Cleaning robot

Patent metadata

Field	Value
Publication number	US-10653282-B2
Application number	US-201715852931-A
Country	US
Kind code	B2
Filing date	Dec 22, 2017
Priority date	Dec 23, 2016
Publication date	May 19, 2020
Grant date	May 19, 2020

Abstract

A cleaning robot includes a top cover, a bottom cover provided below the top cover, traveling parts provided in the bottom cover, a suction module provided in the bottom cover to suck in foreign materials on the ground, a recessed part formed to be recessed inward between the top cover and the bottom cover, and a first sensor located in the recessed part.

First claim

What is claimed is:

1. A cleaning robot comprising:
a main body;
a plurality of wheels provided at a lower portion of the main body to enable the main body to move along a floor surface;
a motor provided at the main body to suck foreign materials from the floor surface;
a cover provided on an exterior of the main body;
a recess provided at the cover, the recess extending horizontally across at least one side of the cleaning robot; and
a sensor provided in the recess, the sensor having a field of view extending across the at least one side of the cleaning robot,
wherein the recess includes a first recess recessed inward from a first side of the cleaning robot, and a second recess recessed inward from a second side of the cleaning robot,
wherein a height of the first recess above the floor surface is different from a height of the second recess above the floor surface, and
wherein the sensor includes a first lidar sensor located within the first recess, and a second lidar sensor located within the second recess.

2. The cleaning robot according to claim 1 , further comprising a side brush protruding from a front lower end of the main body.

3. The cleaning robot according to claim 1 , wherein a field of view of the first lidar sensor is greater than 180 degrees extending across the first recess.

4. The cleaning robot according to claim 3 , wherein the field of view of the first lidar sensor is approximately 270 degrees.

5. The cleaning robot according to claim 4 , wherein a field of view of the second lidar sensor is approximately 180 degrees extending across the second recess.

6. The cleaning robot according to claim 1 , further comprising one or more low obstacle sensors spaced apart from each other and provided along a lower periphery of the cover,
wherein the one or more low obstacle sensors are directed downward at a predetermined angle.

7. The cleaning robot according to claim 6 , wherein the one or more low obstacle sensors include infrared sensors.

8. The cleaning robot according to claim 1 , further comprising a plurality of cliff sensors provided at a bottom of the cleaning robot and spaced apart from each other.

9. The cleaning robot according to claim 8 , wherein the cliff sensors are spaced apart from each other along an inner edge of the bottom of the cover.

10. The cleaning robot according to claim 1 , further comprising a camera provided in the cover.

11. The cleaning robot according to claim 10 , wherein the camera is directed upward at a predetermined angle with respect to a horizontal line.

12. The cleaning robot according to claim 1 , wherein the recess is recessed inward at a predetermined position of the cover to divide the cover into an upper cover and a lower cover.

13. The cleaning robot according to claim 1 , wherein the cover comprises a top cover and a bottom cover, and
wherein the recess is located between the top cover and the bottom cover.

14. The cleaning robot according to claim 1 , wherein the cover comprises a top cover and a bottom cover, and
wherein the recess is recessed inward at a predetermined position of the top cover or the bottom cover.

15. A cleaning robot comprising:
a main body;
a plurality of wheels provided at a lower portion of the main body to enable the main body to move along a floor surface;
a motor provided at the main body to suck foreign materials from the floor surface;
a cover provided on an exterior of the main body;
a first recess provided at the cover, the first recess extending horizontally across a first side of the cleaning robot;
a second recess provided at the cover, the second recess extending horizontally across a second side of the cleaning robot;
a first sensor provided in the first recess and a second sensor provided in the second recess, the first sensor and the second sensor together having a field of view extending across an entire circumference of the cleaning robot;
one or more low obstacle sensors spaced apart from each other and provided along a lower periphery of the cover;
a plurality of spaced apart cliff sensors provided at a bottom of the cleaning robot; and
a camera provided at an upper portion of the cover,
wherein a height of the first recess above the floor surface is different from a height of the second recess above the floor surface, and
wherein the first sensor and the second sensor emit a same type of light.

16. A cleaning robot comprising:
a main body;
a plurality of wheels provided at a lower portion of the main body to enable the main body to move along a floor surface;
a motor provided at the main body to suck foreign materials from the floor surface;
a cover provided on an exterior of the main body;
a first recess recessed inward from a first side of the cleaning robot at a first height above the floor surface;
a second recess recessed inward from a second side of the cleaning robot at a second height above the floor surface different from the first height;
a first lidar sensor located within the first recess; and
a second lidar sensor located within the second recess,
wherein a field of view of the first lidar sensor plus a field of view of the second lidar sensor covers 360 degrees extending across the first recess and the second recess.

Assignees

• Lg Electronics Inc

Inventors

• Song Hyunsup
• Kim Hanshin

Classifications

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title

• B25J11/0085

  Cleaning · CPC title

• A47L9/062

  Rigidly anchored edge brushes · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• Y10S901/49

  Protective device · CPC title