omitted. Each protrusion 415 protrudes into the interior of the battery housing 41 from one of the four inner surfaces of the battery housing 41 and extends along the insertion direction. With the above configuration, the contact area between the battery unit 21A and the battery housing 41 is reduced. Therefore, the frictional force between the battery case 22 and the battery housing 41 when inserting the battery unit 21A is reduced. As a result, the user can insert the battery unit 21A with little force. Each protrusion 415 includes a slope 415a at its front end, as shown in Figure 31. The slope 415a is inclined such that its height decreases from the back to the front. Compared to the case where the tip of the protrusion 415 is vertical, the slope 415a can mitigate the collision between the battery case 22 and the protrusion 415 when inserting the battery unit 21A.

[0090] As shown in Figure 30, the multiple protrusions 415 include three upper protrusions 415, three lower protrusions 415, two right-side protrusions 415, and one left-side protrusion 415. That is, the multiple protrusions 415 are arranged to surround the battery unit 21A. The vertical z-distance between the lower surface of the upper protrusion 415 and the upper surface of the lower protrusion 415 is approximately equal to the height Hb of the battery unit 21A, and the horizontal y-distance between the left-side surface of the right-side protrusion 415 and the right-side surface of the left-side protrusion 415 is approximately equal to the horizontal y-distance width of the battery unit 21A. Therefore, the inserted battery unit 21A can be accurately positioned, especially with respect to the connector 414. The central of the three lower protrusions 415 extends from the cavity end face 412 to the vicinity of the convex portion 361. The inclined surface 415a of the protrusion 415 allows for smoother insertion of the battery unit 21A after the convex portion 361 is pushed down. Unlike the illustrated example, the protrusions 415 located on the lower surface can also be provided to extend outside the opening 411, thereby functioning as in step 40. That is, the battery unit 21A can be placed on the multiple protrusions 415 that protrude from the opening 411.

[0091] Referring to Figures 33 and 34, the battery cover 43 is illustrated. The battery cover 43 covers the opening 411. Furthermore, as shown in Figure 35, it is desirable that the battery cover 43 includes a portion located on the front side in the insertion direction of the hook 36. In this case, the battery unit 21A is not visible due to the battery cover 43. Thus, the battery cover 43 can improve the aesthetic appearance of the cleaning robot A1.

[0092] Assuming that the battery housing 41 is closed with the battery cover 43, the space available for housing the battery unit 21A and the hook 36 is limited. In this case, the configuration of the battery unit 21A may cause problems with the ease of moving the hook 36. For example, the case handle 22a of the battery unit 21A may interfere with the tip 362 of the hook 36. To avoid such problems, it is desirable that the front end of the tip 362 be positioned in front of the case handle 22a. This relative positional relationship can be achieved, for example, by positioning the case handle 22a further back. As a result, a distance is secured between the case handle 22a and the tip 362. This configuration has the advantage that when removing the battery unit 21A with both hands, it is easier to apply force to the hook 36 with the other hand without interference from the hand gripping the handle 22a. Another problem is that excessive force may be required to move (rotate) the hook 36. To avoid such problems, it is desirable that the length of the tip 362 in the driving direction x is large. This can be achieved by providing a recess 22b in the case, thereby positioning the protrusion 361 towards the back. This configuration has the advantage of reducing the force required to push the hook 36 in the vertical z direction, thus allowing the battery unit 21A to be removed with less force.

[0093] The battery cover 43 includes a main plate portion 430 and a cover projection portion 431. Referring to Figures 33 to 35, the main plate portion 430 and the cover projection portion 431 are clearly shown. The main plate portion 430 is the structural component of the battery cover 43. As shown in Figure 10, a cover groove 434 extending in the vertical direction z is provided on the surface of the main plate portion 430 facing outwards. The cover groove 434 forms a step, making it easier to grip with your fingertips and open the battery cover 43. The cover projection portion 431 protrudes inwards from the main plate portion 430. In the left-right direction y, the cover projection portion 431 is located near the center of the battery cover 43. In the vertical direction z, the cover projection portion 431 is located at the lower end of the battery cover 43. Referring to Figure 35, the hook recess 361d is clearly shown. The hook recess 361d is recessed inwards from the first surface 361a. In the illustrated example, the hook recess 361d is provided at the ends of the first surface 361a in the vertical z direction and the left-right y direction. The upper surface 362a extends below the hook recess 361d. Figure 35 shows a cross-section passing through the cover projection 431 and the hook recess 361d. As shown in this figure, it is desirable that the cover projection 431 engages with the hook recess 361d provided on the hook 36. The engagement of the cover projection 431 with the hook recess 361d prevents the hook 36 from descending to its retracted position. This prevents the battery unit 21A from unintentionally detaching from the main body 1. The positions of the cover projection 431 and the hook recess 361d can be modified in the design, as long as they do not deviate from the function of the cover projection 431 and the hook recess 361d.

[0094] The battery cover 43 includes a lateral extension 432 protruding in the left-right direction y and a fitting claw 433 protruding in the up-down direction z, and the battery housing 41 may include a first recess 416 recessed in the left-right direction y and a second recess 417 recessed in the up-down direction z. In the examples shown in Figures 30, 33, and 34, there are two of each of the lateral extension 432, fitting claw 433, first recess 416, and second recess 417. The two lateral extensions 432 are spaced apart in the up-down direction z. The two fitting claws 433 are spaced apart in the up-down direction z. The two first recesses 416 are located on the far side of the opening 411 when viewed from the rear. Each first recess 416 is recessed toward the main body 1. Each first recess 416 and the corresponding lateral extension 432 are in the same position in the up-down direction z. Figure 36 shows an xy cross-section passing through the first recess 416 and the lateral extension 432. As shown in this figure, each first recess 416 engages with the lateral extension 432. Each lateral extension 432 is L-shaped when viewed in the vertical direction z. The two second recesses 417 are located on the upper and lower sides of the battery housing 41, respectively, when viewed from the rear. Each second recess 417 is recessed in the vertical direction z toward the main body 1 from the opening 411. Each second recess 417 and each engaging claw 433 are in the same position in the left-right direction y. Figure 37 shows an xz cross-section passing through the lower second recess 417 and the lower engaging claw 433. The engaging claw 433 shown in this figure extends inward from the main plate portion 430 and has a shape that is easily elastically deformed vertically. The tip of this engaging claw 433 protrudes upward. This protruding portion engages with the second recess 417. Figure 38 shows an xz cross-section passing through the upper second recess 417 and the upper engaging claw 433. The engaging claw 433 shown in this figure is roughly the inverted shape of the engaging claw 433 shown in Figure 37. As shown in these figures, each second recess 417 engages with the engaging claw 433. Furthermore, it is desirable that the engaging claw 433 be located close to the cover groove 434 in the left-right direction y. With this configuration, when opening the battery cover 43, if the lateral extension 432 is considered the fulcrum, the cover groove the point of force application, and the engaging claw 433 the point of application, the engaging force of the engaging claw 443 is large, preventing the battery cover 43 from opening easily.The first recess 416 and the second recess may be through holes, and the number and shape of the first recess 416 and the laterally extended portion 432, as well as the second recess 417 and the fitting claws 433, can be modified within the scope that does not deviate from the above functions.

[0095] The battery cover 43, configured as described above, can be attached and removed as follows. When attaching the battery cover 43 to the opening 411, first, while holding the groove 434, insert the tips of each lateral extension 432 into the corresponding first recess 416. Next, bring the left side of the main plate portion 430 closer to the opening 411 so that the battery cover 43 is rotated using the tips of the two lateral extensions 432 as a starting point. Rotate the battery cover 43 until each lateral extension 432 engages with the corresponding first recess 416. At this time, the engaging claw 433 engages with the corresponding second recess 417, and the cover projection 431 engages with the hook recess 361d. In this way, the battery cover 43 is attached to the opening 411. Therefore, the above configuration is advantageous for more securely fixing the battery cover 43 to the main body 1. The battery cover 43 can be opened by placing a finger in the cover groove 434 and rotating the battery cover 43. In the illustrated example, the battery cover 43 rotates from the right side and opens from the left. Unlike this example, the battery cover 43 may also have a structure that opens to the right or vertically. Furthermore, the battery cover 43 may have a projection for gripping the finger instead of the cover groove 434.

[0096] Those skilled in the art will understand that the components described above are not applicable only to cleaning robots. In other words, the features of this disclosure can be applied to autonomous mobile robots other than cleaning robots. In particular, the lever assembly 3b, battery unit 21A, and battery housing 41 of this disclosure allow for easy battery installation on autonomous mobile robots. [Explanation of symbols]

[0097] A1: Cleaning robot 1: Main unit 100: Dust collection assembly 101: Brush 102: Dustbin 103: Duct 104: Chamber 105: Vacuum unit 106: Exhaust vent 14: Shelf 15: Circuit board box 16: Circuit section 2:Top surface 200:Operation unit 2A: Handle 2Aa: Crossbar 2Ab: Vertical bar 2B: Arm 2C: Input / Output Interface 2D: Emergency Stop Button 21A: Battery unit 21: Battery 22: Battery case 22a: Case handle 22b: Case recess 22b1: Side 22c: Terminal 3: Bottom surface 3b: Lever assembly 36: Hook 36A: Protruding position 36B: Evacuation position 361: Protrusion 361a: 1st side 361b: 2nd side 361c: Top 361d: Hook recess 362:Tip 362a:Top surface 362b:Bottom surface 363: Support part 363a: Flat part 363b: Bent part 363c: Hole for shaft 364: Side projection 37: Biasing member 38: Hook case 381: Case body 381a: Bottom plate 381b: Side plate 381c: End plate 381d: Lever stopper 381e: Hole in the base plate 381f: Hole for the shaft 381g: Notch portion 382: Case fastening portion 383: E-ring 39a, 39b: Shaft 30: Detection system 31: Imaging device 32: Charging terminal 33: Sensor system 34, 34A, 34B: Ultrasonic sensors; 35A, 35B: Cliff sensors 4: Back 4a: Protrusion 40: Step 401: Top of step 41: Battery compartment 411: Opening 412: Hollow end face 413: Stopper 414: Connector 415: Protrusion 415a: Slope 416: First recess 417: Second recess 418: Bottom surface of cavity 43: Battery cover 430: Main board 431: Cover projection 432: Lateral extension 433: Engaging claw 434: Cover groove 5: Front 6: Side 6A: Gripping hole 7: Main body recess 7A, 7B: Motor 70: Drive system 71: Drive wheels 73: Front wheel caster 731: Auxiliary caster 74: Rear wheel caster 74A: Forward position 74B: Rear view 8: Front bumper x: driving direction y: left / right direction z: up / down direction Ho, Hb: Height

Claims

1. It is a cleaning robot, The cleaning robot comprises a main body including a lever assembly and a battery housing, and a battery unit. The lever assembly includes a hook and a biasing member, The aforementioned hook is configured to reciprocate between a protruding position and a retracted position. The biasing member biases the hook upward, The battery unit is inserted into the battery housing, The aforementioned hook includes a protrusion that extends upward, The aforementioned protrusion includes a first surface that slopes upward from the front side to the back side in the insertion direction of the battery unit. A cleaning robot wherein the protrusion locks the battery unit when the hook is in the protruding position, and does not lock the battery unit when the hook is in the retracted position.

2. The battery unit includes a battery case in which the battery is housed, and includes a case handle located on the front side. The cleaning robot according to claim 1, wherein the case handle is located in the same position as the hook in the width direction of the battery unit.

3. The battery case includes a recessed case recess on the rear side, The cleaning robot according to claim 2, wherein the case recess is in contact with the protrusion when the hook is in the protruding position.

4. The hook includes a tip portion located on the front side with respect to the protrusion, The aforementioned tip portion includes an upper surface extending from the first surface toward the front, The battery housing includes an opening located on the front side and a plane extending from the opening to the rear side. The cleaning robot according to any one of claims 1 to 3, wherein the plane is located at the same level as or above the upper surface.

5. The cleaning robot according to any one of claims 1 to 3, wherein the battery housing includes a hollow end face located on the rear side and a stopper provided on the hollow end face.

6. The battery cover further covers the aforementioned battery housing, The cleaning robot according to any one of claims 1 to 3, wherein the battery cover is located in front of the hook.

7. The aforementioned battery cover has a cover projection, The cleaning robot according to claim 6, wherein the cover projection engages with a hook recess provided on the hook.

8. The battery cover includes a laterally extended portion that protrudes from the main body in the left-right direction and a fitting claw that protrudes from the main body in the up-down direction. The battery housing includes a first recess that is recessed in the left-right direction and a second recess that is recessed in the up-down direction. The aforementioned lateral extension portion fits into the first recess, The cleaning robot according to claim 6, wherein the fitting claw engages with the second recess.

Images