Mobile robot

Abstract

To provide a mobile robot which offers waterproofness that allows the use thereof in the rain and on a wet floor when the robot is used in a semi-outdoor space, and enhanced maintainability that allows an exterior member to be easily detached for maintenance of the mobile robot.SOLUTION: A mobile robot is provided, comprising a plurality of wheels rotatably attached to a chassis, driving means for driving the wheels, a control member for controlling the driving means, a storage battery for supplying power to the driving means and the control member, and an exterior member attached to the chassis. A vehicle body comprising the chassis and the exterior member is internally divided into a waterproof section and a non-waterproof section, where the non-waterproof section has drainage means formed at a given position of the chassis.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a mobile robot. [Background technology]

[0002] Conventionally, Automated Guided Vehicles (AGVs) have been used as mobile robots that automatically transport items such as goods and parts in logistics warehouses and manufacturing plants.

[0003] Such a mobile robot is a transport vehicle that moves along a predetermined route to transport an item, and various configurations are known. For example, as described in Patent Document 1, a mobile robot is known in which the main body is roughly rectangular parallelepiped shaped, and includes a first cover that covers the top and sides of the main body, and a second cover that is stacked on the top surface of the first cover.

[0004] With such a mobile robot, the upper and sides of the mobile robot's main body are doubly covered by first and second covers, so that even if water falls onto the mobile robot, the fallen water is prevented from entering the interior, ensuring the waterproofing of the mobile robot. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2011-126331 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the mobile robot described in Patent Document 1 is an invention made to address the problem that if the workpiece carried by the mobile robot is not sufficiently dried or drained after cleaning, the liquid used for cleaning (e.g., water) may remain in the workpiece on the mobile robot, and water may fall onto the mobile robot when the mobile robot moves or the workpiece is turned over.No consideration was given to waterproofing against rainwater when the mobile robot is used semi-outdoors, such as at a construction site where the roof has been constructed but the walls have not yet been built, and there was a problem that the mobile robot could not be used at such construction sites.

[0007] When a mobile robot is used at such semi-outdoor construction sites, rainfall or other factors can cause the robot itself to be splashed with rainwater, making it necessary to waterproof it from unspecified directions, and when the robot runs through a puddle at the construction site, water can get into the robot due to splashes from the wheels, etc., so there has been a demand for improved waterproofing even when the robot is used under such conditions. However, in order to improve waterproofing from unspecified directions, the entire mobile robot must be made into a sealed structure, which not only increases the cost of the mobile robot, but also makes it difficult to remove the exterior, reducing maintainability.

[0008] The present invention has been made to solve the above-mentioned problems, and aims to provide a mobile robot that is waterproof so that it can be used even in rainy conditions or when the floor is wet when used semi-outdoors, and has improved maintainability by allowing the exterior parts to be easily removed for maintenance of the mobile robot. [Means for solving the problem]

[0009] The mobile robot according to the present invention, which solves the above problems, comprises a plurality of wheels rotatably attached to a chassis, drive means for driving the wheels, a control member for controlling the drive means, a storage battery for supplying power to the drive means and the control member, and an exterior member attached to the chassis, wherein the vehicle body including the chassis and the exterior member is internally partitioned into a waterproof compartment and a non-waterproof compartment, and the non-waterproof compartment includes: The driving means, the control box that houses the control member, and the storage battery are disposed, A drainage means is formed at a predetermined position on the chassis. The waterproof compartment is defined only by the control box. It is characterized by the above. Effect of the Invention

[0010] According to the mobile robot of the present invention, the vehicle body including the chassis and exterior components is internally divided into a waterproof compartment and a non-waterproof compartment, and the non-waterproof compartment has a drainage means formed at a predetermined position on the chassis, thereby ensuring waterproofness that allows the robot to run even in environments with a wet floor, and also makes it possible to easily remove the exterior components, improving maintainability. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view of a mobile robot according to an embodiment of the present invention; [Diagram 2] FIG. 2 is an exploded view showing the internal structure of the mobile robot according to the embodiment of the present invention. [Diagram 3] FIG. 2 is a perspective view of a control member of a mobile robot according to an embodiment of the present invention. [Figure 4] FIG. 2 is an exploded view of a control member of a mobile robot according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a plan view of the chassis of the mobile robot according to the embodiment of the present invention. [Figure 6] 1 is a side view showing an internal structure of a mobile robot according to an embodiment of the present invention; [Figure 7] FIG. 2 is an exploded view of an exterior member of the mobile robot according to the embodiment of the present invention. [Figure 8] FIG. 2 is a plan view of the chassis of the mobile robot according to the embodiment of the present invention. [Figure 9] Enlarged view of part A in Figure 1. [Figure 10] Cross-sectional view of FIG. 1 taken along line B-B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of a mobile robot according to the present invention will be described with reference to the drawings. Note that the following embodiment does not limit the invention according to each claim, and all combinations of features described in the embodiment are not necessarily essential to the solution of the invention.

[0013] Figure 1 is an oblique view of a mobile robot according to an embodiment of the present invention, Figure 2 is an exploded view showing the internal structure of a mobile robot according to an embodiment of the present invention, Figure 3 is an oblique view of a control member of a mobile robot according to an embodiment of the present invention, Figure 4 is an exploded view of the control member of a mobile robot according to an embodiment of the present invention, Figure 5 is a plan view of a chassis of a mobile robot according to an embodiment of the present invention, Figure 6 is a side view showing the internal structure of a mobile robot according to an embodiment of the present invention, Figure 7 is an exploded view of an exterior member of a mobile robot according to an embodiment of the present invention, Figure 8 is a plan view of a chassis of a mobile robot according to an embodiment of the present invention, Figure 9 is an enlarged view of part A of Figure 1, and Figure 10 is a cross-sectional view along B-B of Figure 1.

[0014] As shown in Fig. 1, a mobile robot 1 according to this embodiment travels while towing a dolly (not shown). Construction materials and the like to be transported are preferably placed on the dolly. The mobile robot 1 has a number of wheels 3, 4 rotatably attached to a chassis 2. The wheels 3 form the rear wheels of the mobile robot 1, and operate as drive wheels by transmitting driving force to them by drive means 10 (described later). In addition, the direction of travel can be changed by changing the rotation speed of the left and right drive wheels by the drive means 10.

[0015] The wheels 4 form the front wheels of the mobile robot 1, and are attached so as to be rotatable in response to the drive of the wheels 3. As shown in Fig. 10, the wheels 4 are attached via a swivel member 80 that is rotatable about a swivel axis extending vertically to the chassis 2, and when the traveling direction of the mobile robot 1 is changed by the wheels 3, the wheels 4 can smoothly change direction of the mobile robot 1 by appropriately rotating at an angle along the traveling direction. Furthermore, the wheels 4 are attached to the swivel member 80 via a buffer member 81, and even if there is a step in the traveling path, the wheels 4 can absorb the shock caused by going over the step and stabilize the posture of the mobile robot 1 while traveling.

[0016] 1, an exterior member 40 is attached to the chassis 2, constituting the vehicle body. The exterior member 40 is composed of a ceiling member 41, side members 42, a front member 43, and a rear member 44. A warning light 5 is attached in front of the ceiling member 41 to notify the movement of the mobile robot 1, and can notify the surroundings of the presence of the mobile robot 1 while it is moving along with a sound generated from a speaker (not shown).

[0017] An operation panel 6 that enables selection of preset travel patterns for the mobile robot 1 is attached to the rear of the ceiling member 41, and the above-mentioned warning lights 5 and operation panel 6 are protected by protective frames 7, 8. The protective frames 7, 8 may have any shape as long as they can protect the warning lights 5 and operation panel 6 from impacts, but it is preferable to configure the protective frames 7, 8 by combining pipe members as shown in Fig. 1, for example.

[0018] Furthermore, an emergency stop button 9 is attached to the ceiling member 41, allowing for arbitrary emergency stopping of the mobile robot 1. The emergency stop button 9 is attached to two locations on the mobile robot 1 according to this embodiment.

[0019] In addition, a transport section 71 is attached to the chassis 2 of the mobile robot 1 in this embodiment, through which a transport belt (not shown) can be inserted when transporting the mobile robot 1, and the transport section 71 makes it easy to transport the mobile robot 1 even when the vehicle weight is large.

[0020] 2, the chassis 2 is equipped with a control member accommodating section 72 arranged at the front of the chassis 2, a drive means accommodating section 73 arranged at the rear of the chassis 2, and a storage battery accommodating section 74 arranged between the control member accommodating section 72 and the drive means accommodating section 73. The interior of the vehicle body including the chassis 2 and the exterior member 40 is divided into a non-waterproof section including the drive means accommodating section 73, the control member accommodating section 72, and the drive means accommodating section 73 described above, and a waterproof section inside the control member 20 having a waterproof structure that prevents the intrusion of water, etc.

[0021] The control member accommodating portion 72 is disposed above the wheel 4, and is partitioned by being covered with a wall portion 75, so that water and the like from the outside do not easily enter the control member accommodating portion 72. As shown in FIG. 8, a drainage hole 23 is formed in the bottom of the control member accommodating portion 72, so that even if water and the like enters the control member accommodating portion 72, the water can be drained through the drainage hole 23. The drainage hole 23 is a long and narrow rectangular through hole extending in the vehicle width direction, and the long side along the vehicle width direction has a slope that slopes from the floor surface of the control member accommodating portion 72 toward the outside of the control member accommodating portion 72 toward the other long side in a cross-sectional view. This pair of slopes makes it easy to drain water that has entered the control member accommodating portion 72 to the outside, and prevents water from entering the control member accommodating portion 72 from the wheel 4 side through the drainage hole 23.

[0022] Further, the control member 20 is attached to the control member housing portion 72. As shown in Fig. 3, the control member 20 includes a control box 21 housing a camera 61, an image processing portion for processing images captured by the camera 61, and a drive control portion for controlling the drive means 10, and the like, and a cover member 22 for closing the opening of the control box 21.

[0023] 4, the control box 21 is a bottomed box-shaped member that is open at the top, and is configured by joining a control box main body 27 formed in a substantially U-shape to a pair of side walls 26. The joining between the control box main body 27 and the pair of side walls 26 is preferably performed by bolting via a seal washer, and a conventionally known seal material may be interposed between the control box main body 27 and the pair of side walls 26, if necessary.

[0024] Further, a cutout portion 24 that is continuous with the opening is formed in the opening of the control box 21. The cutout portion 24 is provided in order to draw into the control member 20 the wiring that connects the inside of the control member 20 with the storage battery 30 and the driving means 10, as well as the wiring of various sensors such as the obstacle sensors 62, 63, the laser range finder 64, and the contact sensor 65 that are attached to the outside of the control box 21. By forming the cutout portion 24 so as to be continuous with the opening, the position of the cutout portion 24 can be set at a high position of the control member 20, which prevents water from entering the control member 20, and by appropriately sagging the wiring drawn into the control member 20, water is prevented from entering along the wiring.

[0025] The cover member 22 has an eaves portion 25 bent so that the side ends hang down, and the length of the cover member 22 in the front-to-rear direction (the direction of travel of the mobile robot 1 in this embodiment) is longer than the opening of the control box 21. When attached to the control box 21, the cover member 22 is configured like an eave protruding horizontally from the control box 21, and the cover member 22 prevents water and other substances from entering the control member 20 through the cutout portion 24.

[0026] Furthermore, eaves portion 25 closes cutout portion 24 via a gap large enough for the wiring to pass through, thereby improving the waterproofing of control member 20. With such a waterproof structure, the inside of control member 20 is partitioned as a waterproof compartment, and control box 21, which is an outer casing member of control member 20, partitions the waterproof compartment inside control member 20 from a non-waterproof compartment including control member accommodating portion 72.

[0027] The control member 20 photographs an identification sign installed on the travel route with a camera 61, and controls the drive means 10 according to the instructions of the identification sign. The control member 20 can be configured using various conventionally known image processing means and drive control means, and is preferably equipped with, for example, a calculation unit that performs image processing, a storage medium that stores instructions corresponding to the identification sign and a warning audio signal, etc.

[0028] The obstacle sensors 62, 63 may be of any type as long as they can detect an obstacle when it exists on the travel route, but an optical proximity sensor, for example, is preferably used. A main obstacle sensor 62 is attached to the front center portion of the control member 20, and a pair of auxiliary obstacle sensors 63, 63 are attached to both sides of the control member 20.

[0029] 2, a sensor panel 76 is attached below the control member housing 72 so as to cover the front of the wheels 4, a laser range finder 64 that scans the traveling direction of the mobile robot 1 is attached to the sensor panel 76, and a contact sensor 65 is attached to the lower end of the sensor panel 76 so as to protrude forward of the mobile robot 1. The laser range finder 64, like the obstacle sensors 62 and 63, detects an obstacle when it exists in the traveling path. In addition, the contact sensor 65 can stop the traveling of the mobile robot 1 when it comes into contact with an obstacle that could not be detected by the obstacle sensors 62 and 63 or the laser range finder 64.

[0030] The drive means housing 73 is disposed above the wheels 3, and the drive motor 11 transmits drive force to the wheels 3 via a drive belt 12. A pair of the drive motor 11 and the drive belt 12 is provided for each of the left and right wheels 3, 3, and the direction of travel of the mobile robot 1 can be changed by changing the number of rotations of the left and right wheels 3. Note that a pivot turn may be performed by rotating only one of the left and right wheels 3, and it is also possible to change the direction of the mobile robot 1 by rotating the wheels in the opposite direction.

[0031] 5 and 6, the drive motor 11 is housed in a drive means holding section 13 in which the rotation shaft 11a is located at a position higher than the rotation shaft of the wheel 3, and the drive means holding section 13 is covered with a drive means protective frame 14 to prevent water splashed up with the rotation of the wheel 3 from splashing on the drive motor 11 when the water enters the drive means housing section 73, which is a non-waterproof section. In this way, since the drive motor 11 is housed in the drive means holding section 13 in which the rotation shaft 11a is located at a position higher than the rotation shaft of the wheel 3, even if water enters the drive means housing section 73, which is a non-waterproof section, the occurrence of a breakdown of the drive means 10 due to the intrusion of the water is prevented. Note that any drive motor may be used as the drive motor 11 as long as it can be driven by power supplied by the storage battery 30 described later, and for example, a brushless motor or a stepping motor is preferably used.

[0032] Furthermore, the drive belt 12 may be any of various types of drive belts known in the art, and a flat belt or a toothed belt made of a composite material in which rubber is combined with reinforcing fibers or the like is preferably used.

[0033] 2, the storage battery accommodating section 74 is disposed between the wheels 3, 4, and is disposed at a position closer to the ground surface than the control member accommodating section 72 and the drive means accommodating section 73. In this way, the relatively heavy storage battery 30 is mounted at a low position on the chassis 2, thereby lowering the center of gravity of the mobile robot 1.

[0034] 5, a pair of storage batteries 30 are provided on the left and right sides of the storage battery housing section 74, and a charger 31 is disposed between the storage batteries 30. The terminals of the storage battery 30 are disposed so as to be located at the top of the storage battery 30, so that even if water enters the storage battery housing section 74, which is a non-waterproof compartment, a short circuit due to water can be prevented.

[0035] A conventionally known secondary battery is preferably used as the storage battery 30, such as a lithium ion battery or a nickel-cadmium battery. Furthermore, a drainage hole 33 is formed in the bottom surface of the storage battery housing section 74, so that water that has entered the storage battery housing section 74 can be drained to the outside of the mobile robot 1. The corner of the drainage hole 33 and the bottom surface is chamfered, which makes it easier to drain water that has entered the storage battery housing section 74 to the outside and prevents water from entering the storage battery housing section 74 from below the chassis 2 through the drainage hole 33.

[0036] The control member 20 is disposed at a predetermined distance from the wall 75 on both sides and the front of the control member housing 72. The control member 20 abuts against a positioning portion 75a formed on the front side of the wall 75. The storage battery 30 is disposed at a predetermined distance from both sides of the storage battery housing 74 by being disposed at the center of the storage battery housing 74, and the driving means 10 is disposed at a predetermined distance from both sides and the rear end of the driving means housing 73. Since the control member 20, the driving means 10, and the storage battery 30 are disposed at a predetermined distance from the outer edge of the chassis 2, even if an impact is applied from the side of the chassis 2, the impact can be prevented from being transmitted to the driving means 10, the control member 20, and the storage battery 30. Furthermore, since the control member 20, the storage battery 30, and the driving means 10 are disposed at a distance from the outer periphery of the chassis 2, even if water enters through a gap in the exterior member 40, these members are prevented from being splashed with water.

[0037] As shown in FIG. 6, the chassis 2 is fitted with a support section 50 consisting of a plurality of support members 51 attached to the four corners of each of the drive means accommodating section 73 and the control member accommodating section 72, and a central support member 52 attached to the storage battery accommodating section 74.

[0038] The support member 51 is a rod-shaped member, and has one end formed with a male thread portion that can be screwed into the chassis 2, and the other end formed with a female thread portion to which the ceiling member 41 is attached. A plurality of support members 51 are arranged along the outer periphery of the chassis 2 so as to be attached to the outer periphery of the ceiling member 41.

[0039] 2, the central support member 52 is a gate-shaped member having a pair of legs 55, and includes an attachment portion 56 that connects the upper ends of the pair of legs 55. The lower ends of the legs 55 are attached to the reinforcing frame 32 of the storage battery housing portion 74.

[0040] 7, the exterior member 40 has a ceiling member 41, a pair of side members 42, a front member 43, and a back member 44. The ceiling member 41 is a flat plate member supported by a support portion 50. The ceiling member 41 has claw portions 41a formed on its outer periphery that hang down downward and are spaced at predetermined intervals.

[0041] The side member 42 has a side member main body 45 having substantially the same shape as the side shapes of the control member accommodating section 72, the storage battery accommodating section 74, and the drive means accommodating section 73 so as to close the side surface of the chassis 2, and is provided with a chassis mounting section 42a formed at the lower end of the side member main body 45, a front member mounting section 42b formed by bending from one end of the side member main body 45 so as to be attached to the front member 43, and a back member mounting section 42d formed by bending from the other end of the side member main body 45 so as to be attached to the back member 44. A sensor hole 42c is formed in the front member mounting section 42b at a position corresponding to the auxiliary obstacle sensor 63.

[0042] The front member 43 and the rear member 44 are flat plate members, and the front member 43 is formed with a camera hole 43a and an obstacle sensor hole 43b at positions corresponding to the camera 61 and the main obstacle sensor 62 of the control member 20. Furthermore, the rear member 44 is formed with an opening 44a for attaching wiring for the charger 31 and the like and an operation panel formed at the rear end of the mobile robot 1.

[0043] 1, the side member 42 is attached to the outer wall of the storage battery housing section 74 via a chassis attachment portion 42a. The front member 43 and the front member attachment portion 42b, and the rear member 44 and the rear member attachment portion 42d are joined to each other to form the outer circumferential surface of the exterior member 40. The support member 51 and the side member 42 are not joined to each other.

[0044] As shown in Fig. 6, the ceiling member 41 is attached to the pillar members 51 and the central support member 52, and is disposed at a predetermined distance from the driving means 10, the control member 20, and the storage battery 30. Since the ceiling member 41 is disposed at a predetermined distance from the driving means 10, the control member 20, and the storage battery 30, even if an impact is applied to the ceiling member 41 from the outside, the impact can be prevented from being transmitted to the driving means 10, the control member 20, and the storage battery 30. Furthermore, since the control member 20, the storage battery 30, and the driving means 10 are disposed at a distance from the ceiling member 41, even if water seeps in through a gap in the exterior member 40, these members are prevented from getting wet.

[0045] As shown in FIG. 8, the chassis 2 of the mobile robot 1 according to this embodiment has drainage holes 23 formed in the bottom surface of the control member accommodating section 72 and drainage holes 33 formed in the bottom surface of the storage battery accommodating section 74 as drainage means. The drainage holes 23 formed in the control member accommodating section 72 are arranged on the front, rear, left and right sides of the travel direction of the control member accommodating section 72, totaling four. The drainage holes 33 formed in the storage battery accommodating section 74 are arranged on the left and right sides of the rear in the travel direction, totaling two. In this way, the drainage holes 23, 33 are formed along the travel direction of the mobile robot 1 according to this embodiment, so that as the mobile robot 1 travels, water that has entered the control member accommodating section 72 and the storage battery accommodating section 74 is moved to the drainage holes 23, 33 to promote drainage.

[0046] As shown in FIG. 9, the upper end of the side member 42 adjacent to the ceiling member 41 is disposed with a predetermined gap from the ceiling member 41. The ceiling member 41 is formed so as to protrude outward from the side member 42 in a side view, and is disposed in a eaves-like manner from the side member 42. The ceiling member 41 disposed in this eaves-like manner prevents water from entering through the gap between the ceiling member 41 and the side member 42. Since there is a gap between the ceiling member 41 and the upper end of the side member 42, even if an impact is applied to the side member 42 from the outside, only the side member 42 deforms, so that the impact can be prevented from being transmitted to the ceiling member 41, and the side member 42 deforms to absorb the impact and prevent the impact from being transmitted to internal parts such as the control member 20. Furthermore, since there is a gap between the ceiling member 41 and the side member 42, it becomes easy to remove these exterior members 40 from the chassis 2, and the maintainability of the mobile robot 1 according to this embodiment can be improved.

[0047] Furthermore, as shown in FIG. 10, the claw portion 41a formed on the ceiling member 41 is positioned to face the upper edge of the side member 42. Therefore, even if the side member 42 is deformed due to an external impact, the claw portion 41a comes into contact with the ceiling member 41, thereby preventing the amount of deformation from increasing, and preventing the impact from being transmitted to internal components such as the control member 20 due to the deformation of the side member 42.

[0048] In this way, according to the mobile robot 1 of this embodiment, in order to prevent water from entering internal parts such as the control member 20, the terminals of the storage battery 30, and the drive means 10, which may malfunction due to water intrusion, the control member 20, the terminals of the storage battery 30, and the drive means 10 are positioned high on the chassis 2 and spaced apart from the outer periphery of the chassis 2, and gaps into which water may enter are made waterproof by using eave-like shapes and eaves sections, etc., thereby ensuring waterproofness that allows the robot to run even in environments with wet floors, and even if the mobile robot receives an impact from the outside, the internal parts will not be damaged by the impact and the exterior parts can be easily repaired.

[0049] In the above-described embodiment, the support portion 50 is described as using the pillar member 51 and the central support member 52, but the central support member 52 may be the same member as the pillar member 51, or the central support member 52 itself may be omitted.

[0050] In addition, the mobile robot 1 in this embodiment has been described as capturing images of identification signs placed on its travel path using the camera 61 provided on the control member 20 and traveling according to the identification signs, but it is also possible to adopt a guidance method in which the robot reads metal wires or magnetic tapes installed on the floor of its travel path and travels accordingly, or to adopt a method in which reflectors are attached to walls or pillars inside a building, and the robot estimates its own position using the reflection of a laser to travel autonomously.

[0051] In addition, the method of changing direction has been described by changing the rotation speed of the left and right wheels 3, but the direction may be changed by mounting the front wheels 4 in a steerable manner. It is clear from the claims that such modified or improved embodiments are also included within the technical scope of the present invention. [Explanation of symbols]

[0052] 1 mobile robot, 2 chassis, 3, 4 wheels, 10 drive means, 20 control member, 21 control box, 22 cover member, 23, 33 drainage hole, 24 cutout portion, 30 storage battery, 40 exterior member, 41 ceiling member, 42 side member, 50 support member, 72 control member accommodating portion, 73 drive means accommodating portion, 74 storage battery accommodating portion.

Claims

1. A plurality of wheels rotatably mounted on the chassis; A drive means for driving the wheels; A control member for controlling the driving means; a storage battery for supplying power to the driving means and the control member; In the mobile robot having an exterior member attached to the chassis, The vehicle body including the chassis and the exterior member has an interior divided into a waterproof compartment and a non-waterproof compartment, the non-waterproof compartment includes the drive means, a control box that houses the control member, and the storage battery, and a drainage means is formed at a predetermined position on the chassis; A mobile robot, wherein the waterproof compartment is defined only by the control box.

2. 2. The mobile robot according to claim 1, The mobile robot according to claim 1, wherein the drainage means is a drainage hole formed in the chassis.

3. 3. The mobile robot according to claim 2, The drainage holes are formed at the front and rear of the non-waterproof compartment in the direction of travel of the mobile robot.

4. 4. The mobile robot according to claim 1, the control member has a control box that houses an image processing unit including a camera attached facing forward in the direction of travel of the mobile robot and a drive control unit that drives and controls the drive means, and a cover member that closes an opening of the control box; The opening has a notch formed therein that is continuous with an opening end, A mobile robot according to claim 1, wherein the cutout portion is closed by an eave portion hanging down from an edge of the lid member via a predetermined gap.

5. 5. The mobile robot according to claim 1, A mobile robot, characterized in that the driving means is disposed at a position higher than the axles of the wheels.

Images