Autonomous driving robot having waterproof / dustproof structure

Abstract

This autonomous driving robot comprises: a body comprising a base plate, a side plate, and an upper plate; a waterproof mount which is installed at the corner of the body and comprises a cable opening allowing the inside and the outside of the body to be in communication with each other; an electronic component installed on the waterproof mount on the outside of the body and comprising a cable; and a cable waterproof bracket which is installed in the cable opening of the waterproof mount, fixes the cable of the electronic component, and prevents moisture and / or dust on the outside of the body from flowing along the cable into the inside of the body.

Description

Autonomous driving robot with waterproof / dustproof structure

[0001] The present disclosure relates to an autonomous driving robot, and more specifically, to an autonomous driving robot having a waterproof / dustproof structure.

[0002] An autonomous robot is a robot capable of navigating its surroundings in real time to determine the optimal path and move to a destination on its own, without direct instructions from the user or a predefined route. To perform autonomous driving, autonomous robots include various sensors and electronic components for control.

[0003] Generally, autonomous robots are recommended to be used in moisture-free, clean floor environments to ensure sensor accuracy and driving safety. Additionally, autonomous robots are vulnerable to moisture because they are equipped with various electronic components and batteries. However, with the recent increase in demand for automation across various fields, there is a need for autonomous robots equipped with waterproof and dustproof capabilities that allow them to operate normally even in humid environments.

[0004] The sensing portion of the sensor may be located on the exterior of the autonomous robot to detect the surrounding environment, while the sensor body may be installed on the interior of the autonomous robot for protection. Since the sensor is installed across the interior and exterior of the autonomous robot, the part of the robot where the sensor is installed may become a vulnerable area for water and dust damage.

[0005] In addition, if the sensor is installed on the exterior of the autonomous robot, the sensor cable may penetrate the robot to connect the sensor to a printed circuit board located inside the robot. In this case, the part of the autonomous robot through which the sensor cable passes may become a vulnerable area for water or dust damage.

[0006] An autonomous driving robot according to one or more embodiments of the present disclosure may include: a body comprising a base plate, a side plate, and a top plate; a waterproof mount installed at a corner of the body and comprising a cable opening that communicates the inside and outside of the body; an electronic component installed on the waterproof mount on the outside of the body and comprising a cable; and a cable waterproof bracket installed at the cable opening of the waterproof mount, which secures the cable of the electronic component and is formed to prevent moisture and / or dust from the outside of the body from flowing into the inside of the body along the cable.

[0007] According to one or more embodiments of the present disclosure, the body may further include a mount cap installed between the top plate of the body and the top of the waterproof mount.

[0008] According to one or more embodiments of the present disclosure, the waterproof mount may include a lower waterproof mount installed on the upper surface of the base plate; and an upper waterproof mount installed on the upper part of the lower waterproof mount.

[0009] According to one or more embodiments of the present disclosure, the cable opening may be formed in the lower waterproof mount.

[0010] According to one or more embodiments of the present disclosure, the lower waterproof mount may include: a lower plate installed on the upper surface of the base plate; and a lower wall extending upward from the front end of the lower plate.

[0011] According to one or more embodiments of the present disclosure, the lower wall may include a lower central wall, a lower left wall disposed to the left of the lower central wall, and a lower right wall disposed to the right of the lower central wall. The lower central wall may include a cable opening and a recess provided between the cable opening and the lower right wall. A cable space may be formed at the rear of the lower central wall where the cable opening is provided.

[0012] According to one or more embodiments of the present disclosure, the lower left wall and the lower right wall may each include a waterproof groove in which a waterproof member is disposed.

[0013] According to one or more embodiments of the present disclosure, the upper waterproof mount may include: an upper plate installed on the upper side of the lower waterproof mount; and an upper wall extending upward from the upper surface of the upper plate.

[0014] According to one or more embodiments of the present disclosure, the upper wall may include an upper central wall extending upward from the rear end of the upper plate, an upper left wall formed to extend from the rear end of the upper plate to the front end on the left side of the upper central wall and including a stepped portion corresponding to the horizontal portion and the upper vertical portion of the side wall of the body, and an upper right wall formed to extend from the rear end of the upper plate to the front end on the right side of the upper central wall and including a stepped portion corresponding to the horizontal portion and the upper vertical portion of the side wall of the body.

[0015] According to one or more embodiments of the present disclosure, the upper left wall and the upper right wall may each include a waterproof groove in which a waterproof member is disposed.

[0016] According to one or more embodiments of the present disclosure, the cable waterproofing bracket may include a cable bushing for securing the cable; and a bushing holder for securing the cable bushing.

[0017] According to one or more embodiments of the present disclosure, the bush holder may include an upper bush holder and a lower bush holder.

[0018] According to one or more embodiments of the present disclosure, an O-ring may be disposed between the bush holder and the waterproof mount around the circumference of the cable opening.

[0019] According to one or more embodiments of the present disclosure, a pair of component holders for securing the electronic component to the waterproof mount may be further included.

[0020] According to one or more embodiments of the present disclosure, the electronic component may be a lidar sensor.

[0021] The above-described or other aspects, features, and benefits of embodiments of the present disclosure will become more apparent from the following description with reference to the accompanying drawings. In the accompanying drawings:

[0022] FIG. 1 is a perspective view showing an autonomous driving robot according to one or more embodiments of the present disclosure.

[0023] FIG. 2 is a perspective view showing an autonomous driving robot according to one or more embodiments of the present disclosure with the cover removed and the body transparently displayed.

[0024] FIG. 3 is a perspective view showing the body of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0025] FIG. 4 is a perspective view showing a waterproof mount of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0026] FIG. 5 is a rear perspective view of a waterproof mount of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0027] FIG. 6 is a cross-sectional view showing a waterproof mount according to one or more embodiments of the present disclosure of FIG. 4, cut along line AA.

[0028] FIG. 7 is an exploded perspective view showing a waterproof mount according to one or more embodiments of the present disclosure of FIG. 4.

[0029] FIG. 8 is a perspective view showing an upper waterproof mount of a waterproof mount according to one or more embodiments of the present disclosure.

[0030] FIG. 9 is a perspective view showing a lower waterproof mount of a waterproof mount according to one or more embodiments of the present disclosure.

[0031] FIG. 10 is a bottom perspective view showing a mount cap according to one or more embodiments of the present disclosure.

[0032] FIG. 11 is a perspective view showing a cable waterproofing bracket according to one or more embodiments of the present disclosure.

[0033] FIG. 12 is a rear view of a cable waterproofing bracket according to one or more embodiments of the present disclosure.

[0034] FIG. 13 is an exploded perspective view of a cable waterproofing bracket according to one or more embodiments of the present disclosure.

[0035] FIG. 14 is a partial perspective view showing a state in which a lidar sensor is installed on a waterproof mount of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0036] FIG. 15 is a plan view showing an autonomous driving robot according to one or more embodiments of the present disclosure with the upper part removed.

[0037] FIG. 16 is an exploded perspective view showing a connector installation part of a base plate of an autonomous driving robot and a waterproof connector according to one or more embodiments of the present disclosure.

[0038] FIG. 17 is a partial cross-sectional view showing a waterproof connector installed in a connector installation part of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0039] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or alternatives of said embodiments.

[0040] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0041] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0042] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0043] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0044] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0045] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0046] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0047] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0048] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0049] Additionally, terms such as 'front end', 'rear end', 'upper part', 'lower part', 'upper part', and 'lower part' used in this disclosure are defined based on the drawings, and the shape and location of each component are not limited by these terms.

[0050] The present disclosure aims to provide an autonomous driving robot having a waterproof / dustproof structure.

[0051] FIG. 1 is a perspective view showing an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 2 is a perspective view showing an autonomous driving robot (1) according to one or more embodiments of the present disclosure with the cover (12) removed and the body (10) transparently displayed.

[0052] Referring to FIGS. 1 and FIGS. 2, an autonomous driving robot (1) according to one or more embodiments of the present disclosure may include a body (10).

[0053] The body (10) can form the exterior of the autonomous driving robot (1). The body (10) can be formed to drive autonomously to a destination. For example, the body (10) can be formed in the shape of a roughly rectangular box.

[0054] The body (10) may include a top plate (11) and a cover (12). The top plate (11) may form the upper surface of the body (10). For example, the top plate (11) may be formed as a roughly rectangular flat plate. Various devices may be installed on the top plate (11) depending on the use of the autonomous driving robot (1). The cover (12) may be installed below the top plate (11). The cover (12) may be formed to cover the side plate (20) described later. Thus, the side plate (20) of the body (10) may not be exposed to the outside.

[0055] The body (10) may include a pair of drive wheels (83). A pair of drive wheels (83) may be installed on both sides of the body (10). The body (10) may be moved by a pair of drive wheels (83). Each of the pair of drive wheels (83) may include an in-wheel motor. Thus, when the in-wheel motor rotates, the drive wheel (83) can rotate. When the pair of drive wheels (83) rotate, the body (10) can move on the driving surface.

[0056] The body (10) may include a plurality of auxiliary wheels (84). The plurality of auxiliary wheels (84) may be installed on the lower surface of the body (10). The plurality of auxiliary wheels (84) may be installed in front of and behind a pair of driving wheels (83).

[0057] Various types of electronic components for autonomous driving robots (1) may be installed in the body (10). For example, the body (10) may include a position recognition sensor for recognizing the current position of the autonomous driving robot (1). For example, as the position recognition sensor, a sensor capable of recognizing the current position of the autonomous driving robot (1), such as a camera sensor (81), a lidar sensor (82) (light detection and ranging sensor), an IMU sensor (inertial measurement unit), etc., may be used.

[0058] According to one embodiment, the lidar sensor (82) may be installed at the corner of the body (10). For example, two lidar sensors (82) may be installed diagonally on the body (10). One lidar sensor (82) may be installed at the corner adjacent to the front (10a) of the body (10), and the remaining lidar sensor (82) may be installed at the corner adjacent to the rear (10b) of the body (10).

[0059] According to one embodiment, a camera sensor (81) may be installed on the front (10a) of the body (10). For example, three camera sensors (81) may be installed on the front (10a) of the body (10).

[0060] The body (10) may include a communication unit. The communication unit may be formed to communicate wirelessly with an external device, such as a server or a mobile device. For example, the communication unit may receive information about the location of a destination from an external device. The communication unit may be wirelessly connected to an external device by various mobile communication methods such as Bluetooth, WiFi, 4G, and 5G.

[0061] The body (10) may include a processor. The processor may be configured to control the autonomous driving robot (1). The processor may be configured to control a pair of in-wheel motors, a position recognition sensor, and a communication unit.

[0062] The processor can move the autonomous robot (1) by controlling a pair of in-wheel motors. The processor can recognize the current position of the autonomous robot (1) using a position recognition sensor. The processor can drive the autonomous robot (1) autonomously to a destination using the position recognition sensor and a pair of in-wheel motors.

[0063] A processor according to an embodiment of the present disclosure may include one or more processors. One or more processors may include one or more of a central processing unit (CPU), a many integrated core (MIC), a field programmable gate array (FPGA), a digital signal processor (DSP), a hardware accelerator, etc. One or more processors may perform control on any one or any combination of the components of the autonomous driving robot (1), or perform operation or data processing in relation to communication. One or more processors may execute one or more programs stored in at least one memory.

[0064] FIG. 3 is a perspective view showing the body (10) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0065] Referring to FIG. 3, the body (10) may be formed in a box shape that is approximately rectangular. The body (10) may include a base plate (13), a side plate (20), and a top plate (11).

[0066] The base plate (13) can be formed as a roughly rectangular flat plate. A pair of drive wheels (83) can be installed on the base plate (13).

[0067] A side plate (20) can be installed on the edge of a base plate (13). The side plate (20) can be formed by folding twice. For example, the side plate (20) may include a lower vertical section (21), a horizontal section (22), and an upper vertical section (23). The lower vertical section (21) can be fixed to the base plate (13). The horizontal section (22) can be folded at a right angle from the top of the lower vertical section (21). The horizontal section (22) can be formed parallel to the base plate (13). The upper vertical section (23) can be folded at a right angle upward from one end of the horizontal section (22). The upper vertical section (23) can be formed parallel to the lower vertical section (21). A top plate (11) can be installed on the top of the upper vertical section (23). Thus, the horizontal section (22) can be spaced a certain distance from the top plate (11). For example, the top plate (11) can be spaced apart from the horizontal portion (22) by the height of the upper vertical portion (23).

[0068] According to one embodiment, the side plate (20) may include a front plate (20a), a rear plate (20b), a left plate (20c), and a right plate (20d). The left plate (20c) may be installed vertically at the left end of the front plate (20a). The left plate (20c) and the front plate (20a) may be joined so as not to allow moisture and dust to penetrate. The rear plate (20b) may be installed parallel to the front plate (20a). The right plate (20d) may be spaced a certain distance from the left plate (20c). The right plate (20d) may be installed parallel to the left plate (20c). The right plate (20d) may be installed at one end of the rear plate (20b). The right plate (20d) may be installed vertically with respect to the rear plate (20b). The right plate (20d) and the rear plate (20b) can be joined so that moisture and dust cannot penetrate.

[0069] The body (10) may include a waterproof mount (30). The waterproof mount (30) may be formed to secure electronic components to the outside of the body (10). The waterproof mount (30) may be formed to communicate the inside and outside of the body (10) and to prevent or minimize moisture and / or dust from the outside of the body (10) from entering the inside of the body (10). The waterproof mount (30) may be installed at the corner of the body (10). The waterproof mount (30) may be installed at the corner of the base plate (13).

[0070] According to one embodiment, two waterproof mounts (30), namely a first waterproof mount (30-1) and a second waterproof mount (30-2), may be installed at two corners of the body (10). The first waterproof mount (30-1) and the second waterproof mount (30-2) may be installed at two corners of the body (10) located diagonally. For example, the first waterproof mount (30-1) may be installed at the front right corner of the base plate (13). The second waterproof mount (30-2) may be installed at the rear left corner of the base plate (13).

[0071] According to one embodiment, a first waterproof mount (30-1) may be installed between a front plate (20a) and a right plate (20d). One end of the front plate (20a) may be connected to one side of the first waterproof mount (30-1), and one end of the right plate (20d) may be connected to the other side of the first waterproof mount (30-1). A second waterproof mount (30-2) may be installed between a rear plate (20b) and a left plate (20c). One end of the rear plate (20b) may be connected to one side of the second waterproof mount (30-2), and one end of the left plate (20c) may be connected to the other side of the second waterproof mount (30-2).

[0072] A first corner cover (31-1) may be installed in front of the first waterproof mount (30-1). The first corner cover (31-1) may be formed to cover the front of the first waterproof mount (30). One end of the first corner cover (31-1) may be connected to one side of the first waterproof mount (30-1), and the other end may be connected to the other side of the first waterproof mount (30-1).

[0073] A second corner cover (31-2) may be installed in front of the second waterproof mount (30-2). The second corner cover (31-2) may be formed to cover the front of the second waterproof mount (30-2). One end of the second corner cover (31-2) may be connected to one side of the second waterproof mount (30-2), and the other end may be connected to the other side of the second waterproof mount (30-2).

[0074] Since the first waterproof mount (30-1) and the second waterproof mount (30-2) are formed identically, only the first waterproof mount (30-1) will be described below. For convenience of explanation, the first waterproof mount (30-1) will be referred to as the waterproof mount (30) below.

[0075] Hereinafter, with reference to FIGS. 4 to 9, a waterproof mount (30) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure will be described in detail.

[0076] FIG. 4 is a perspective view showing a waterproof mount (30) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 5 is a rear perspective view of a waterproof mount (30) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 6 is a cross-sectional view of a waterproof mount (30) according to one or more embodiments of the present disclosure of FIG. 4, cut along line AA. FIG. 7 is an exploded perspective view showing a waterproof mount (30) according to one or more embodiments of the present disclosure of FIG. 4. FIG. 8 is a perspective view showing an upper waterproof mount (50) of a waterproof mount (30) according to one or more embodiments of the present disclosure. FIG. 9 is a perspective view showing a lower waterproof mount (40) of a waterproof mount (30) according to one or more embodiments of the present disclosure.

[0077] Referring to FIGS. 4 to 9, a waterproof mount (30) according to one or more embodiments of the present disclosure may include a lower waterproof mount (40) and an upper waterproof mount (50).

[0078] The lower waterproof mount (40) may be installed on the upper surface of the base plate (13). The lower waterproof mount (40) may include a cable opening (41). The cable opening (41) may be formed to allow a cable to pass through.

[0079] The lower waterproof mount (40) may include a lower plate (42) and a lower wall (43). The lower plate (42) may be installed on the upper surface of the base plate (13). The lower plate (42) may be formed to secure the lower waterproof mount (40) to the base plate (13). The lower plate (42) may be formed as a flat plate. The rear end (42b) of the lower plate (42) may be formed concavely or convexly. For example, the rear end (42b) of the lower plate (42) may be formed to have a plurality of concave portions (44) and a plurality of convex portions. The lower plate (42) may include a plurality of fastening holes (42c). The plurality of fastening holes (42c) may be formed along the lower end (42b) of the lower plate (42). The lower waterproof mount (40) may be screw-fastened to the base plate (13) by inserting bolts into the plurality of fastening holes (42c) of the lower plate (42).

[0080] The lower wall (43) may extend upward from the shear (42a) of the lower plate (42). The lower wall (43) may be formed perpendicular to the lower plate (42). The lower wall (43) may include a lower central wall (431), a lower left wall (432), and a lower right wall (433).

[0081] The lower central wall (431) may include a cable opening (41) and a recess (44). The cable opening (41) may be formed to penetrate the lower central wall (431). The cable opening (41) may be formed adjacent to the lower left wall (432). A cable space (45) may be formed at the rear of the lower central wall (431) where the cable opening (41) is provided. A plurality of female screw holes (41a) may be provided around the cable opening (41). For example, four female screw holes (41a) may be formed around the cable opening (41).

[0082] The recess (44) may be installed on one side of the cable opening (41). The recess (44) may be provided between the cable opening (41) and the lower right wall (433). The recess (44) may be formed concavely from the front to the rear of the lower central wall (431). The recess (44) may be formed in a V-shape with a roughly flat bottom. The bottom of the recess (44) may be open, and the top of the recess (44) may be closed.

[0083] The lower left wall (432) may be positioned to the left of the lower central wall (431). The lower left wall (432) may be provided to be inclined backward relative to the lower central wall (431). The lower left wall (432) may be formed so that one end of the front plate (20a) of the side plate (20) and one end of the corner cover (31) are joined. Accordingly, a plurality of female screw holes (43a) may be provided in the lower left wall (432).

[0084] The lower left wall (432) may be provided with a waterproof groove (43b) in which a waterproof member (100) (see FIG. 14) is installed. The waterproof groove (43b) may be formed in a straight line from the top to the bottom of the lower left wall (432). Two waterproof grooves (43b) may be formed at regular intervals in the lower left wall (432). Waterproof tape may be installed in the waterproof groove (43b) as a waterproof member (100).

[0085] The lower right wall (433) may be positioned to the right of the lower central wall (431). The lower right wall (433) may be provided to be inclined backward relative to the lower central wall (431). The lower right wall (433) may be formed so that one end of the right plate (20d) of the side plate (20) and the other end of the corner cover (31) are joined. Accordingly, a plurality of female screw holes (43a) may be provided in the lower right wall (433).

[0086] The lower right wall (433) may be provided with a waterproof groove (43b) in which a waterproof member (100) is installed. The waterproof groove (43b) may be formed in a straight line from the top to the bottom of the lower right wall (433). Two waterproof grooves (43b) may be formed at regular intervals on the lower right wall (433). A waterproof tape may be installed as a waterproof member (100) in the waterproof groove (43b).

[0087] The lower wall (43) may include a coupling groove (45). The coupling groove (45) may be formed at the top of the lower wall (43). The coupling groove (45) may be formed along the entire length of the lower wall (43). The coupling groove (45) may be formed with a U-shaped cross-section with a flat bottom. A plurality of female screw holes (45a) may be formed in the coupling groove (45).

[0088] The upper waterproof mount (50) can be installed on the upper part of the lower waterproof mount (40). The upper waterproof mount (50) can be connected to the upper part of the lower waterproof mount (40) with a plurality of bolts.

[0089] The upper waterproof mount (50) may include an upper plate (52) and an upper wall (53). The upper plate (52) may be installed on the upper side of the lower waterproof mount (40). The upper plate (52) may be formed as a flat plate. The front end (52a) of the upper plate (52) may be formed to correspond to the front end (42a) of the lower waterproof mount (40). The rear end (52b) of the upper plate (52) may be formed to have a shorter length than the front end (52a) of the upper plate (52). For example, the upper plate (52) may be formed in a roughly equilateral trapezoidal shape.

[0090] The upper wall (53) may be formed to extend upward from the upper surface of the upper plate (52). The upper wall (53) may include an upper central wall (531), an upper left wall (532), and an upper right wall (533).

[0091] The upper central wall (531) can be formed to extend upward from the rear end (52b) of the upper plate (52).

[0092] The upper left wall (532) may be positioned to the left of the upper central wall (531). The upper left wall (532) may be formed to extend from the rear end (52b) of the upper plate (52) to the front end (52a). The upper left wall (532) may have a stepped portion (532a) corresponding to the horizontal portion (22) and the upper vertical portion (23) of the side plate (20) of the body (10). The upper left wall (532) may be formed so that one end of the front plate (20a) and one end of the corner cover (31) are joined. Accordingly, a plurality of female screw holes (53a) may be provided in the upper left wall (532).

[0093] The upper left wall (532) may be formed to be inclined backward with respect to the front shear (52a) of the upper plate (52). The inclination angle (θ) of the upper left wall (532) may be formed to be the same as the inclination angle (θ) of the lower left wall (432).

[0094] The upper left wall (532) can be formed to correspond to the lower left wall (432). The width (w2) of the upper left wall (532) and the width (w1) of the lower left wall (432) can be formed to be approximately the same. Thus, when the upper waterproof mount (50) is attached to the top of the lower waterproof mount (40), the upper left wall (532) and the lower left wall (432) can form the left wall of the waterproof mount (30).

[0095] The upper left wall (532) may be provided with a waterproof groove (53b) in which a waterproof member (100) is installed. The waterproof groove (53b) may be formed continuously from the top of the upper left wall (532) through the stepped portion (532a) to the bottom. Two waterproof grooves (53b) may be formed at regular intervals in the upper left wall (532). A waterproof tape may be installed as a waterproof member (100) in the waterproof groove (53b) of the upper left wall (532).

[0096] The waterproof groove (53b) of the upper left wall (532) can be formed to correspond to the waterproof groove (43b) of the lower left wall (432). Accordingly, when the upper waterproof mount (50) is attached to the top of the lower waterproof mount (40), the waterproof groove (53b) of the upper left wall (532) can be connected to the waterproof groove (43b) of the lower left wall (432).

[0097] The upper right wall (533) may be positioned to the right of the upper central wall (531). The upper right wall (533) may be formed to extend from the rear end (52b) of the upper plate (52) to the front end (52a). The upper right wall (533) may have a stepped portion (533a) corresponding to the horizontal portion (22) and the upper vertical portion (23) of the side plate (20) of the body (10). The upper right wall (533) may be formed so that one end of the right plate (20d) of the side plate (20) and the other end of the corner cover (31) are joined. Accordingly, a plurality of female screw holes (53a) may be provided in the upper right wall (533).

[0098] The upper right wall (533) can be formed to correspond to the lower right wall (433). The width (w4) of the upper right wall (533) and the width (w3) of the lower right wall (433) can be formed to be the same. Thus, when the upper waterproof mount (50) is attached to the top of the lower waterproof mount (40), the upper right wall (533) and the lower right wall (433) can form the right wall of the waterproof mount (30).

[0099] The upper right wall (533) may be provided with a waterproof groove (53b) in which a waterproof member (100) is installed. The waterproof groove (53b) may be formed continuously from the top of the upper right wall (533) through the stepped portion (533a) to the bottom. Two waterproof grooves (53b) may be formed at regular intervals in the upper right wall (533). A waterproof tape may be installed as a waterproof member (100) in the waterproof groove (53b) of the upper right wall (533).

[0100] The waterproof groove (53b) of the upper right wall (533) can be formed to correspond to the waterproof groove (43b) of the lower right wall (433). Accordingly, when the upper waterproof mount (50) is attached to the top of the lower waterproof mount (40), the waterproof groove (53b) of the upper right wall (533) can be connected to the waterproof groove (43b) of the lower right wall (433).

[0101] The upper waterproof mount (50) may include a coupling projection (55). The coupling projection (55) may be formed to protrude downward from the lower surface of the upper waterproof mount (50). The coupling projection (55) may be formed along the front shear (52a) of the upper waterproof mount (50). The coupling projection (55) may be formed along the entire length of the upper waterproof mount (50). The coupling projection (55) may be formed in a shape corresponding to the coupling groove (45) of the lower waterproof mount (40). For example, the coupling projection (55) may be formed with a rectangular cross-section corresponding to the coupling groove (45). A plurality of bolt holes (55a) penetrating the coupling projection (55) may be formed in the upper plate (52) of the upper waterproof mount (50). The upper waterproof mount (50) may be coupled to the lower waterproof mount (40) using a plurality of bolts.

[0102] When the upper waterproof mount (50) is coupled to the top of the lower waterproof mount (40), a cable space (45) can be formed behind the cable opening (41) of the lower waterproof mount (40). The cable space (45) can be formed by the lower plate (42) and lower central wall (431) of the lower waterproof mount (40) and the upper plate (52) of the upper waterproof mount (50). The cable of an electronic component inserted into the cable opening (41) can be accommodated in the cable space (45).

[0103] Referring to FIGS. 4 through 6, the waterproof mount (30) may further include a mount cap (33). The mount cap (33) may be formed to support a waterproof member (101) (see FIG. 14) disposed between the top plate (11) and the side plate (20). The upper surface of the mount cap (33) may be formed flat to support the waterproof member (101).

[0104] The mount cap (33) can be formed to be attached to the top of the upper wall (53) of the upper waterproof mount (50).

[0105] FIG. 10 is a bottom perspective view showing a mount cap (33) according to one or more embodiments of the present disclosure.

[0106] Referring to FIG. 10, an insertion groove (34) may be formed on the lower surface of the mount cap (33). The width of the insertion groove (34) may be formed to correspond to the thickness of the upper wall (53) of the upper waterproof mount (50). Thus, when the upper wall (53) of the upper waterproof mount (50) is inserted into the insertion groove (34) of the mount cap (33), the mount cap (33) can be coupled to the upper waterproof mount (50).

[0107] Referring to FIGS. 4 and 5, the waterproof mount (30) may further include a cable waterproof bracket (60).

[0108] The cable waterproof bracket (60) can be formed to secure the cable of an electronic component installed on the outside of the body (10) and to prevent moisture and / or dust from the outside of the body (10) from entering the inside of the body (10) along the cable. The cable waterproof bracket (60) can be installed in the cable opening (41) of the waterproof mount (30). The cable waterproof bracket (60) can be coupled to the waterproof mount (30) using a plurality of bolts so that it covers the cable opening (41).

[0109] Hereinafter, with reference to FIGS. 11 to 13, a cable waterproofing bracket (60) according to one or more embodiments of the present disclosure will be described in detail.

[0110] FIG. 11 is a perspective view showing a cable waterproof bracket (60) according to one or more embodiments of the present disclosure. FIG. 12 is a rear view of a cable waterproof bracket (60) according to one or more embodiments of the present disclosure. FIG. 13 is an exploded perspective view of a cable waterproof bracket (60) according to one or more embodiments of the present disclosure.

[0111] Referring to FIGS. 11 to 13, a cable waterproof bracket (60) according to one or more embodiments of the present disclosure may include a cable bush (61) and a bush holder (63).

[0112] A cable bush (61) may be formed to secure a cable (66). The cable bush (61) may be formed in a cylindrical shape, and a cable hole (61a) into which a cable (66) is inserted may be formed in the center. The cable bush (61) may be formed from an elastic material that has waterproof / dustproof performance, such as rubber. When a cable (66) is inserted into the cable hole (61a) of the cable bush (61), the inner surface of the cable hole (61a) of the cable bush (61) is in close contact with the cable (66), thereby preventing moisture and / or dust from entering between the cable (66) and the inner surface of the cable hole (61a) of the cable bush (61).

[0113] A fixing groove (61b) may be formed on the outer surface of the cable bush (61). The fixing groove (61b) may be formed along the entire circumference of the cable bush (61).

[0114] A bush holder (63) may be formed to secure a cable bush (61). A bush holder (63) may be formed to secure a plurality of cable bushes (61). The bush holder (63) is formed in a flat shape and may include a fixing hole (64) formed to secure the cable bush (61). For example, the bush holder (63) may be formed to secure three cable bushes (61). In this case, the bush holder (63) may include three fixing holes (64).

[0115] The inner surface of the fixing hole (64) can be inserted into the fixing groove (61b) of the cable bush (61). Then, the cable bush (61) can be prevented from coming out of the fixing hole (64) of the bush holder (63). The diameter of the fixing hole (64) can be formed to be smaller than the diameter of the fixing groove (61b) of the cable bush (61). Thus, when the cable bush (61) is inserted into the fixing hole (64), the cable hole (61a) of the cable bush (61) can be compressed. Then, the cable (66) inserted into the cable hole (61a) and the inner surface of the cable hole (61a) of the cable bush (61) are in close contact, so external moisture and / or dust can be effectively blocked from entering between the cable (66) and the inner surface of the cable hole (61a) of the cable bush (61).

[0116] The bush holder (63) can be formed to cover the cable opening (41) of the waterproof mount (30). When the bush holder (63) is installed on the waterproof mount (30), a plurality of cable bushes (61) can be positioned in the cable opening (41). The bush holder (63) can be coupled to the waterproof mount (30) with a plurality of bolts. The bush holder (63) may include a plurality of bolt holes (63a). For example, the bush holder (63) may include four bolt holes (63a).

[0117] An O-ring (66) may be installed between the bush holder (63) and the lower waterproof mount (40). The O-ring (66) may be placed around the cable opening (41) of the lower waterproof mount (40).

[0118] An O-ring groove (65) may be formed on the rear surface of the bush holder (63). The O-ring groove (65) may be formed to allow for the insertion of an O-ring (66). The O-ring groove (65) may be formed around the circumference of a plurality of cable bushes (61). The O-ring groove (65) may be formed in a loop shape having a length greater than the circumference of the cable opening (41) and corresponding to the shape of the cable opening (41) of the lower waterproof mount (40). When the bush holder (63) is installed on the lower waterproof mount (40) with the O-ring (65) inserted into the O-ring groove (65), the O-ring (65) may be interposed between the bush holder (63) and the lower waterproof mount (40) around the circumference of the cable opening (41). Thus, external moisture and / or dust may be prevented or minimized from entering the cable opening (41) through the bush holder (63) and the lower waterproof mount (40).

[0119] According to one embodiment, the bush holder (63) may include an upper bush holder (631) and a lower bush holder (632).

[0120] The upper bush holder (631) may be formed in a rectangular flat shape. A plurality of upper fixing grooves (64a) may be formed on the lower surface of the upper bush holder (631). For example, the upper bush holder (631) may include three upper fixing grooves (64a). The upper fixing grooves (64a) may be formed in a semicircular shape. The radius of the upper fixing grooves (64a) may be smaller than the radius of the cable bush (61).

[0121] The upper bush holder (631) may include a pair of upper reference grooves (631a). A pair of upper reference grooves (631a) may be formed on both sides of the upper fixing groove (64a) on the lower surface of the upper bush holder (631). The upper bush holder (631) may include a pair of coupling holes (631b). A pair of coupling holes (631b) may be formed to penetrate the upper bush holder (631) vertically. A pair of coupling holes (631b) may be formed on both sides of the upper fixing groove (64a). A pair of upper reference grooves (631a) and a pair of coupling holes (631b) may be formed adjacently. The upper bush holder (631) may include two bolt holes (63a). The two bolt holes (63a) may be formed to penetrate the upper bush holder (631) from front to back.

[0122] The lower bush holder (632) may be formed in a rectangular flat shape. A plurality of lower fixing grooves (64b) may be formed on the upper surface of the lower bush holder (632). The lower fixing grooves (64b) may be formed in a semicircular shape. For example, the lower bush holder (632) may include three lower fixing grooves (64b). The radius of the lower fixing grooves (64b) may be smaller than the radius of the cable bush (61). The lower fixing grooves (64b) may be formed to have the same radius as the upper fixing grooves (64a). When the lower bush holder (632) and the upper bush holder (631) are combined, the plurality of lower fixing grooves (64b) and the plurality of upper fixing grooves (64a) may form a plurality of fixing holes (64).

[0123] The lower bush holder (632) may include a pair of lower reference grooves (632a). The pair of lower reference grooves (632a) may be formed on both sides of the lower fixing groove (64b) on the upper surface of the lower bush holder (632). A pair of reference pins (633) may be inserted into the pair of lower reference grooves (632a). When the lower bush holder (632) and the upper bush holder (631) are combined, the upper portions of the pair of reference pins (633) may be inserted into a pair of upper reference grooves (631a) of the upper bush holder (631).

[0124] The lower bush holder (632) may include a pair of coupling grooves (632b). A pair of coupling grooves (632b) may be formed on both sides of the lower fixing groove (64b) on the upper surface of the lower bush holder (632). A pair of lower reference grooves (632a) and a pair of coupling grooves (632b) may be formed adjacently. By fastening two bolts to a pair of coupling grooves (632b) of the lower bush holder (632) through a pair of coupling holes (631b) of the upper bush holder (631), the upper bush holder (631) and the lower bush holder (632) can be combined to form a bush holder (63).

[0125] The lower bush holder (632) may include two bolt holes (63a). The two bolt holes (63a) may be formed to penetrate the lower bush holder (632) back and forth.

[0126] When a cable waterproof bracket (60) according to one or more embodiments of the present disclosure having the above-described structure is installed on a waterproof mount (30), the cable of an electronic component installed on the waterproof mount (30) can be routed into the body (10) through the cable bush (61) of the cable waterproof bracket (60), thereby preventing external moisture and / or dust from entering the body (10) along the cable.

[0127] Additionally, since an O-ring (66) is installed between the bush holder (63) and the waterproof mount (30) around the cable opening (41), external moisture and / or dust can be prevented from entering the body (10) through the gap between the bush holder (63) and the waterproof mount (30).

[0128] Although the above description describes the case where the cable bush (61) is formed in a cylindrical shape, the shape of the cable bush (61) is not limited thereto. As another example, the cable bush (61) may be formed in a rectangular shape. As another example, the cable of an electronic component may be wired into the body (10) using a waterproof connector (85). The waterproof connector (85) may be fixed to the bush holder (63).

[0129] Referring to FIG. 4, a waterproof mount (30) according to one or more embodiments of the present disclosure may further include a pair of component holders (70). A pair of component holders (70) may be installed on an upper plate (52) of an upper waterproof mount (50). A pair of component holders (70) may be formed to secure electronic components to the waterproof mount (30).

[0130] A pair of component holders (70) may be formed symmetrically with the same structure. The component holder (70) may include a fixing part (71) and a supporting part (72). The fixing part (71) and the supporting part (72) may be arranged at right angles. The fixing part (71) may be fixed to the upper plate (52) of the upper waterproof mount (50). The supporting part (72) may extend vertically upward from one end of the fixing part (71). The supporting part (72) may be fixed to one side of the electronic component. The fixing part (71) and the supporting part (72) of the component holder (70) may be connected to the waterproof mount (30) and the electronic component with bolts.

[0131] In one or more embodiments of the present disclosure, a lidar sensor (82) may be installed as an electronic component in the waterproof mount (30).

[0132] FIG. 14 is a partial perspective view showing a state in which a lidar sensor (82) is installed on a waterproof mount (30) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0133] Referring to FIG. 14, the lidar sensor (82) can be installed on the outside of the body (10). The lidar sensor (82) can be fixed to a waterproof mount (30) using a pair of component holders (70).

[0134] For example, the lidar sensor (82) may include a detection part (821) and a main body part (822). The detection part (821) may be located on the upper side of the main body part (822). The main body part (822) of the lidar sensor (82) can be fixed to the upper plate (52) of the upper waterproof mount (50) using a pair of component holders (70).

[0135] When a corner cover (31) is installed on a waterproof mount (30), the upper surface of the main body (822) can form a plane identical to the upper surface of the corner cover (31). Therefore, the main body (822) can be located inside the corner cover (31), and only the detection part (821) can be exposed to the outside. In other words, the detection part (821) of the LiDAR sensor (82) is located outside the body (10) between the top plate (11) and the corner cover (31), and the main body (822) can be located inside the corner cover (31) of the body (10).

[0136] Since a waterproof member (100) is installed on the left and right walls of the waterproof mount (30) where both ends of the corner cover (12) are installed, external moisture and / or dust can be prevented from entering the interior of the corner cover (12) through the space between both ends of the corner cover (12) and the left and right walls of the waterproof mount (30).

[0137] Two cables (823) connected to the main body (822) of the lidar sensor (82) can be wired into the body (10) through the cable waterproof bracket (60). For example, the two cables (823) of the lidar sensor (82) can enter the body (10) through the cable holes (61a) of the two cable bushes (61) of the cable waterproof bracket (60). Since each of the two cables (823) is in close contact with the inner surface of the cable holes (61a) of the cable bushes (61), external moisture and / or dust, for example, moisture and / or dust inside the corner cover (31), can be prevented from entering the body (10) along the cables (823).

[0138] A camera sensor (81) may be installed inside the corner cover (31). A cable (811) connected to the camera sensor (81) may be routed into the body (10) through a cable waterproof bracket (60). For example, the cable (811) of the camera sensor (81) may enter the body (10) through a cable hole (61a) of a cable bush (61) of the cable waterproof bracket (60). Since the cable (811) of the camera sensor (81) is in close contact with the inner surface of the cable hole (61a) of the cable bush (61), external moisture and / or dust, for example, moisture and / or dust inside the corner cover (31), may be prevented from entering the body (10) through the cable (811) of the camera sensor (81).

[0139] FIG. 15 is a plan view showing an autonomous driving robot (1) according to one or more embodiments of the present disclosure with the upper part removed.

[0140] Referring to FIG. 15, the base plate (13) may include a connector installation portion (15). The connector installation portion (15) may allow a plurality of cables of electronic components installed below the base plate (13) to be wired over the base plate (13). The plurality of cables of electronic components may be electrically connected to a printed circuit board (17) installed on the upper surface of the base plate (13). In this case, moisture and / or dust below the base plate (13) may flow onto the base plate (13) through the connector installation portion (15).

[0141] To prevent moisture and / or dust from below the base plate (13) from entering the base plate (13), that is, the inside of the body (10), a waterproof connector (85) may be installed in the connector installation part (15) as shown in FIGS. 16 and 17.

[0142] FIG. 16 is an exploded perspective view showing a connector installation part (15) and a waterproof connector (85) of a base plate (13) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 17 is a partial cross-sectional view showing a waterproof connector (85) installed in the connector installation part (15) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0143] Referring to FIGS. 16 and 17, the connector installation portion (15) may be formed to penetrate the base plate (13). The connector installation portion (15) may be formed as a hole having a roughly rectangular cross-section. The connector installation portion (15) may include an upper hole (151) and a lower hole (152). The area of ​​the upper hole (151) may be formed to be larger than the area of ​​the lower hole (152). Thus, the upper hole (151) and the lower hole (152) may form a step (153).

[0144] The waterproof connector (85) may include a housing (851), a plurality of sockets (852), and a sealing member (853).

[0145] The housing (851) can be inserted into the connector installation portion (15) of the base plate (13). The housing (851) can be fixed to the base plate (13) with two bolts. The housing (851) can be formed in a shape corresponding to the connector installation portion (15).

[0146] The housing (851) may include an upper housing (851a) and a lower housing (851c). The upper housing (851a) may be formed in a shape corresponding to the upper hole (151) of the connector installation part (15). A flange (851b) may be provided at the top of the upper housing (851). The flange (851b) may be formed to be caught on the base plate (13) on which the connector installation part (15) is installed. Thus, when the waterproof connector (85) is inserted into the connector installation part (15) of the base plate (13), the flange (851b) of the upper housing (851a) may be caught on the base plate (13). The flange (851b) may include two bolt holes.

[0147] The lower housing (851c) can be formed in a shape corresponding to the lower hole (152) of the connector installation part (15). When the waterproof connector (85) is inserted into the connector installation part (15), the lower end of the upper housing (851a) contacts the step (153) of the connector installation part (15), and the lower end of the lower housing (851c) can protrude below the base plate (13).

[0148] A plurality of sockets (852) may be formed on the lower surface of the housing (851). A plurality of sockets (852) may be formed to allow a plurality of plugs (87) to be inserted. A plurality of sockets (852) may be connected to a plurality of wires (86). A plurality of wires (86) may be electrically connected to a printed circuit board (17) installed inside the body (10).

[0149] Multiple plugs (87) can be detachably connected to multiple sockets (852). Multiple plugs (87) can be connected to an electronic component installed under the base plate (13) via an external wire (871).

[0150] A sealing member (853) may be installed on the outer surface of the upper housing (851a). Thus, when the waterproof connector (85) is inserted into the connector installation part (15), the sealing member (853) may be positioned between the upper housing (851a) and the inner surface of the upper hole (151) of the connector installation part (15). The sealing member (853) may be formed to prevent moisture and / or dust from penetrating between the upper housing (851a) and the upper hole (151). The sealing member (853) may be formed of a waterproof material capable of preventing the intrusion of moisture and / or dust, such as rubber or silicone. Thus, the inflow of external moisture and / or dust into the interior of the body (10) through the gap between the waterproof connector (85) and the connector installation part (15) may be blocked or minimized by the sealing member (853).

[0151] As described above, if a waterproof connector (85) including a plurality of sockets (852) is installed on the base plate (13), various types of electronic components can be installed on the lower part of the base plate (13). For example, if the arrangement of electronic components installed on the lower part of the base plate (13) is changed, only the wiring of the sockets (852) of the waterproof connector (85) needs to be changed, thereby increasing the design freedom of the electronic components.

[0152] An autonomous driving robot (1) according to one or more embodiments of the present disclosure having a structure as described above can prevent external moisture and / or dust from entering the body (10). Accordingly, an autonomous driving robot (1) according to one or more embodiments of the present disclosure can be used even in environments with high moisture and dust.

[0153] Although the present disclosure has been illustrated and described above with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present disclosure as defined by the appended claims and equivalents.

Claims

1. A body including a base plate, a side plate, and a top plate; A waterproof mount installed at the corner of the body and including a cable opening that communicates the inside and outside of the body; An electronic component including a cable, installed on the waterproof mount on the outside of the body; and An autonomous driving robot comprising: a cable waterproof bracket installed in the cable opening of the above waterproof mount, securing the cable of the electronic component, and formed to prevent moisture and / or dust from outside the body from entering the interior of the body along the cable.

2. In Paragraph 1, An autonomous driving robot further comprising a mount cap installed between the upper plate of the body and the top of the waterproof mount.

3. In Paragraph 1, The above waterproof mount is A lower waterproof mount installed on the upper surface of the base plate; and An autonomous driving robot comprising: an upper waterproof mount installed on the upper part of the lower waterproof mount.

4. In Paragraph 3, The above cable opening is formed in the lower waterproof mount, for an autonomous driving robot.

5. In Paragraph 3, The above lower waterproof mount is, A lower plate installed on the upper surface of the base plate; and An autonomous driving robot comprising: a lower wall extending upward from the front of the lower plate.

6. In Paragraph 5, The lower wall includes a lower central wall, a lower left wall positioned to the left of the lower central wall, and a lower right wall positioned to the right of the lower central wall. The lower central wall includes a recess provided between the cable opening and the lower right wall, and An autonomous driving robot in which a cable space is formed at the rear of the lower central wall where the above cable opening is provided.

7. In Paragraph 6, An autonomous driving robot, wherein each of the lower left wall and the lower right wall includes a waterproof groove in which a waterproof member is disposed.

8. In Paragraph 3, The above upper waterproof mount is, An upper plate installed on the upper side of the lower waterproof mount; and An autonomous driving robot comprising: an upper wall extending upward from the upper surface of the upper plate.

9. In Paragraph 8, An autonomous driving robot comprising: an upper wall that includes an upper central wall extending upward from the rear end of the upper plate; an upper left wall formed to extend from the rear end to the front end of the upper plate on the left side of the upper central wall and including a stepped portion corresponding to the horizontal portion and upper vertical portion of the side wall of the body; and an upper right wall formed to extend from the rear end to the front end of the upper plate on the right side of the upper central wall and including a stepped portion corresponding to the horizontal portion and upper vertical portion of the side wall of the body.

10. In Paragraph 9, An autonomous driving robot, wherein each of the upper left wall and the upper right wall includes a waterproof groove in which a waterproof member is disposed.

11. In Paragraph 1, The above cable waterproof bracket is, A cable bush for securing the above cable; and An autonomous driving robot comprising a bush holder for securing the above-mentioned cable bush.

12. In Paragraph 11, The above bush holder is an autonomous driving robot comprising an upper bush holder and a lower bush holder.

13. In Paragraph 11, An autonomous driving robot in which an O-ring is placed between the bush holder and the waterproof mount around the circumference of the cable opening.

14. In Paragraph 1, An autonomous driving robot further comprising a pair of component holders for securing the above electronic components to the waterproof mount.

15. In Paragraph 1, The above electronic component is a Lidar sensor, an autonomous driving robot.

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