Cleaning robot

Abstract

This cleaning robot comprises a body, an imaging device, and a charging terminal. The body includes: a base frame; a top frame separated upward from the base frame; and a plurality of vertical frames extending in a vertical direction between the base frame and the top frame. The plurality of vertical frames include at least one front frame, and at least two rear frames provided rearward relative to the at least one front frame. The at least one front frame includes an imaging device fixture to which the imaging device is fixed, and a charging terminal fixture to which the charging terminal is fixed.

Description

Cleaning robot 【0001】 The present disclosure relates to a cleaning robot. 【0002】 In recent years, cleaning robots have been used to improve the efficiency of cleaning work in facilities such as offices, commercial facilities, and factories. As such cleaning robots, the demand for autonomous cleaning robots that can autonomously travel on the floor while sucking dust has been increasing. 【0003】 For example, Patent Document 1 discloses a conventional mobile robot device. The device includes plug means for connecting to an external outlet for power supply to a rechargeable battery means, camera means for imaging the outside world, and position specifying means for specifying the position of the outlet at the charging location by comparing the image data obtained by image processing of the captured image input from the camera means with predetermined comparison image data stored in advance. With such a configuration, the plug means is automatically connected to the outlet. However, the conventional device does not consider the specific structure for providing a camera and a charging terminal. In particular, since the camera is used to detect the position during autonomous travel, the mounting position accuracy thereof is important. 【0004】 Japanese Patent Application Laid-Open No. 2002-268746 【0005】 One problem of the present disclosure is to provide a cleaning robot that has been improved more than before. In particular, in view of the above circumstances, one problem of the present disclosure is to provide a cleaning robot capable of reducing changes in the relative positional relationship between a camera and a charging terminal. 【0006】A cleaning robot provided by exemplary embodiments of the present disclosure comprises a body, an imaging device, and a charging terminal. The body includes a base frame, a top frame spaced upward from the base frame, a plurality of upper and lower frames extending vertically between the base frame and the top frame, an imaging device mount to which the imaging device is fixed, and a charging terminal mount to which the charging terminal is fixed. The plurality of upper and lower frames include at least one front frame and at least two rear frames provided behind the at least one front frame in the driving direction. The imaging device mount and the charging terminal mount are fixed to the at least one front frame. 【0007】 A preferred embodiment of the present disclosure further comprises an arm. The body includes at least two arm mounts to which the arm is attached. The at least two arm mounts are fixed to the at least two rear frames. 【0008】 A preferred embodiment of the present disclosure further comprises a sensor system. The at least one front frame is located between the at least two rear frames, as viewed in the driving direction. The sensor system is located forward of the at least one front frame in the driving direction. 【0009】 In a preferred embodiment of the present disclosure, the sensor system is located forward in the driving direction of the main body beyond the midpoint between the front end in the driving direction of the main body and the at least one front frame. 【0010】 A preferred embodiment of the present disclosure further comprises an ultrasonic sensor between the imaging device and the top frame in the vertical direction. The imaging device is a three-dimensional imaging sensor whose imaging center is oriented downward from the horizontal. 【0011】 A preferred embodiment of the present disclosure further comprises a circuit board box housing a circuit section. The body includes a shelf supporting the circuit board box. The shelf is attached to the at least one front frame. 【0012】In a preferred embodiment of the present disclosure, the substrate box has a box protrusion, the shelf has a shelf recess that engages with the box protrusion, and the substrate box and the shelf are fastened together with screws. 【0013】 According to the above configuration, it is possible to provide a cleaning robot in which changes in the relative positional relationship between the camera and the charging terminal are reduced. 【0014】 This is a perspective view showing a cleaning robot according to an exemplary embodiment. This is a perspective view showing a cleaning robot according to an exemplary embodiment. This is a front view showing a cleaning robot according to an exemplary embodiment. This is a rear view showing a cleaning robot according to an exemplary embodiment. This is a top view showing a cleaning robot according to an exemplary embodiment. This is a bottom view showing a cleaning robot according to an exemplary embodiment. This is a left side view showing a cleaning robot according to an exemplary embodiment. This is a cross-sectional view along VIII-VIII in Figure 3. This is a block diagram showing an overview of a cleaning robot according to an exemplary embodiment. This is a cross-sectional view along X-X in Figure 3. This is a perspective view showing a part of a cleaning robot according to an exemplary embodiment. This is a perspective view showing a part of a cleaning robot according to an exemplary embodiment. This is a cross-sectional view showing an ultrasonic sensor according to an exemplary embodiment. This is a perspective view showing a shelf and a circuit board box according to an exemplary embodiment. This is a perspective view showing a part of a cleaning robot according to an exemplary embodiment with the circuit board box removed from the shelf. This is a perspective view showing a part of a cleaning robot according to an exemplary embodiment with the shelf recess and box protrusion enlarged. This is a perspective view showing a part of a cleaning robot according to an exemplary embodiment with the circuit board box removed from the shelf. This is a cross-sectional perspective view showing a part of a cleaning robot according to an exemplary embodiment with the rail and tab enlarged. 【0015】Preferred embodiments of the cleaning robot of this disclosure will be described below with reference to the drawings. Referring to Figures 1 to 9, a cleaning robot A1 according to an exemplary embodiment is shown. The cleaning robot A1 cleans autonomously. More specifically, the cleaning robot A1 is configured to clean target dirt while autonomously moving. Targets for cleaning include floors of buildings such as offices, factories, hospitals, and stores. Types of dirt that can be cleaned include dust, dirt, food scraps, screws, footprints, etc. The cleaning robot A1 comprises a main body 1, an operating unit 200, a detection system 30, a charging terminal 32, and a drive system 70. 【0016】 The wording in this disclosure corresponds as follows: Unless otherwise specified, “A is positioned on B” and “A is positioned on B” include “A is directly positioned on B” and “A is positioned on B with other objects interposed between A and B.” Unless otherwise specified, “A overlaps B when viewed in a certain direction” includes “A overlaps all of B” and “A overlaps a part of B.” Furthermore, “A (the material of) includes material C” includes “A (the material of) consists of material C” and “the main component of A (the material of) is material C.” “Equivalent to A” should not be limited to a configuration consisting only of element A, but may include forms that include elements other than element A. 【0017】In this disclosure, the vertical direction z, the drive direction x, the left-right direction y, and the rotation direction r are described with reference. The vertical direction z corresponds to the height direction of the cleaning robot. The drive direction x corresponds to the drive direction when the cleaning robot is moving in a straight line. The left-right direction y corresponds to one direction perpendicular to the drive direction when the cleaning robot is moving in a straight line. The rotation direction r corresponds to the rotation direction when the cleaning robot is moving in a rotational direction. One or the other of the vertical direction z may be expressed as "up," "down," "upward," and "downward," etc. These terms do not need to coincide with the direction of gravity, but only need to correspond to a direction perpendicular to the surface of the object being cleaned. One or the other of the drive direction x may be expressed as "forward," "backward," "forward," and "backward," etc. These terms only need to correspond to a direction parallel to the surface of the object being cleaned. The terms "top surface" and "bottom surface" used in this disclosure do not necessarily have to refer to the outermost surface. 【0018】 The main body 1 forms the skeleton of the cleaning robot A1. The main body 1 is made of, for example, metal and / or resin, and protects other components of the cleaning robot A1 from external impacts such as collisions with obstacles. The main body 1 has a generally rectangular parallelepiped shape. The shape of the main body 1 is not limited and may be triangular prism or cylindrical. In an exemplary embodiment, the dimensions of the main body 1 are as follows: The size of the main body 1 in the vertical direction z (height) is, for example, 70 cm. The size of the main body 1 in the driving direction x (depth) is, for example, 50 cm. The size of the main body 1 in the left-right direction y (width) is, for example, 50 cm. 【0019】 The main body 1 includes a top surface 2, a bottom surface 3, a rear surface 4, a front surface 5, two sides 6, a body recess 7, a front bumper 8, and two side bumpers 9. The top surface 2, bottom surface 3, rear surface 4, front surface 5, two sides 6, body recess 7, front bumper 8, and two side bumpers 9 are each formed from metal, carbon fiber, and resin, or a combination thereof. The top surface 2 and bottom surface 3 connect to the rear surface 4, the front surface 5, and the two sides 6, respectively. The rear surface 4 and front surface 5 connect to the two sides 6, respectively. Alternatively, the main body 1 may not include the front surface 5, and the two sides 6 may be connected. In this case, the main body 1 is triangular in plan view. 【0020】 The back surface 4 is provided with two protrusions 4a. Each protrusion 4a is a component that contacts the floor surface when the cleaning robot A1 is tilted until it is horizontal. Each protrusion 4a projects backward from the back surface 4. In the illustrated example, the protrusions 4a are rectangular parallelepipeds. Each protrusion 4a is made of, for example, rubber. Each protrusion 4a may have a desired shape, be provided in a desired number, and be made of a desired material, as long as it does not deviate from its function. 【0021】 The top surface 2 and bottom surface 3 are separated from each other in the vertical direction z. The back surface 4 and front surface 5 are separated from each other in the driving direction x. The two side surfaces 6 are separated from each other in the left-right direction y. The two side surfaces 6 are interposed between the top surface 2 and bottom surface 3 in the vertical direction z. The two side surfaces 6 are interposed between the back surface 4 and front surface 5 in the driving direction x. Each side surface 6 is provided with a gripping hole 6A for the user to insert their hand. Cliff sensors that emit infrared rays or ultrasonic waves onto the ground are provided at the bottom of the front bumper 8 and the two side bumpers 9, respectively. More specifically, four cliff sensors 35A are arranged at equal intervals at the bottom of the front bumper 8. One cliff sensor 35A is arranged at the bottom of each of the two side bumpers 9. According to the cliff sensors, the cleaning robot A1 can determine the presence or absence of steps and stop its movement or change its direction of travel. 【0022】 The main body recess 7 is a portion of the main body 1 that is recessed from the front surface 5 towards the rear. The main body recess 7 is located between the front surface 5 and the front bumper 8 in the vertical direction z. The main body recess 7 includes two surfaces facing each other in the vertical direction z and a curved surface facing forward. The front bumper 8 is located below the front surface 5 in the vertical direction z and protrudes forward in the driving direction x. Each side bumper 9 is located below the corresponding side surface 6 in the vertical direction z and protrudes outward in the left-right direction y. 【0023】Additionally, the main body 1 may be equipped with a mechanism for detecting external shocks. Furthermore, the main body 1 may include a shelf 14. The shelf 14 supports the circuit board box 15. The circuit board box 15 includes a circuit unit 16 that performs the electrical functions of the cleaning robot A1. The circuit unit 16 includes, for example, a control device and an inverter, which include a processor and memory. The control device controls, for example, the operation unit 200 and the detection system 30. The inverter converts the DC voltage from the circuit unit 16 so that the multiple motors 7A perform the desired movements. 【0024】 The main body 1 includes a battery housing 41 and a battery cover 43. The battery housing 41 is recessed inward from the back surface 4 into the main body 1. The battery housing 41 is rectangular in shape. The lower surface of the battery housing 41 is located above the bottom surface 3. Alternatively, the lower surface of the battery housing 41 may be integrated with the bottom surface 3. 【0025】 The battery 21 is located in the battery housing 41. The battery 21 is charged either wirelessly or via a wired connection. In an exemplary embodiment, the battery 21 is charged via a wired connection through a charging terminal 32. Power from the battery 21 is supplied to the circuit unit 16, the dust collection assembly 100, the operation unit 200, the detection system 30, and the drive system 70 by a mechanism (not shown). The battery housing 41 is located inside the main body 1 and is closed by a battery cover 43. 【0026】 The main body 1 includes a dust collection assembly 100. The dust collection assembly 100 performs the function of collecting dirt in the cleaning robot A1. The dust collection assembly 100 includes a brush 101, a dust box 102, a duct 103, a chamber 104, a vacuum unit 105, and an exhaust port 106. 【0027】 The brush 101 is connected to the motor 7B and rotates to collect dirt from the target surface. The dust box 102 is detachably mounted below the bottom surface 3. The brush 101 and the dust box 102 are located below the bottom surface 3 in the vertical direction z and are connected to each other. The dust box 102 is connected to the chamber 104 via the duct 103. 【0028】 Chamber 104 houses a dust collection pack (for example, a paper pack) of a size appropriate to its own size. Chamber 104 is connected to a vacuum unit 105. The vacuum unit 105 is connected to an exhaust port 106 located on the rear 4. 【0029】 The vacuum unit 105 includes, for example, a motor and a fan rotated by the motor. The operation of the vacuum unit 105 generates airflow over the dust collection assembly 100. The airflow passes through the dust box 102, duct 103, and chamber 104, and is finally exhausted from the exhaust port 106. Dirt that enters through the brush 101 is collected by this airflow into a dust collection pack attached to the chamber 104. 【0030】 The brush 101 can collect fibrous dirt (e.g., hair). The dust box 102 can collect larger dirt (e.g., food scraps, paper clips, etc.) that cannot be carried to the dust collection pack attached to the chamber 104 by the airflow or suction force generated by the vacuum unit 105. Other dirt can be collected in the chamber 104 via the duct 103. As can be seen from this, the brush 101, dust box 102, and chamber 104 may require maintenance. For example, the brush 101 needs to be replaced with a new one when tangled fibrous dirt is removed or when the brush is worn out. The dust box 102 needs to be removed from the main unit and the accumulated dirt removed. The chamber 104 needs to be replaced with a new dust collection pack. In the cleaning robot A1, the dust box 102 and brush 101 can be maintained by tilting the cleaning robot A1. 【0031】The operating unit 200 is attached to the main body 1 and is a component operated by the user. The operating unit 200 includes a handle 2A, an arm 2B, and an input / output interface 2C. The handle 2A is configured for use by the user to tilt or raise the cleaning robot A1. The arm 2B is configured to allow the user to push the cleaning robot A1 when teaching the cleaning robot A1. The input / output interface 2C is configured to allow the user to input instructions to the cleaning robot A1. The input / output interface 2C may be a terminal electrically connected to the main body 1, or it may be an independent terminal including a computing device. As an example, the input / output interface 2C is a touch-operable panel terminal. The input / output interface 2C may be detachable from the arm 2B. 【0032】 In the illustrated example, the handle 2A is annular when viewed from above (in a plan view). That is, as shown in Figure 5, the handle 2A includes two horizontal bars 2Aa extending in the left-right direction y and two vertical bars 2Ab extending in the drive direction x. The user can tilt the cleaning robot A1 by holding either the horizontal bars 2Aa or the vertical bars 2Ab. Therefore, when tilting the cleaning robot A1 to a horizontal position for maintenance, or when raising it from a horizontally tilted position, the user can select a position on the handle 2A that is easy to hold. Furthermore, when the user wants to switch between the two horizontal bars 2Aa during the tilting process, they can slide their hand along the vertical bar 2Ab, allowing them to always work while holding the handle 2A. As can be understood from the operation of such a handle 2A, the handle 2A only needs to include at least one horizontal bar 2Aa extending in the left-right direction y and at least one vertical bar 2Ab extending in the drive direction x, and may be separate rather than an integrated annular shape. Alternatively, the two horizontal bars 2Aa may extend diagonally in the left-right direction y and be connected to each other without a vertical bar 2Ab. 【0033】Arm 2B is attached to the top surface 2 of the main body 1. In plan view, arm 2B surrounds the portion of the handle 2A other than the rear horizontal bar 2Aa. Arm 2B is configured to rotate between an integrated state and a detached state, with the attachment point to the main body 1 as a pivot point. In the illustrated example, arm 2B is in the integrated state. In Figure 7, the integrated state of arm 2B is shown by a solid line, and the detached state of arm 2B is shown by a dashed line (two-dotted line). 【0034】 In the integrated state, arm 2B is in contact with the main body 1, and the input / output interface 2C is located in front of the main body 1. In the integrated state, the input / output interface 2C can be used by the user to input instructions to the cleaning robot A1 or to check the robot's status. In addition, it can also be used to display information to a person in front of the cleaning robot A1 or to display the rotation direction of the cleaning robot A1 while it is cleaning. In the uncoupled state, arm 2B is separated from the main body 1, and the input / output interface 2C is located behind the main body 1. In the uncoupled state, the user can grasp arm 2B and push the cleaning robot A1 to move it. The input / output interface 2C is connected to arm 2B. 【0035】 The detection system 30 performs the function of enabling the cleaning robot A1 to detect objects. More specifically, the cleaning robot A1 uses the detection system 30 to detect surrounding objects while preparing for and during autonomous travel. The detection system 30 includes an imaging device 31, a sensor system 33, and a plurality of ultrasonic sensors 34. The imaging device 31 is, for example, a 3D camera that detects non-transparent objects. The sensor system 33 is, for example, a LiDAR (Light Detection and Ranging) that measures the distance to an object and the shape of an object. Each ultrasonic sensor 34 detects, for example, transparent objects (e.g., glass) that are difficult to detect with the imaging device 31. 【0036】The imaging device 31 is located on the front surface 5 in the driving direction x. The imaging device 31 is located near the center of the front surface 5 in the left-right direction y. The imaging device 31 is located above the center of the main body 1 in the vertical direction z. As an example, the imaging device 31 is a three-dimensional imaging sensor whose imaging center is oriented downward from the horizontal. That is, the imaging device 31 captures images from a position higher than the center of the main body 1 toward the floor. 【0037】 The sensor system 33 is located in the recess 7 of the main body. The sensor system 33 is positioned near the center of the main body 1 in the left-right direction y. If the sensor system 33 is a LiDAR, it emits laser light forward in the driving direction x and in a part of the left-right direction y, and can measure the distance to an object and the shape of the object by reflecting the laser light. 【0038】 Multiple ultrasonic sensors 34 are provided on the front surface 5 and two side surfaces 6, respectively. In the illustrated example, four ultrasonic sensors 34A are arranged on each of the left and right sides of the imaging device 31. Additionally, four ultrasonic sensors 34B are arranged on each of the front and rear sides of each gripping hole 6A. Each ultrasonic sensor 34 is arranged such that the detection direction of each ultrasonic sensor 34 tapers outwards from the inside to the outside of the main body 1. Each ultrasonic sensor 34 may be configured to detect objects at positions that are difficult to detect by the imaging device 31. That is, the multiple ultrasonic sensors 34A can irradiate ultrasonic waves horizontally to objects at higher positions that are not imaged by the imaging device 31. The multiple ultrasonic sensors 34B can irradiate ultrasonic waves in the left and right direction y, which is not imaged by the imaging device 31. 【0039】 The charging terminal 32 is located on the front surface 5 in the driving direction x. The charging terminal 32 is located near the center of the front surface 5 in the left-right direction y. In the up-down direction z, the charging terminal 32 is located between the imaging device 31 and the main body recess 7. The charging terminal 32 is configured to be able to charge the battery 21 by being electrically connected to an external power supply or charging device. 【0040】The drive system 70 performs the function of driving the cleaning robot A1. The drive system 70 is located at the bottom of the main body 1 in the vertical z direction. The drive system 70 includes two drive wheels 71, front casters 73, two auxiliary casters 731, and two rear casters 74. The front casters 73, the two auxiliary casters 731, and the two rear casters 74 are driven wheels. 【0041】 The two drive wheels 71 are spaced apart on both sides in the left-right direction y, and are located approximately in the center of the main body 1 in the driving direction x. Each of the two drive wheels 71 is connected to one motor 7A. In Figures 6 and 8, the motors 7A are shown as hidden lines (dotted lines). The drive wheels 71 are rotated by the motors 7A. As a result, the cleaning robot A1 can rotate while moving forward, backward, and left and right. Each drive wheel 71 consists of two wheels aligned in the left-right direction y. Each wheel is larger than each of the front caster 73, the two auxiliary casters 731, and the two rear casters 74. 【0042】 The front wheel caster 73 is located in front of the two drive wheels 71 in the drive direction x, and is approximately in the center of the main body 1 in the left-right direction y. The two auxiliary casters 731 are located between the two drive wheels 71 and the front wheel caster 73 in the drive direction x. The two auxiliary casters 731 are spaced apart on both sides in the left-right direction y. The two rear wheel casters 74 are located behind the two drive wheels 71 in the drive direction x, and are spaced apart on both sides in the left-right direction y. 【0043】The front wheel caster 73 and the two auxiliary casters 731 rotate about an axis extending in the left-right direction y. Each of the two rear wheel casters 74 is attached to an axis orthogonal to the up-down direction z and rotates about the axis. Further, this axis is rotatable about the up-down direction z as the central axis. That is, the rear wheel caster 74 is capable of swing rotation with a predetermined radius in addition to the rotation of the wheel itself. Referring to FIG. 8, the positions that the rear wheel caster 74 can take when viewed in the left-right direction y are shown. Specifically, the rear wheel caster 74 swings about the axis O and takes a forward state 74A and a rearward state 74B. In FIG. 8, the forward state 74A is shown by a solid line and the rearward state 74B is shown by an imaginary line (two-dot chain line). 【0044】 Referring to FIG. 9, a block diagram of an exemplary cleaning robot A1 is shown. In an exemplary embodiment, the cleaning robot A1 can perform a simultaneous localization and mapping (SLAM) process described below. 【0045】 First, the user operates the input / output interface 2C to start teaching the cleaning robot A1. After the teaching starts, the user moves the cleaning robot A1 so as to pass through a desired travel path. Specifically, the user pushes and moves the cleaning robot A1 while gripping the handle 2A on the desired travel path. At this time, the cleaning robot A1 uses the imaging device 31, the sensor system 33, and the ultrasonic sensor 34 to detect the surrounding situation (the shape and arrangement of objects such as walls and shelves). Thereby, the cleaning robot A1 specifies its own position in the map at each time point while creating a map based on the detected surrounding situation. 【0046】After finishing teaching the desired travel route, the user operates the input / output interface 2C to cause the cleaning robot A1 to finish teaching. Finally, the cleaning robot A1 records the map of the taught travel route in the circuit unit 16. In an exemplary embodiment, the map is three-dimensional data or two-dimensional data. As an example, the taught data may include routes that were not traveled during teaching near the travel route, and travel times based on a given travel speed of the cleaning robot A1. 【0047】 The cleaning robot A1 that has finished teaching is moved by the user to the vicinity of the start position of the travel route. The user may cause the cleaning robot A1 to recognize the start position using a sign displaying a two-dimensional code or the like. Thereafter, the cleaning robot A1 receives an instruction to start cleaning from the user. The start instruction may use the input / output interface 2C. The cleaning may be started at a time set in advance by the user. The cleaning robot A1 can automatically return to the stored start position. 【0048】 The cleaning robot A1 that has received the start instruction travels autonomously along the travel route memorized during teaching. At this time, the cleaning robot A1 recognizes its own position in the created map with the detection system 30. This operation is referred to as playback. The cleaning robot A1 during playback determines an object that was not mapped during teaching as an obstacle. The cleaning robot A1 discriminates whether the obstacle is an object or a person based on mobility, shape, etc., and performs an appropriate operation. 【0049】 The cleaning robot A1 during playback further cleans the target. Specifically, by driving the brush 101 and the vacuum unit 105, dirt is collected while traveling. Additionally, the cleaning robot A1 may include a cleaning pad provided to contact the surface to be cleaned. The cleaning pad is, for example, a mop. According to this configuration, the cleaning robot A1 can perform wiping cleaning together with or independently of the collection of dirt. 【0050】The above describes the configuration in which cleaning robot A1 performs autonomous cleaning. On the other hand, cleaning robot A1 can also perform cleaning while being operated by a user. In this case, the user instructs cleaning robot A1 to operate in manual operation mode via the input / output interface 2C. In manual operation mode, the user can perform cleaning by pushing and moving arm 2B. Even in manual operation mode, cleaning robot A1 may use the detection system 30 to detect the presence or absence of obstacles. 【0051】 In an exemplary embodiment, the main body 1 comprises a structure 1a. The structure 1a will be described below with particular reference to Figures 10 to 18. Referring to Figure 11, the entire structure 1a is shown. As an example, the constituent material of the structure 1a is metal. In this case, the structure 1a may have the rigidity to withstand the force when pushed by a user holding the arm 2B during teaching. The structure 1a includes a base frame 11, a top frame 12, a plurality of upper and lower frames 13, a horizontal frame 133, and a shelf board 14. The cross-sectional shape of each frame in the structure 1a is not limited. 【0052】 In this exemplary embodiment, the base frame 11 corresponds to the bottom surface 3. The top frame 12 is located below the top surface 2. Unlike this embodiment, the base frame 11 may be composed of a separate component from the bottom surface 3, and the top frame 12 may be composed of the same component as the top surface 2. The top frame 12 is separated upward from the base frame 11. The entire top frame 12 overlaps the top surface 2 and the base frame 11 when viewed in the vertical direction z. The exemplary base frame 11 and top frame 12 are plate-shaped, but their shape is not particularly limited. 【0053】Multiple upper and lower frames 13 extend vertically z between the base frame 11 and the top frame 12. In other words, the multiple upper and lower frames 13 are sandwiched between the base frame 11 and the top frame 12. Each exemplary upper and lower frame 13 is perpendicular to the base frame 11 and the top frame 12. Alternatively, each upper and lower frame 13 may be curved. Also, each upper and lower frame 13 may be attached at an angle to the base frame 11 and the top frame 12. When a downward force is applied to the top frame 12, it is structurally desirable for each upper and lower frame 13 to be perpendicular to the top frame 12. Each exemplary upper and lower frame 13 includes a lower end attached to the base frame 11 and an upper end attached to the top frame 12. Alternatively, each upper and lower frame 13 may be integrally formed with the base frame 11 and the top frame 12. 【0054】 The plurality of upper and lower frames 13 include at least one front frame 131 and at least two rear frames 132 provided behind the at least one front frame 131 in the drive direction x. In an exemplary embodiment, the plurality of upper and lower frames 13 include one front frame 131 and two rear frames 132. The front frame 131 is located near the center of the base frame 11 in the left-right direction y. When viewed in the drive direction x, the front frame 131 is located between the two rear frames 132. The front frame 131 includes an upper end fixed to the top frame 12 and a lower end fixed to the bottom surface 3. 【0055】 The two rear frames 132 are located at the same position in the drive direction x and separated in the left-right direction y. More specifically, the two rear frames 132 are located at both ends of the base frame 11 in the left-right direction y. Each rear frame 132 includes an upper end fixed to the top frame 12 and a lower end fixed to the base frame 11. 【0056】The structure 1a (main body 1) further comprises an imaging device mounting bracket 131a to which the imaging device 31 is fixed, and a charging terminal mounting bracket 131b to which the charging terminal 32 is fixed. The imaging device mounting bracket 131a and the charging terminal mounting bracket 131b are fixed to the front frame 131. That is, the imaging device 31 and the charging terminal 32 are fixed to the same front frame 131. With this configuration, the change in the relative positional relationship between the imaging device 31 and the charging terminal 32 over time can be reduced compared to the case where the imaging device and the charging terminal are mounted on separate frames. Unlike the exemplary embodiment, the front frame 131 may be made of the same material as at least one of the imaging device mounting bracket 131a and the charging terminal mounting bracket 131b. In this case, the imaging device 31 and the charging terminal 32 are even less prone to misalignment. 【0057】 An exemplary imaging device mounting bracket 131a extends along the vertical direction z from the top frame 12 to near the center of the front frame 131. Alternatively, the imaging device mounting bracket 131a may extend from the top frame 12 to the base frame 11. The imaging device mounting bracket 131a has two holes aligned in the vertical direction z. The imaging device mounting bracket 131a is thinner than the front frame 131 in the left-right direction y. An exemplary charging terminal mounting bracket 131b is located near the center of the front frame 131 in the vertical direction z. The charging terminal mounting bracket 131b is smaller than the charging terminal 32 when viewed in the drive direction x. With this configuration, the imaging device mounting bracket 131a and the charging terminal mounting bracket 131b are less likely to interfere with components housed within the main body 1. 【0058】In an exemplary embodiment, the imaging device mounting bracket 131a and the charging terminal mounting bracket 131b are adjacent in the vertical direction z. In the driving direction x, the charging terminal mounting bracket 131b protrudes forward of the imaging device mounting bracket 131a. The imaging device mounting bracket 131a overlaps with the charging terminal mounting bracket 131b when viewed in the vertical direction z. This configuration is desirable for the imaging device 31 to accurately identify the connector position because the imaging device 31 is located near (particularly directly above) the charging terminal 32. Unless the field of view is optically adjusted with a zoom lens or the like, the imaging device 31 can identify the position with higher accuracy the closer it is. Therefore, the cleaning robot A1 can connect the charging terminal 32 to the connector of the charging stand with greater accuracy. 【0059】 The structure 1a (main body 1) may include an arm mounting bracket 132a to which the arm 2B is fixed. Referring to Figure 11, the structure 1a includes two arm mounting brackets 132a. Each arm mounting bracket 132a is fixed to the upper end of the corresponding rear frame 132 and to the two ends of the arm 2B. The two arm mounting brackets 132a are spaced apart in the left-right direction y and are in the same position in the drive direction x and the up-down direction z. 【0060】 Each arm mounting bracket 132a has a first portion 132a1 parallel to the drive direction x, a second portion 132a2 parallel to the vertical direction z, and a hole 132a3 provided in the second portion 132a2. The upper end of the corresponding rear frame 132 is attached to each first portion 132a1 and extends inward in the left-right direction y. Each second portion 132a2 extends from each first portion 132a1 above the top frame 12. 【0061】The arm mounting bracket 132a serves as the attachment point between the arm 2B and the main body 1, and also functions as a pivot point for the rotation of the arm 2B. With this configuration, the force applied by the user to the arm 2B during teaching is transmitted from the two rear frames 132 to the base frame 11, allowing the cleaning robot A1 to perform the movements intended by the user. In particular, if the two rear frames 132 and the top frame 12 are made of highly rigid material, they are less likely to deform under applied force, so the amount of displacement applied by the user to the arm 2B matches the amount of displacement of the base frame 11. This allows the user to move the cleaning robot A1 as intended. Furthermore, since the angles between the rear frames 132 and the top frame 12 and base frame 11 are kept constant, the exterior members (for example, the back surface 4) of the main body 1 of the cleaning robot A1 are less likely to distort. 【0062】 The horizontal frame 133 is located between the two arm mounts 132a. More specifically, the horizontal frame 133 connects the two second parts 132a2. In an exemplary embodiment, the top frame 12 is attached to the horizontal frame 133. That is, the two rear frames 132 are fixed to the top frame 12 via the two arm mounts 132a and the horizontal frame 133. Furthermore, shafts provided at the two ends of the arm 2B are inserted through the holes 132a3 of the two arm mounts 132a. In this way, the arm 2B is fixed to the base frame 11 and the top frame 12 via the arm mounts 132a, the horizontal frame 133 and the rear frame 132. This configuration has the advantage that the force applied by the user through the arm 2B is easily distributed among the various parts of the structure 1a. 【0063】Furthermore, since the base frame 11 and top frame 12 are plate-shaped, they deform less in response to forces applied in the drive direction x and left-right direction y. On the other hand, since the front frame 131 and rear frame 132 are elongated in the vertical direction z, they deform less in response to forces applied in the vertical direction z. In addition, since the base frame 11 and top frame 12 are connected by three upper and lower frames 13, deformation that would cause the base frame 11 and top frame 12 to twist in the horizontal plane defined by the drive direction x and left-right direction y can be suppressed. In other words, regardless of whether the force applied by the user to the cleaning robot A1 via the arm 2B is in the vertical, left-right, or rotational direction, the amount of deformation can be reduced. 【0064】 In the drive direction x, the horizontal frame 133 is located behind the top frame 12. In the left-right direction y, the size of the horizontal frame 133 is smaller than the base frame 11. In the up-down direction z, the horizontal frame 133 is located above the top frame 12. The horizontal frame 133 makes it difficult for the two arm mounting brackets 132a to deform. Note that the structure 1a may not have a horizontal frame 133, and the top frame 12 may connect the two arm mounting brackets 132a. 【0065】The sensor system 33 may be located forward of the front frame 131 in the drive direction x. Hereinafter, with reference to Figure 10, a desirable position for the sensor system 33 will be described, particularly as the laser irradiation section of the LiDAR. Referring to Figure 10, a cross-section including the main body recess 7, the front frame 131, the two rear frames 132, and the sensor system 33 is shown. The front frame 131 and the two rear frames 132 are located inside the main body 1, while the sensor system 33 is located outside the main body recess 7 (outside the main body 1). The sensor system 33 is spaced apart from the surface 7a. The front frame 131 is located at the foremost position within the main body 1. When viewed from above, the front frame 131 and the two rear frames 132 are located at the vertices of an isosceles triangle. This allows the forward-facing surface 7a of the main body recess 7 to be configured as a parabola, with the front frame 131 at its vertex when viewed in the vertical direction z. Furthermore, since the distance between the front frame 131 and the two rear frames 132 can be increased, it is advantageous in suppressing deformation that would cause the base frame 11 and the top frame 12 to twist in the horizontal plane. 【0066】 In Figure 10, the center line L1 passing through the center of the driving direction x of the sensor system 33 is shown by a dashed line. The center line L1 passes through the front frame 131. That is, the front frame 131 overlaps with the sensor system 33 when viewed in the driving direction x. With this configuration, for example, the obstruction around the sensor system 33 is reduced compared to the case where the surface 7a is flat. This is advantageous in securing a larger field of view (detection range) of the sensor system 33. Unlike the exemplary embodiment, the sensor system 33 and the front frame 131 may be offset in the left-right direction y. 【0067】The sensor system 33 may be located forward in the driving direction x, beyond the midpoint between the front end of the main body 1 and the front frame 131 in the driving direction x. Referring to Figure 10, the sensor system 33 is positioned forward of the midpoint O between the front bumper 8 and the front frame 131 on the center line L1. In other words, the sensor system 33 is positioned biased forward within the main body recess 7. With this configuration, the angle between the line L2 connecting the sensor system 33 to the surface 7a and the center line L1 can be reduced. As a result, the range of obstructions is reduced when looking diagonally rearward from the sensor system 33, so the sensor system 33 can secure a larger field of view. Furthermore, as shown in Figure 10, the front end of the sensor system 33 may be located inward of the main body 1 beyond the front bumper 8. This is advantageous in preventing collisions between the sensor system 33 and obstacles. 【0068】 The number and position of the front frames 131 and rear frames 132 are not limited to exemplary embodiments. For example, the structure 1a may include two or more front frames 131. For another example, one front frame 131 does not have to be located in the center of the structure 1a in the left-right direction y. In either example, it is desirable that each front frame 131 be located between two rear frames 132 when viewed in the drive direction x. Furthermore, for another example, the structure 1a may include three or more rear frames 132. In this case, the multiple rear frames 132 may be in the same position as each other in the drive direction x, and may include two rear frames 132 located at the left and right ends of the structure 1a in the left-right direction y. Such configurations can also achieve the above advantages without departing from the scope of the present disclosure. 【0069】Each ultrasonic sensor 34A may be positioned between the imaging device 31 and the top frame 12 in the vertical z direction. For example, the imaging device 31 is a three-dimensional imaging sensor whose imaging center is oriented downwards from the horizontal. This allows the cleaning robot A1 to grasp in detail obstacles such as shelves, desks, and people located below the imaging device 31 as images using the 3D camera. Furthermore, for example, each ultrasonic sensor 34A emits ultrasonic waves horizontally and detects the reflected ultrasonic waves. This allows the cleaning robot A1 to detect the presence and distance of obstacles such as tabletops located above the imaging area of ​​the imaging device 31. 【0070】 As described above, the detection directions of the four ultrasonic sensors 34A can be arranged in a tapered shape, widening from the inside to the outside of the main body 1. As shown in Figure 13, the main body 1 may be provided with an opening 190. The angle α formed by the inner surface of the opening 190 is preferably 80° or more. With this configuration, the intrusion of the surrounding exterior parts into the field of view of the ultrasonic sensors 34A can be reduced. As can be understood from the function of the tapered opening 190, it is not necessary for all four ultrasonic sensors 34A to have tapered openings. 【0071】 The main body 1 includes a shelf 14 that supports a circuit board box 15 housing the circuit section 16, and the shelf 14 may be attached to the front frame 131. Figures 14 to 16 illustrate the multiple shelf 14 and multiple circuit board boxes 15 in an easily understandable manner, with some components removed from the cleaning robot A1. The multiple shelf 14, the front frame 131, and the multiple circuit board boxes 15 may be made of metal. This is desirable for effectively dissipating heat from inside the circuit section 16 (for example, the control circuit board). 【0072】In an exemplary embodiment, the structure 1a includes three shelves 14A, three mounting plates 17, one shelf 14B, and two mounting fixtures 18. Each shelf 14A and shelf 14B extends in the left-right direction y as viewed in the driving direction x. Each mounting plate 17 extends in the up-down direction z as viewed in the driving direction x. Each shelf 14A supports a corresponding board box 15A, and each mounting plate 17 supports a corresponding board box 15B. The three shelves 14A are positioned on opposite sides in the left-right direction y relative to the three mounting plates 17 and shelf 14B with respect to the front frame 131. In the illustrated example, each shelf 14A and shelf 14B is formed integrally, but they may be formed separately. 【0073】 Each shelf board 14A has its end in the left-right direction y attached to the front frame 131. In addition, the lowest of the three shelf boards 14A is attached to one of the two rear frames 132 via one of the two mounting fixtures 18. Each mounting plate 17 has its upper end fixed to the top frame 12 and its lower end fixed to the shelf board 14B. The shelf board 14B is attached to one of the two rear frames 132 via one of the two mounting fixtures 18. Each mounting fixture 18 includes a plate portion fixed to the top frame 12 and an arm portion joined to each rear frame 132. 【0074】The circuit board box 15A has a box projection 15a, and the shelf board 14A has a shelf board recess 14a that engages with the box projection 15a. The circuit board box 15A and the shelf board 14A may be screwed together. Referring to Figure 14, examples of multiple circuit board boxes 15 are shown. As can be seen from this example, each circuit board box 15A is provided with two box projections 15a. The box projections 15a may be formed by so-called cut-and-bend, which involves punching out a part of the metal plate constituting the circuit board box 15A and bending it. The box projections 15a are provided with engaging portions 15b. Referring to Figures 15 and 16, each shelf board 14A is provided with two shelf board recesses 14a at the bottom. When each box projection 15a is inserted into a shelf board recess 14a, the engaging portion 15b engages with the corresponding shelf board 14A. Furthermore, each circuit board box 15A is screwed to the corresponding shelf board 14A. Specifically, each circuit board box 15A includes one or two hanging members 152A, and a screw 141A is attached to each hanging member 142A. 【0075】 The method of attaching each circuit board box 15A to the structure 1a will be explained with reference to Figures 15 and 16. In Figure 15, for ease of understanding, the three circuit board boxes 15A are shown separated from the three shelves 14A. The method of attaching the three circuit board boxes 15A to the corresponding shelves 14A is the same. First, the circuit board box 15A is placed on the shelf 14A so that the box protrusion 15a engages with the shelf recess 14a. Then, multiple screws 141A are inserted through the hanging members 152A and screwed into the screw holes 143A provided in the shelf 14A. In this way, each circuit board box 15A can be attached to the structure 1a. As can be understood from this explanation, the number and position of the screws 141A, hanging members 152A, and screw holes 143A are arbitrary. 【0076】The method of attaching the circuit board box 15B to the structure 1a will be explained with reference to Figures 14, 17, and 18. In Figure 17, for ease of understanding, one circuit board box 15B and mounting plate 17 are shown separated from the structure 1a. First, the circuit board box 15B is screwed to the mounting plate 17 by screwing multiple screws 171 into screw holes 173. The mounting plate 17 to which the circuit board box 15B is screwed is positioned so that the tab 174 fits into the rail 12a at the bottom of the top frame 12. The rail 12a is provided with a slit, and the mounting plate 17 is inserted into this slit, thereby positioning the mounting plate 17 in the left-right direction y. In Figure 18, for ease of understanding, the tab 174 attached to the rail 12a is shown in a magnified view. Subsequently, multiple screws 141B are inserted through the hanging member 172 and screwed into screw holes 143B provided in the shelf board 14B. As described above, each circuit board box 15B can be attached to the structure 1a. As can be understood from this explanation, the number and position of the screws 171, hanging members 172, screw holes 173, screws 141B and screw holes 143B are arbitrary. 【0077】 As described above, the method of attaching multiple circuit board boxes 15 to multiple shelves 14 reduces the number of screws required compared to the method of attaching them using only screws. This allows the cleaning robot A1 to efficiently assemble the main body 1 and perform maintenance on the circuit board boxes 15. 【0078】A1: Cleaning robot, 1: Main body, 190: Opening, 1a: Structure, 100: Dust collection assembly, 101: Brush, 102: Dust box, 103: Duct, 104: Chamber, 105: Vacuum unit, 106: Exhaust port, 11: Base frame, 12: Top frame, 12a: Rail, 13: Upper and lower frames, 131: Front frame, 131a: Imaging device mounting bracket, 131b: Charging terminal mounting bracket, 132: Rear frame, 132a: Arm mounting bracket 132a1: Part 1, 132a2: Part 2, 132a3: Hole, 133: Horizontal frame, 14, 14A, 14B: Shelf board, 14a: Recessed shelf board, 141A, 141B, 171: Screw, 142A, 172: Hanging member, 143A, 143B, 173: Screw hole, 15, 15A, 15B: Circuit board box, 15a: Box protrusion, 15b: Engaging part, 16: Circuit section, 17: Mounting plate, 174: Tab, 18: Mounting fixture, 2: Top surface, 200: Operating section, 2A: Handle, 2Aa: Horizontal bar, 2Ab: Vertical bar, 2B: Arm, 2C: Input / output interface, 2D: Emergency stop button, 21: Battery, 3: Bottom, 30: Detection system, 31: Imaging device, 32: Charging terminal, 33: Sensor system, 34, 34A, 34B: Ultrasonic sensors, 35A, 35B: Cliff sensors, 4: Rear, 4a: Protrusion, 41: Battery housing, 43: Battery cover, 5: Front, 6: Side, 6A: Gripping hole, 7: Main body recess, 7a: Surface, 7A, 7B: Motor, 70: Drive system, 71: Drive wheel, 73: Front wheel caster, 731: Auxiliary caster, 74: Rear wheel caster, 74A: Forward position, 74B: Rearward position, 8: Front bumper, 9: Side bumper, x: Drive direction, y: Left / right direction, z: Up / down direction

Claims

1. A cleaning robot comprising: a main body; an imaging device; and a charging terminal, wherein the main body includes: a base frame; a top frame spaced upward from the base frame; a plurality of upper and lower frames extending vertically between the base frame and the top frame; an imaging device mounting fixture to which the imaging device is fixed; and a charging terminal mounting fixture to which the charging terminal is fixed, wherein the plurality of upper and lower frames include at least one front frame and at least two rear frames provided behind the at least one front frame in the driving direction, and the imaging device mounting fixture and the charging terminal mounting fixture are fixed to the at least one front frame.

2. The cleaning robot according to claim 1, further comprising an arm, wherein the body includes at least two arm mounting fixtures to which the arm is attached, and the at least two arm mounting fixtures are fixed to the at least two rear frames, respectively.

3. The cleaning robot according to claim 1, further comprising a sensor system, wherein the at least one front frame is located between the at least two rear frames as viewed in the driving direction, and the sensor system is located forward of the at least one front frame in the driving direction.

4. The cleaning robot according to claim 3, wherein the sensor system is located forward in the driving direction of the main body, beyond the midpoint between the front end in the driving direction of the main body and the at least one front frame.

5. The cleaning robot according to any one of claims 1 to 4, further comprising an ultrasonic sensor between the imaging device and the top frame in the vertical direction, wherein the imaging device is a three-dimensional imaging sensor whose imaging center is oriented downward from the horizontal.

6. The cleaning robot according to any one of claims 1 to 4, further comprising a circuit board box housing a circuit section, wherein the main body includes a shelf supporting the circuit board box, and the shelf is attached to at least one front frame.

7. The cleaning robot according to claim 6, wherein the circuit board box has a box protrusion, the shelf has a shelf recess that engages with the box protrusion, and the circuit board box and the shelf are fastened together with screws.

Images