# US 2023/0066176 A1 · Cleaning device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0066176 A1 - Document ID: US20230066176A1 - Status: Published application - Kind: A1 - Application number: 18/045,495 - Filed: 2022-10-11 - Published: 2023-03-02 - Earliest claimed: 2020-01-10 - Assignees: Beijing Roborock Technology Co., Ltd. - Applicants: Beijing Roborock Technology Co., Ltd. - Inventors: Guang YU; Song PENG; Xiaoliang WANG - Web page: https://patentgrep.com/patent/US20230066176A1 ## CPC - A47L 11/4002: {Installations of electric equipment} - A47L 11/02: Floor surfacing or polishing machines (polishing machines in general B24B29/00) - A47L 11/4061: {Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated} - F21V 33/0044: {Household appliances, e.g. washing machines or vacuum cleaners} - G03B 15/05: Combinations of cameras with electronic flash apparatus; Electronic flash units - G03B 29/00: Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects (combinations with flash apparatus G03B15/03) - G05D 1/0227: {using mechanical sensing means, e.g. for sensing treated area} - G05D 1/0246: {using a video camera in combination with image processing means} - A47L 2201/06: Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning - H04N 23/56: provided with illuminating means - 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) - F21V: FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An intelligent cleaning device, comprising a device main body, a camera and a fill-in light, wherein the camera is mounted in the device main body and faces an outer side of the device main body; the fill-in light is mounted in the device main body by means of a fill-in light holder and faces the outer side of the device main body; and an irradiation direction of the fill-in light is the same as a photographic direction of the camera, so as to irradiate at least part of an identification region of the camera. ## Claims ### Claim 1 A cleaning apparatus, comprising: a device body; a camera, wherein the camera is mounted on the device body through a camera support and is oriented outside of the device body; and an illuminator, wherein the illuminator is disposed below the camera, and is mounted on the camera support through an illuminator support and is oriented outside of the device body. ### Claim 2 (depends on 1) The cleaning apparatus according to claim 1, comprising a mounting component, wherein the mounting component is provided with an illuminator opening, the illuminator opening is located in front of the illuminator, and the cleaning apparatus is configured so that light emitted by the illuminator and passing through the illuminator opening illuminates at least part of a recognition area of the camera. ### Claim 3 (depends on 2) The cleaning apparatus according to claim 2, wherein an illuminator cover is disposed at the illuminator opening, and the illuminator cover is made of a material transparent to the light emitted by the illuminator. ### Claim 4 (depends on 3) The cleaning apparatus according to claim 3, wherein the mounting component is further provided with a photography opening, the photography opening is located outside of the camera, a camera cover is disposed at the photography opening, and the camera picks up an image through the camera cover. ### Claim 5 (depends on 2) The cleaning apparatus according to claim 2, further comprising a bumper connected to the device body, wherein the bumper is provided with a bumper opening through which the mounting component is exposed. ### Claim 6 (depends on 1) The cleaning apparatus according to claim 1, wherein the illuminator support is provided with a positioning hole, the camera support is provided with a positioning post, and the positioning post passes through the positioning hole to fix the illuminator support on the camera support. ### Claim 7 (depends on 1) The cleaning apparatus according to claim 1, wherein the illuminator is a surface mounted illuminator, and the illuminator support is a PCB. ### Claim 8 (depends on 1) The cleaning apparatus according to claim 1, wherein a circuit board is disposed on the device body, the illuminator support is electrically connected to the circuit board, and a control system on the circuit board is configured to selectively turn on or turn off the illuminator based on intensity of ambient light detected by the camera. ### Claim 9 (depends on 1) The cleaning apparatus according to claim 1, wherein both the camera and the illuminator are disposed at a substantially frontmost end of the device body in a travelling direction. ### Claim 10 (depends on 9) The cleaning apparatus according to claim 9, wherein the illuminator is disposed farther than the camera with respect to the device body. ### Claim 11 A cleaning apparatus, comprising: a device body; a bumper, connected to the device body and comprising a bumper opening; a camera, mounted on the device body; and an illuminator, disposed below the camera and mounted on the device body; wherein both the camera and the illuminator are oriented outside of the device body through single bumper opening. ### Claim 12 (depends on 11) The cleaning apparatus according to claim 11, wherein a mounting component is disposed on the device body and is provided with an illuminator opening, which is disposed in front of the illuminator such that light emitted by the illuminator and passing through the illuminator opening illuminates at least part of a recognition area of the camera. ### Claim 13 (depends on 12) The cleaning apparatus according to claim 12, wherein an illuminator cover is disposed at the illuminator opening, and the illuminator cover is made of a material transparent to the light emitted by the illuminator. ### Claim 14 (depends on 12) The cleaning apparatus according to claim 12, wherein the mounting component is further provided with a photography opening which is disposed outside of the camera, and a camera cover, through which the camera picks up an image, is disposed at the photography opening. ### Claim 15 (depends on 12) The cleaning apparatus according to claim 12, wherein the mounting component is exposed through the single bumper opening. ### Claim 16 (depends on 11) The cleaning apparatus according to claim 11, wherein the illuminator is a surface mounted illuminator. ### Claim 17 (depends on 11) The cleaning apparatus according to claim 11, wherein both the camera and the illuminator are disposed at a substantially frontmost end of the device body in a travelling direction. ### Claim 18 (depends on 17) The cleaning apparatus according to claim 17, wherein the illuminator is disposed farther than the camera with respect to the device body. ### Claim 19 (depends on 15) The cleaning apparatus according to claim 15, wherein the camera and the illuminator are respectively disposed in a first chamber and a second chamber which are separated from each other, and the mounting component is provided with a blocking member, which forms separation between the first chamber and the second chamber.