US Patent 10357135 Vacuum cleaner

Provided is a vacuum cleaner including a cleaner body; a cover member provided at an upper portion of the cleaner body to be opened and closed; a suction hose installed at a front surface of the cover member and configured to suction dust; moving wheels provided on both side surfaces of the cleaner body; a wheel motor assembly connected to the moving wheels and configured to rotate the moving wheels for travel; a plurality of obstacle detecting members disposed at one side of a front of the cover member and configured to detect an obstacle located at a front and/or a side of the cleaner body; and a PCB configured to control an operation of the wheel motor assembly according to a detected signal of the obstacle detecting member.