# US 10,765,284 B2 · Cleaning robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,765,284 B2 - Document ID: US10765284B2 - Status: Granted - Kind: B2 - Application number: 15/853,040 - Filed: 2017-12-22 - Published: 2018-06-28 - Granted: 2020-09-08 - Earliest claimed: 2016-12-23 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Hyunsup Song; Hanshin Kim - Web page: https://patentgrep.com/patent/US10765284B2 ## CPC - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A47L 9/062: {Rigidly anchored edge brushes} - A47L 9/281: {the amount or condition of incoming dirt or dust} - A47L 9/2847: {Surface treating elements} - A47L 9/2894: {Details related to signal transmission in suction cleaners} - A47L 9/30: Arrangement of illuminating devices - B25J 9/1676: {Avoiding collision or forbidden zones} - 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} - B25J 9/1697: {Vision controlled systems} - H04N 23/56: provided with illuminating means - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - A47L 2201/06: Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning - B25J 11/0085: {Cleaning} - G05B 2219/39091: Avoid collision with moving obstacles - Y10S 901/01: Mobile robot - Y10S 901/47: Optical - Y10S 901/49: Protective device - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A cleaning robot includes a main body, a traveling part provided at a lower portion of the main body to enable the main body to move along a floor surface, a suction part provided at the main body to suck foreign materials from the floor surface, a cover provided on an exterior of the main body, and a recessed part recessed at a predetermined position of the cover, wherein the cover includes a first cover positioned above the recessed part, and a second cover which is positioned below the recessed part and has a greater width than the first cover. ## Claims ### Claim 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 dust collection motor provided at the main body to collect foreign materials sucked from the floor surface; a cover provided on an exterior of the main body, the cover including a first cover and a second cover; and a recess provided at the cover, the recess extending across at least one side of the cleaning robot, wherein at least a portion of the first cover is positioned above the recess, wherein at least a portion of the second cover is positioned below the recess, wherein the second cover has a width greater than a width of the first cover, wherein the recess includes a first recess recessed inward at a first position of the cover and a second recess recessed inward at a second position of the cover, and wherein the cleaning robot further comprises a first sensor provided in the first recess and a second sensor provided in the second recess. ### Claim 2 (depends on 1) The cleaning robot according to claim 1, further comprising a side brush protruding from a front lower end of the main body. ### Claim 3 (depends on 1) The cleaning robot according to claim 1, wherein a front side of the second cover protrudes outwardly from an upper end of the second cover by a first horizontal distance, wherein a rear side of the second cover protrudes outwardly from the upper end of the second cover by a second horizontal distance, and wherein the first horizontal distance is greater than the second horizontal distance. ### Claim 4 (depends on 1) The cleaning robot according to claim 1, wherein the first position is a front side of the cover and the second position is a rear side of the cover. ### Claim 5 (depends on 4) The cleaning robot according to claim 4, wherein the first recess horizontally extends from the front side of the cover to both lateral sides of the cover, and wherein the second recess horizontally extends from the rear side of the cover to both lateral sides of the cover. ### Claim 6 (depends on 5) The cleaning robot according to claim 5, wherein a horizontal length of the first recess is greater than a horizontal length of the second recess, and wherein the first recess extends horizontally rearwardly beyond a center of the side surface of the cover. ### Claim 7 (depends on 1) The cleaning robot according to claim 1, wherein the first sensor is located closer to a vertical central axis of the second cover than the second sensor. ### Claim 8 (depends on 1) The cleaning robot according to claim 1, further comprising one or more infrared sensors spaced apart from each other and provided along a lower periphery of the second cover, wherein the one or more infrared sensors are directed downward at a predetermined angle. ### Claim 9 (depends on 1) 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. ### Claim 10 (depends on 1) The cleaning robot according to claim 1, further comprising a light transmission window provided at a front side of the first cover. ### Claim 11 (depends on 10) The cleaning robot according to claim 10, further comprising a camera provided in the first cover, the camera being located behind the light transmission window. ### Claim 12 (depends on 11) The cleaning robot according to claim 11, wherein the camera is directed upward at a predetermined angle with respect to a horizontal line. ### Claim 13 (depends on 1) The cleaning robot according to claim 1, wherein the second cover includes a third cover surrounding a side surface of the plurality of wheels, the third cover being provided at a center of a side surface of the second cover. ### Claim 14 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 dust collection motor provided at the main body to collect foreign materials sucked from the floor surface; a cover provided on an exterior of the main body; and a recess provided at the cover, the recess extending across at least one side of the cleaning robot, wherein the recess is recessed inward at a predetermined position of the cover to divide the cover into an upper cover portion and a lower cover portion, wherein the lower cover portion has a width greater than a width of the upper cover portion, wherein the recess comprises: a first recess recessed inward from a front side of the cleaning robot at a first height above the floor surface; and a second recess recessed inward from a rear side of the cleaning robot at a second height above the floor surface different from the first height, and wherein a height of the lower cover portion extends to the first recess and to the second recess. ### Claim 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 dust collection motor provided at the main body to collect foreign materials sucked 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 front side of the cleaning robot; a second recess provided at the cover, the second recess extending horizontally across a rear side of the cleaning robot; a first sensor provided in the first recess and a second sensor provided in the second recess; 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 lower portion of the cover located below the first and second recesses has a width greater than a width of the upper portion of the cover located above the first and second recesses. ### Claim 16 (depends on 15) The cleaning robot according to claim 15, wherein a front side of the lower portion of the cover protrudes outwardly from an upper end of the lower portion of the cover by a first horizontal distance, wherein a rear side of the lower portion of the cover protrudes outwardly from the upper end of the lower portion of the cover by a second horizontal distance, and wherein the first horizontal distance is greater than the second horizontal distance.