Cleaning robot

Patent metadata

Field	Value
Publication number	US-11547255-B2
Application number	US-202016848201-A
Country	US
Kind code	B2
Filing date	Apr 14, 2020
Priority date	Dec 23, 2016
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

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 firmed 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 robot comprising:
a main body;
a cover provided on an exterior of the main body;
a recess provided at the cover, the recess extending across at least one side of the robot, the recess including:
a first recess recessed inward from a first side of the robot; and
a second recess recessed inward from a second side of the robot; and

a sensor arrangement provided in the recess, the sensor arrangement having a field of view extending across the at least one side of the robot, the sensor arrangement including:
a first sensor located within the first recess; and
a second sensor located within the second recess,

wherein a center of a sensing range of the first sensor in a first direction is different from a center of a sensing range of the second sensor in a second direction.

2. The robot according to claim 1 , wherein the first direction and the second direction are opposite each other.

3. The robot according to claim 1 , wherein a height of the first recess above a 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.

4. The robot according to claim 1 , wherein the first sensor and the second sensor include lidar sensors.

5. The robot according to claim 4 , wherein a field of view of the first sensor is greater than 180 degrees extending across the first recess.

6. The robot according to claim 5 , wherein the field of view of the first sensor is approximately 270 degrees.

7. The robot according to claim 6 , wherein a field of view of the second sensor is approximately 180 degrees extending across the second recess.

8. The 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, the one or more low obstacle sensors being directed downward at a predetermined angle.

9. The robot according to claim 8 , wherein the one or more low obstacle sensors include infrared sensors.

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

11. The robot according to claim 10 , wherein the cliff sensors are spaced apart from each other along an inner edge of the bottom of the cover.

12. The robot according to claim 1 , further comprising a camera provided in the cover, the camera being directed upward at a predetermined angle with respect to a horizontal line.

13. The 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.

14. The 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.

15. The 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.

16. A robot comprising:
a main body;
a cover provided on an exterior of the main body;
a first recess recessed inward from a first side of the robot at a first height above a floor surface;
a second recess recessed inward from a second side of the 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.

17. A robot comprising:
a main body;
a cover provided on an exterior of the main body;
a light transmission unit placed at one side of a front surface of the cover;
a recess provided at the cover, the recess extending across at least one side of the robot;
a lidar sensor provided in the recess, the lidar sensor having a field of view extending across the at least one side of the robot;
a camera disposed above the lidar sensor and directed upward at a predetermined angle with respect to a horizontal line;
a cliff sensor disposed below the lidar sensor;
a low obstacle sensor disposed between the lidar sensor and the cliff sensor; and
a plurality of ultrasonic sensors spaced apart from each other and disposed between the camera and the low obstacle sensor,
wherein the plurality of ultrasonic sensors are provided at the light transmission unit.

18. The robot according to claim 17 , wherein the low obstacle sensor includes an infrared sensor directed downward at a predetermined angle.

Assignees

• Lg Electronics Inc

Inventors

• Song Hyunsup
• Kim Hanshin

Classifications

• H04N23/57

  Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices · CPC title

• A47L9/2852

  Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles · CPC title

• A47L11/4061

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• A47L9/062

  Rigidly anchored edge brushes · CPC title

• Y10S901/47

  Optical · CPC title