Robot cleaner

Patent metadata

Field	Value
Publication number	US-2022167815-A1
Application number	US-202017593795-A
Country	US
Kind code	A1
Filing date	Mar 6, 2020
Priority date	Mar 26, 2019
Publication date	Jun 2, 2022
Grant date	—

Abstract

The present disclosure provides a robot cleaner comprising: a cleaner body including a control unit for controlling autonomous travelling; a sensing unit arranged to be inclined to the side surfaces and the upper surface of an upper corner portion of the cleaner body and photographing both the side direction and the upper direction of the cleaner body; and a bumper arranged to cover a first half area of the cleaner body and configured, at the time of coming into contact with an obstacle, to be pressed and absorb impact, wherein the sensing unit is arranged behind the bumper.

First claim

1 - 15 . (canceled)

16 . A robot cleaner comprising:
a cleaner body including a control unit for controlling autonomous driving; a sensing unit disposed in an upper edge portion of the cleaner body, the sending unit being inclined with respect to a side surface and an upper surface of the cleaner body; and a bumper disposed to cover at least part of a first half area of the cleaner body, and configured to be pressed and to absorb impact, wherein the sensing unit is disposed behind the bumper.

17 . The robot cleaner of claim 16 , wherein the sensing unit is disposed at a position adjacent to the bumper.

18 . The robot cleaner of claim 16 , further comprising an inclined part formed on the upper edge portion of the cleaner body, the inclined part being downwardly inclined with respect to the upper surface of the cleaner body, wherein the inclined part comprises a through portion configured to allow capturing by the sensing unit,
wherein an inclination of the sensing unit is smaller than an inclination of the inclined part.

19 . The robot cleaner of claim 16 , wherein the sensing unit has an inclination ranging from 25° to 35° with respect to a ground.

20 . The robot cleaner of claim 16 , wherein the sensing unit comprises a first camera part disposed in one side of the upper edge portion of the cleaner body at a first inclination and a second camera part disposed in another side of the upper edge portion of the cleaner body in at a second inclination.

21 . The robot cleaner of claim 20 , wherein the first camera part comprises:
a first camera; a first window disposed to cover the first camera; and a first case mounted to the cleaner body to fix the first camera and the first window, the first case defining a hermetic space together with the first window to seal the first camera, and wherein the second camera part comprises:
a second camera;
a second window disposed to cover the second camera; and
a second case mounted to the cleaner body to fix the second camera and the second window, the second case defining a hermetic space together with the second window to seal the second camera.

22 . The robot cleaner of claim 21 , wherein the first window comprises a first filter and the second window comprises a second filter, wherein the first filter and the second filter are configured to selectively transmit an infrared area.

23 . The robot cleaner of claim 20 , wherein the first camera part is disposed at a first position towards a left of a front center line of the cleaner body, and the second camera part is disposed at a symmetrical position towards a right of the front center line of the cleaner body.

24 . The robot cleaner of claim 20 , wherein the control unit is configured to detect a current position of the robot cleaner in a traveling area using images captured by the first and second camera parts.

25 . The robot cleaner of claim 20 , wherein the first and second camera parts are each rotatable to adjust an optical axis of a respective one of the first camera and the second camera.

26 . The robot cleaner of claim 16 , further comprising an ultrasonic sensing unit disposed on a front side surface of the bumper and configured to detect an obstacle located around a front of the cleaner body.

27 . The robot cleaner of claim 26 , wherein the ultrasonic sensing unit is disposed at a height lower than a sensing unit height.

28 . The robot cleaner of claim 16 , wherein the sensing unit is further configured to capture an image including a ceiling.

29 . A robot cleaner comprising:
a cleaner body including a control unit for controlling autonomous driving; a sensing unit disposed in an upper edge portion of the cleaner body, the sending unit being inclined with respect to a side surface and an upper surface of the cleaner body; and a bumper disposed to cover at least part of a first half area of the cleaner body, and configured to be pressed and to absorb impact, wherein the bumper is located at a first height from a ground, and wherein the sensing unit is disposed at the first height or at a second height lower than the first height.

30 . The robot cleaner of claim 29 , wherein the control unit detects a current position of the robot cleaner in a traveling area using images captured by the sensing unit.

31 . The robot cleaner of claim 29 , wherein the sensing unit is further configured to capture an image including a ceiling.

32 . A robot cleaner comprising:
a cleaner body including a control unit configured to control autonomous driving; a sensing unit disposed in a rear area of the cleaner body, wherein the sensing unit is directed upward, wherein the sensing unit is configured to capture images from a side direction and an upper direction, wherein the sensing unit is inclined with respect to a side surface and an upper surface of the cleaner body; and a bumper disposed to cover at least part of a front area of the cleaner body, and configured to be pressed and to absorb impact, wherein the bumper is located at a first height from a ground of the cleaner body, and wherein the sensing unit is disposed at the first height or at a second height lower than the first height.

33 . The robot cleaner of claim 32 , wherein the control unit is configured to detect a current position of the robot cleaner in a traveling area using images captured by the sensing unit.

34 . The robot cleaner of claim 32 , further comprising an inclined part formed on the upper edge portion of the cleaner body, wherein the inclined part comprises a through portion configured to allow the sensing unit to capture the images.

35 . The robot cleaner of claim 34 , wherein an inclination of the sensing unit inclination is less than an inclination of the inclined part.

Assignees

• Lg Electronics Inc
• Makita Corp

Inventors

• Sohn Byungkon
• Koura Kentaro
• Song Youngkouk

Classifications

• H04N23/90

  Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums · CPC title

• G05D1/241

  Means for detecting physical contact, e.g. touch sensors or bump sensors · CPC title

• G05D2105/10

  for cleaning, vacuuming or polishing · CPC title

• G05D1/622

  Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title