Cleaning robot

• US 10,653,282 B2
• Filed: 12/22/2017
• Issued: 05/19/2020
• Est. Priority Date: 12/23/2016
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Song, Hyunsup, Kim, Hanshin
• Primary Examiner(s): Redding, David
• Application Number:
  US15/852,931
• Publication Number:
  US 20180177361A1
• Time in Patent Office: 879 Days
• Field of Search: 15319, 15339
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/062 Rigidly anchored edge brushes
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• 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 9/30 Arrangement of illuminating devices
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 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 Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: H04N 23/00 Cameras or camera modules comprising electronic image sensors; Control thereof
• CPC Class Codes: H04N 23/57 Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical
• CPC Class Codes: Y10S 901/49 Protective device

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.

Claims

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.