Autonomous cleaner

• US 10,481,611 B2
• Filed: 05/19/2017
• Issued: 11/19/2019
• Est. Priority Date: 05/20/2016
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Nam, Bohyun, Shim, Inbo, Sung, Jihoon, Park, Sojin, Song, Seunghyun, Lee, Sangkyu, Jun, Woochan
• Primary Examiner(s): Carter, Monica S
• Assistant Examiner(s): Brady, Timothy Brian
• Application Number:
  US15/599,804
• Publication Number:
  US 20170336798A1
• Time in Patent Office: 914 Days
• Field of Search: 15319, 15347, 15352, 15353, 15339, 403321, 4033221, 403325, 403326, 403328
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/22 with rotary fans
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0494 Height adjustment of dust-loosening tools
• CPC Class Codes: A47L 9/122 flat
• CPC Class Codes: A47L 9/1608 Cyclonic chamber constructions
• CPC Class Codes: A47L 9/1641 for parallel flow
• CPC Class Codes: A47L 9/165 Construction of inlets
• CPC Class Codes: A47L 9/1666 with filtering means
• CPC Class Codes: A47L 9/1683 Dust collecting chambers; Dust collecting receptacles
• CPC Class Codes: A47L 9/1691 Mounting or coupling means for cyclonic chamber or dust receptacles
• CPC Class Codes: A47L 9/28 Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0248 : in combination with a laser lasers per se H01S

Abstract

A robot cleaner comprising: a cleaner body including a wheel unit and a controller controlling driving of the wheel unit; a suction unit disposed to protrude from the cleaner body, the suction unit sucking air containing dust; and a sensing unit disposed at the front of the cleaner body in which the suction unit is disposed, wherein at least one portion of the sensing unit is disposed to overlap with the suction unit in the top-bottom direction of the cleaner body.

Claims

1. A robot cleaner comprising:

a cleaner body including a plurality wheels and a controller that manages driving of at least one wheel of the plurality of wheels;

a cleaner head protruding from a front of the cleaner body, the cleaner head having an intake port to suction air containing foreign substances; and

a sensor assembly attached to the front of the cleaner body,

wherein at least one portion of the sensor assembly vertically overlaps with the cleaner head protruding from the front of the cleaner body,

wherein the sensor assembly includes;

a sensor oriented in an inclined angle relative to side and top surfaces at an upper corner portion of the cleaner body to capture an image of a front space and an upper space, which are in front of the cleaner body; and

a sensor module provided adjacent to the side surface of the cleaner body to sense at least one of an obstacle in front of the cleaner body or a vertical drop located in front of the cleaner body,

wherein the sensor module includes;

a first laser emitting a first laser beam toward a front lower region, which is in front of the cleaner body;

a second laser emitting a second laser beam toward a front upper region, which is in front of the cleaner body; and

a camera configured to photograph the first and second laser beams within a prescribed photographing area, the camera being located at a bottom of the sensor module,

wherein the sensor, first laser, the second laser, and the camera are sequentially positioned and vertically aligned at the side of the cleaner body, and

wherein a distance between the first laser and the camera is greater than a distance between the second laser and the camera.

2. The robot cleaner of claim 1, wherein the sensor assembly protrudes from the top and side surfaces of the cleaner body.

3. The robot cleaner of claim 1, wherein the first laser is inclined in a downward direction relative to the side surface of the cleaner body, and

the second laser is inclined in an upward direction relative to the side surface of the cleaner body.

4. The robot cleaner of claim 1, wherein the sensor assembly further includes:

a window provided over the sensor and the sensor module; and

a case housing the sensor and the sensor assembly, and the case being mounted to the cleaner body.

5. The robot cleaner of claim 4, wherein the window includes a transparent window covering the sensor, and a translucent window covering the sensor module.

6. The robot cleaner of claim 5, wherein a through-hole is formed at a location corresponding to the sensor in the translucent window, and the transparent window covers the through-hole.

7. The robot cleaner of claim 6, wherein the translucent window includes:

a first part having the through-hole;

a second part downwardly extending to be inclined at the first part, the second part being disposed to cover the first and second lasers;

an extension part downwardly extending at the second part, the extension part being covered by the case; and

a third part downwardly extending at the extension part to protrude to the outside of the case, the third part being positioned to cover the camera.

8. The robot cleaner of claim 7, wherein the extension part is upwardly inclined with respect to the third part so as to not interfere with an angle of view in the vertical direction of the camera.

9. The robot cleaner of claim 4, wherein the case includes:

a mounting frame having the sensor and the sensor module mounted therein; and

a cover frame coupled to the mounting frame, the cover frame being mounted in the cleaner body such that at least one portion of the window is accommodated therein.

10. The robot cleaner of claim 9, wherein the cover frame is positioned at the top and side surfaces of the cleaner body.

11. The robot cleaner of claim 10, wherein an upper end of the cover frame is located above the sensor, and the upper end protrudes above the top surface of the cleaner body.

12. The robot cleaner of claim 11, wherein the upper end of the cover frame is formed to be inclined downward in a direction back from a portion of the upper end, and to be inclined downward in a direction forward from a portion of the upper end such that the upper end of the cover frame has a sharp shape.

13. The robot cleaner of claim 1, wherein the first laser is positioned above the second laser and the camera, and the camera is positioned below the first laser and the second laser.