Robot cleaner, docking station and cleaning system comprising robot cleaner and docking station

Abstract

A docking station according to an embodiment of the present disclosure includes: a docking portion having a movement channel through which a robotic cleaner enters the docking station and moves to a towelette attachment position at which a towelette may be attached to the robotic cleaner; and a mopping towel supply unit provided above the docking unit and formed to accommodate a plurality of mopping towels arranged side by side in the horizontal direction, in which the mopping towel supply unit sequentially conveys each of the mopping towels in the mopping towel supply unit to the outlet in the horizontal direction and discharges the mopping towels through the outlet to the mopping towel attachment position.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a robotic vacuum cleaner capable of attaching a mopping cloth, a docking station that provides automatic replacement of a mopping cloth attached to the robotic vacuum cleaner, and a cleaning system including the robotic vacuum cleaner and the docking station. Background Art

[0002] A robot vacuum cleaner is a device that automatically cleans a cleaning space while moving in the cleaning space without user operation. Generally, a robot vacuum cleaner can suck up foreign matter (e.g., dust accumulated on a surface to be cleaned (e.g., a floor)) or wipe off foreign matter (e.g., dirt stuck on the surface to be cleaned) with a mop towel. Among these robot vacuum cleaners, one type of robot vacuum cleaner wipes off foreign matter stuck on a surface by rotating a mop towel attached thereto.

[0003] As cleaning proceeds, the mop towel attached to the robot vacuum cleaner may be contaminated. In order to effectively clean, the user needs to replace the contaminated mop towel. Summary of the invention

[0004] Technical issues

[0005] A docking station that supports replacement of a mop towel attached to a robot vacuum cleaner for cleaning and a robot vacuum cleaner corresponding to the docking station may be provided.

[0006] According to an embodiment of the present disclosure, the docking station may include a docking unit having a travel path for the robot vacuum cleaner to enter the docking station and travel to a mop towel attachment position where the mop towel may be attached to the robot vacuum cleaner.

[0007] According to an embodiment, the docking station may include a mop towel supply unit disposed above the docking unit and configured to receive a plurality of mop towels, wherein the mop towels of the plurality of mop towels are arranged side by side in a horizontal direction.

[0008] According to an embodiment, the mop towel supply unit may include a mop towel transfer unit, which is configured so that the mop towel transfer unit transfers each of the multiple mop towels received by the mop towel supply unit to the outlet in sequence along the horizontal direction to discharge each of the multiple mop towels through the outlet to the mop towel attachment position.

[0009] According to an embodiment, the mop towel transfer unit may include a motor.

[0010] According to an embodiment, the mop towel transfer unit may include a spiral member that is rotatably driven by a motor and has a spiral structure extending in a horizontal direction.

[0011] According to an embodiment, the spiral member has a plurality of pitches, and may be configured such that each of the plurality of mop towels may be inserted into a corresponding pitch of the plurality of pitches.

[0012] According to an embodiment, the docking unit may include a mop towel guide unit located on an upper surface of the docking unit and configured to guide each of the plurality of mop towels discharged through the outlet to be located in the mop towel attachment position.

[0013] According to an embodiment, the guide unit may include a guide rib protruding from an upper surface of the docking unit to guide each of the plurality of mop towels discharged through the outlet to the mop towel attachment position.

[0014] According to an embodiment, the guide unit may include at least one roller located on an upper surface of the docking unit to guide each of the plurality of mop towels discharged through the outlet to move to the mop towel attaching position.

[0015] According to an embodiment, the mop towel supply unit may include a supply unit cover pivotally coupled to an upper surface of the mop towel supply unit and pivotable to open or close at least a portion of the mop towel supply unit.

[0016] According to an embodiment, the mop towel supply unit may have a drawer which contains at least a portion of the mop towel transfer unit and can be drawn out from the mop towel supply unit.

[0017] According to an embodiment, the docking station may include a mop towel detection sensor configured to detect the number of mop towels among a plurality of mop towels present in the mop towel supply unit.

[0018] According to an embodiment, the docking station may include an alarm providing unit configured to provide an alarm when the mop towel detection sensor detects that the number of mop towels among the plurality of mop towels present in the mop towel supply unit is a predetermined number or less.

[0019] According to an embodiment, the docking station may include a mop towel removal unit having at least one protrusion, the at least one protrusion protruding from an upper surface of the docking unit and configured to allow at least a portion of the at least one protrusion to be inserted into a space between the robot vacuum cleaner and the mop towel when the mop towel is attached to the robot vacuum cleaner and the robot vacuum cleaner travels along a travel path to remove the mop towel from the robot vacuum cleaner.

[0020] According to an embodiment, the at least one protrusion may have a wedge shape forming a predetermined acute angle with an upper surface of the docking unit.

[0021] According to an embodiment, the docking unit may include an opening, at least a portion of the opening being located below the at least one protrusion.

[0022] According to an embodiment, the removed mop towel may be inserted into the docking unit through the opening.

[0023] According to an embodiment, the at least one protrusion may have a first protrusion and a second protrusion which respectively protrude from an upper surface of the docking unit and are spaced apart from each other by a predetermined interval.

[0024] According to an embodiment, the docking station may include a mop towel recovery unit located within the docking unit and configured to receive a mop towel inserted through the opening.

[0025] According to an embodiment of the present disclosure, a cleaning system may include a robotic vacuum cleaner and a docking station. The docking station may include a docking unit having a travel path for the robotic vacuum cleaner to enter the docking station and travel to a mop towel attachment position, where the mop towel can be attached to the robotic vacuum cleaner.

[0026] According to an embodiment, the docking station may include a mop towel supply unit disposed above the docking unit and configured to receive a plurality of mop towels arranged side by side in a horizontal direction.

[0027] According to an embodiment, the mop towel supply unit may include a mop towel transfer unit, which is configured so that the mop towel transfer unit transfers each of the multiple mop towels received by the mop towel supply unit to the outlet in sequence along the horizontal direction to discharge each of the multiple mop towels through the outlet to the mop towel attachment position.

[0028] According to an embodiment, the robot vacuum cleaner is configured to attach the mop towel to the robot vacuum cleaner when the robot vacuum cleaner is in the mop towel attachment position and the mop towel discharged through the outlet is located in the mop towel attachment position.

[0029] According to an embodiment, the mop towel supply unit may include a motor.

[0030] According to an embodiment, the mop towel supply unit may include a spiral member which is rotatably driven by a motor and has a spiral structure formed to extend in a horizontal direction to sequentially transfer each of a plurality of mop towels received in the mop towel supply unit in the horizontal direction.

[0031] According to an embodiment, the docking station may include guide ribs protruding from an upper surface of the docking unit and at least one roller located in the upper surface of the docking unit, and the at least one guide rib and the at least one roller are configured to guide each of a plurality of mop towels discharged from a mop towel supply unit to a mop towel attachment position.

[0032] According to an embodiment, the docking station may include at least one guide rib protruding from an upper surface of the docking unit and at least one roller located in the upper surface of the docking unit, and the at least one guide rib and the at least one roller may be configured to guide each of a plurality of mop towels discharged from a mop towel supply unit to a mop towel attachment position.

[0033] According to an embodiment, the docking station may have a protrusion that protrudes from an upper surface of the docking unit and is configured to allow at least a portion of the protrusion to be inserted into a space between the robot vacuum cleaner and the mop towel when the mop towel is attached to the robot vacuum cleaner and the robot vacuum cleaner travels along a travel path, so as to remove the mop towel from the robot vacuum cleaner before the robot vacuum cleaner reaches the mop towel attachment position.

[0034] According to an embodiment, the robot vacuum cleaner may include a first charging terminal unit.

[0035] According to an embodiment, the docking station may include a second charging terminal unit so that when the robot vacuum cleaner is located at the mop cloth attachment position, the first charging terminal unit contacts the second charging terminal unit to charge the robot vacuum cleaner.

[0036] According to an embodiment, the mop cloth unit may be configured to move up and down within a predetermined distance in a height direction of the robot cleaner.

[0037] According to an embodiment, the robot vacuum cleaner includes a mop towel unit to which a mop towel can be attached. The mop towel unit can be configured to descend to contact the mop towel at the mop towel attachment position when the robot vacuum cleaner reaches the mop towel attachment position and no mop towel is attached to the mop towel unit, so that the mop towel is attached to the mop towel unit.

[0038] According to an embodiment of the present disclosure, since a mop towel attached to a robot vacuum cleaner is automatically replaced through a docking station rather than being directly replaced by a user, user convenience may be enhanced.

[0039] The technical objectives of the present disclosure are not limited to the above-mentioned technical objectives, and other technical objectives may be derived from the exemplary embodiments of the present disclosure by a person of ordinary skill in the art.

[0040] The effects of the present invention are not limited to the above effects, and other unmentioned effects are obvious to those skilled in the art from the following description. In other words, those skilled in the art can also derive unexpected effects from the embodiments of the present invention in practicing the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1is a diagram schematically showing a cleaning system according to an embodiment;

[0042] Figure 2 is a perspective view showing a robot vacuum cleaner according to an embodiment;

[0043] Figure 3 is a bottom view showing a robot vacuum cleaner according to an embodiment;

[0044] Figure 4 is a diagram schematically illustrating functional blocks constituting a controller of a robot vacuum cleaner according to an embodiment;

[0045] Figure 5 is a perspective view showing a docking station according to an embodiment;

[0046] Figure 6 According to the embodiment Figure 5 A cross-sectional view of the docking station taken along line AA;

[0047] Figure 7 According to the embodiment Figure 5 A cross-sectional view of the docking station taken along line BB;

[0048] Figure 8 When viewed from the top and front Figure 6 an enlarged view of part I;

[0049] Fig. 9 is a diagram showing a drawer-type wet mop towel recovery structure and a drawer-type supply structure of a docking station according to an embodiment;

[0050] Fig.10 is a diagram showing a drawer-type wet mop towel recovery structure and a cover-type supply structure of a docking station according to an embodiment;

[0051] Fig.11a and Fig.11b is a diagram illustrating an exemplary case of removing a wet mop cloth from a robot vacuum cleaner while passing through a mop cloth removing unit of a docking station according to an embodiment;

[0052] Fig.12a and Figure 12b is a side view showing a change in a case where an unused wet mop cloth is supplied from a mop cloth supply unit to a mop cloth attachment position according to an embodiment; and

[0053] Fig.13a and Fig.13b is a side view showing a change in a situation when a wet mop cloth is attached to a robotic vacuum cleaner in a mop cloth attachment position of a docking station according to an embodiment. DETAILED DESCRIPTION

[0054] Embodiments of the present invention are now described in detail in a manner that is easily implemented by those of ordinary skill in the art with reference to the accompanying drawings. However, the present invention may be implemented in various other forms and is not limited to the embodiments set forth herein. Throughout the specification and the accompanying drawings, the same or similar reference numerals may be used to refer to the same or similar elements. In addition, for clarity and brevity, well-known functions and configurations are not described in the accompanying drawings and related descriptions.

[0055] Figure 1 is a diagram schematically showing a cleaning system according to an embodiment.

[0056] refer to Figure 1 , a cleaning system 10 according to an embodiment may include a robot vacuum cleaner 100 and a docking station 200 .

[0057] In an embodiment, the robot vacuum cleaner 100 may be in a state where a mop towel P (wet mop towel or dry mop towel) that may contact a surface to be cleaned (e.g., a floor) is attached to a mop towel unit 140 located at the lower side of the robot vacuum cleaner 100. The robot vacuum cleaner 100 may perform an operation (or mopping) of removing foreign matter stuck to the surface to be cleaned by the mop towel P attached to the mop towel unit 140 located at the lower side of the robot vacuum cleaner 100. For example, the robot vacuum cleaner 100 may remove foreign matter stuck to the floor by friction between the floor and the mop towel P generated when the mop towel P attached below rotates.

[0058] The robot vacuum cleaner 100 may enter the docking station 200 to replace the mop cloth P attached to the mop cloth unit 140. The robot vacuum cleaner 100 may enter the docking station 200 to replace the battery (eg, Figure 3 The battery 150) is charged. Figures 2 to 4 The specific configuration and operation of the robotic vacuum cleaner 100 are described.

[0059] In an embodiment, the docking station 200 may include a station housing 210 forming an overall appearance of the docking station 200. In an embodiment, the docking station 200 may include mop towel removal units 220a and 220b that support removal of the mop towel P attached to the mop towel unit 140 of the robot vacuum cleaner 100 without manual intervention. In an embodiment, the docking station 200 may provide mop towel attachment positions PP1 and PP2 in which a new mop towel P is attached to the mop towel unit 140 of the robot vacuum cleaner 100. In an embodiment, the docking station 200 may include a mop towel guide unit 240 that guides the mop towel received inside to the mop towel attachment positions PP1 and PP2. In an embodiment, the mop towel removal units 220a and 220b and the mop towel attachment positions PP1 and PP2 may be provided on a travel path of the robot vacuum cleaner 100 formed on the docking unit 212. Although not shown in the drawings, the docking station 200 may be configured to include a pair of charging terminals 2111 a and 2111 b for charging the battery 150 provided in the robot vacuum cleaner 100 .

[0060] Reference below Figures 5 to 10 The specific configuration and operation of the docking station 200 are described.

[0061] Figure 2 is a perspective view illustrating a robot vacuum cleaner according to an embodiment. Figure 3 is a bottom view illustrating a robot vacuum cleaner according to an embodiment.

[0062] refer to Figure 2 and Figure 3 In an embodiment, the robot vacuum cleaner housing 110 may include a cleaner body 111 and a cleaner cover 112. In an embodiment, the cleaner body 111 may form a lower appearance and / or a side appearance of the robot vacuum cleaner 100. According to an embodiment, a power button 113 may be provided on one side of the cleaner body 111. According to an embodiment, the power button 113 may be operated by a user to turn on / off to power on / off the robot vacuum cleaner 100. The cleaner cover 112 may form an upper appearance of the robot vacuum cleaner 100. The cleaner cover 112 may be coupled to an upper side of the cleaner body 111.

[0063] In an embodiment, the robot vacuum cleaner 100 may include a control panel 120 provided on an upper surface of the cleaner cover 112. The control panel 120 may receive various commands from a user regarding the operation of the robot vacuum cleaner 100. According to an embodiment, the control panel 120 may provide the user with a current status regarding the operation of the robot vacuum cleaner 100.

[0064] According to an embodiment, the control panel 120 may include an input device such as a button, a switch, or a touch panel. According to an embodiment, the robot vacuum cleaner 100 may receive a command about the operation of the robot vacuum cleaner 100 (e.g., start / stop cleaning or switch cleaning mode) from a user through the input device of the control panel 120. According to an embodiment, the control panel 120 may include a display device such as a display. According to an embodiment, the robot vacuum cleaner 100 may display information about the current state of the robot vacuum cleaner 100 (e.g., the current cleaning mode or battery status) to the user through the display device of the control panel 120. According to an embodiment, the control panel 120 may have an input device and a display device integrated together, but the present disclosure is not limited thereto.

[0065] refer to Figure 3 In an embodiment, a driving unit 130 may be provided on the bottom surface of the cleaner body 111. The robot vacuum cleaner 100 may be moved in the cleaning space by the driving unit 130. The driving unit 130 may be configured to allow the robot vacuum cleaner 100 to move freely. The driving unit 130 may include one or more wheels that rotate by receiving power from a driving unit (not shown) provided inside the robot vacuum cleaner 100. According to an embodiment, the driving unit 130 may include a pair of main wheels (i.e., a first main wheel 131a and a second main wheel 131b). In an embodiment, the first main wheel 131a and the second main wheel 131b may be provided to support at two opposite edges of the bottom surface of the cleaner body 111 while balancing the body of the robot vacuum cleaner 100. The driving unit 130 may include a first sub-wheel 132 and a second sub-wheel 133. In an embodiment, the first sub-wheel 132 and the second sub-wheel 133 may be provided in front and rear in a direction perpendicular to the direction in which the first main wheel 131a and the second main wheel 131b are provided, respectively.

[0066] In an embodiment, the traveling direction of the robot vacuum cleaner 100 may be determined according to how the movement of each of the first main wheel 131a and the second main wheel 131b is controlled. For example, when the first main wheel 131a and the second main wheel 131b are controlled to rotate in the same direction at the same speed, the robot vacuum cleaner 100 may move forward or backward. For example, when a pair of main wheels 131a and 131b are controlled to rotate in different directions and / or at different speeds, the robot vacuum cleaner 100 may change the moving direction and move as determined.

[0067] In an embodiment, the first sub-wheel 132 may be disposed in front of the bottom surface of the cleaner body 111 (e.g., in the F direction). In an embodiment, the second sub-wheel 133 may be disposed behind the rear surface of the cleaner body 111 (e.g., in the R direction). In an embodiment, the first sub-wheel 132 and the second sub-wheel 133 may support the robot vacuum cleaner 100 to balance the robot vacuum cleaner 100 when moving forward or backward.

[0068] In an embodiment, the mop towel unit 140 may be disposed on the bottom surface of the cleaner body 111. In an embodiment, the mop towel unit 140 may be disposed in front of the bottom surface of the cleaner body 111, but the present disclosure is not limited thereto. The mop towel P (wet mop towel or dry mop towel) may be detachably connected to the mop towel unit 140 to wipe the floor. The mop towel unit 140 may rotate clockwise or counterclockwise together with the mop towel P attached to the mop towel unit 140. When the mop towel unit 140 rotates together with the mop towel P attached to the mop towel unit 140, friction may occur between the mop towel P and the floor. Therefore, the robot vacuum cleaner 100 may remove foreign matter stuck to the floor. In an embodiment, the mop towel unit 140 may rise or fall within a predetermined distance range in the height direction of the robot vacuum cleaner 100 (e.g., a direction perpendicular to the cleaning surface when the robot vacuum cleaner 100 is placed on the cleaning surface).

[0069] In an embodiment, the mop towel unit 140 may include a first mop towel unit 140a and a second mop towel unit 140b. The first mop towel unit 140a and the second mop towel unit 140b may correspond to each other in operation, structure, and shape. In an embodiment, the mop towel unit 140 (e.g., the first mop towel unit 140a and the second mop towel unit 140b) may include a rotating plate (e.g., the first rotating plate 141a or the second rotating plate 141b) and an attachment member (e.g., the first attachment member 142a or the second attachment member 142b). Figure 2 , the rotating plates 141a and 141b and the attaching members 142a and 142b are hidden by the mop towel P attached to the mop towel unit 140, and in order to indicate the state, the rotating plates 141a and 141b and the attaching members 142a and 142b are shown in dotted lines.

[0070] In an embodiment, the first rotating plate 141a and the second rotating plate 141b may have a disc shape as a whole. However, the embodiments of the present disclosure are not limited thereto. According to an embodiment, the diameter of the first rotating plate 141a may be set to be equal to or smaller than the diameter of the mop towel P, but is not limited thereto. Similarly, the diameter of the second rotating plate 141b may be set to be equal to or smaller than the diameter of the mop towel P, but is not limited thereto.

[0071] Each corresponding attachment member (e.g., the first attachment member 142a or the second attachment member 142b) may be disposed on one surface of each of the first rotating plate 141a and the second rotating plate 141b. In an embodiment, the mop towel P may be attached to each corresponding rotating plate 141a or 141b by the first attachment member 142a or the second attachment member 142b. The first attachment member 142a or the second attachment member 142b may be, for example, a Velcro-type attachment device, but the present disclosure is not limited thereto. According to an embodiment, the first attachment member 142a or the second attachment member 142b may be divided into a plurality of segments, but the present disclosure is not limited thereto. In an embodiment, the first attachment member 142a or the second attachment member 142b may be composed of a plurality of segments spaced apart from each other by a predetermined interval in a circumferential direction at the edge of the rotating plate 141a or 141b.

[0072] In an embodiment, the battery 150 may be disposed at the lower side of the robot vacuum cleaner 100. In an embodiment, the battery 150 may be disposed to be removable through the lower side on the bottom surface of the cleaner body 111, but the present disclosure is not limited thereto. The battery 150 may be electrically connected to a drive unit (not shown) such as a motor to transmit power and supply power to the drive unit 130 and / or the mopping towel unit 140. The battery 150 may be a rechargeable secondary battery, but is not limited thereto. According to an embodiment, when the charging terminals (e.g., the first charging terminal 1111a and / or the second charging terminal 1111b) disposed on two opposite side surfaces of the robot vacuum cleaner 100 contact the charging terminals (e.g., the first charging terminal (e.g., Figure 6 The first charging terminal 2111a and / or the second charging terminal (eg, Figure 6 When the second charging terminal 2111b of the docking station 200 is connected, the battery 150 can receive power from the docking station 200 and be charged. In the drawings and the specification, although the battery 150 is described and shown as being charged by contact charging, the present disclosure is not limited thereto. According to an embodiment, the battery 150 can be charged by wireless charging (e.g., magnetic induction). In this case, a wireless charging structure (not shown) for wireless charging can be provided in each of the robot vacuum cleaner 100 and the docking station 200.

[0073] Despite Figure 2 and Figure 3Although not shown in the figure, the driving unit may be provided in the robot vacuum cleaner 100. In an embodiment, although not specifically shown, the driving unit may include a plurality of components including a motor and / or an actuator to supply power to the above-mentioned traveling unit 130 or the mopping towel unit 140. In an embodiment, the driving unit may be connected to the above-mentioned traveling unit 130 (e.g., each of the first main wheel 131a and the second main wheel 131b) to provide the power required to move the robot vacuum cleaner 100. In an embodiment, the driving unit may be connected to the mopping towel unit 140 to provide the power required to rotate each rotating plate 141a or 141b. In an embodiment, the driving unit may be connected to the mopping towel unit 140 to provide power for the mopping towel unit 140 to rise and / or fall in the height (or vertical) direction.

[0074] although Figure 2 and Figure 3 , but the robotic vacuum cleaner 100 may include a controller (e.g., Figure 4 The controller 170 of the robot vacuum cleaner 100 generates a control command for controlling the operation of each unit of the robot vacuum cleaner 100. Figure 4 A control function of the controller according to the embodiment is briefly described.

[0075] Figure 4 is a diagram schematically illustrating functional blocks constituting a controller of a robot vacuum cleaner according to an embodiment.

[0076] According to an embodiment, the controller 170 may include a command receiving unit 410. The command receiving unit 410 may receive a command from a user. The command receiving unit 410 may receive a command from a user received through the above-mentioned power button 113 and / or the control panel 120. The command receiving unit 410 may receive each user command including an operation on / off command, a cleaning start or pause command, or a cleaning mode setting command.

[0077] In an embodiment, the controller 170 may include a mop towel replacement determination unit 420 to determine whether to replace the mop towel attached to the mop towel unit 140 while cleaning. In an embodiment, the mop towel replacement determination unit 420 may determine whether the mop towel needs to be replaced based on a result detected by a separate contamination sensor (not shown) provided. In an embodiment, the mop towel replacement determination unit 420 may determine whether the mop towel needs to be replaced based on a cleaning time that has passed after the mop towel is attached to the mop towel unit 140. In an embodiment, the mop towel replacement determination unit 420 may determine whether the mop towel needs to be replaced based on a command received from the command receiving unit 410. In an embodiment, the mop towel replacement determination unit 420 may determine whether the mop towel needs to be replaced based on a predetermined reference setting of a user.

[0078] In an embodiment, the controller 170 may include a travel path calculation unit 430 to calculate a travel path of the robot vacuum cleaner 100. In an embodiment, the travel path calculation unit 430 may calculate the travel path of the robot vacuum cleaner 100 based on a user command received through the command receiving unit 410 and / or a predetermined algorithm. In an embodiment, the travel path calculation unit 430 may calculate the travel path in consideration of a result of detection from a sensor (not shown) provided in the robot vacuum cleaner 100. In an embodiment, when the mop towel replacement determination unit 420 determines that the mop towel needs to be replaced, the travel path calculation unit 430 may calculate a travel path to allow the robot vacuum cleaner 100 to travel to the docking station 200. In an embodiment, when it is determined that the battery 150 is to be charged, the travel path calculation unit 430 may calculate a travel path to allow the robot vacuum cleaner 100 to travel to the docking station 200.

[0079] In an embodiment, the controller 170 may include a drive unit control command unit 440. In an embodiment, the drive unit control command unit 440 may generate a control command to control each component of the drive unit (e.g., a motor and / or an actuator) to allow the robot vacuum cleaner 100 to move along a travel path determined by the travel path calculation unit 430 and a command received from a user through the above-mentioned command receiving unit 410. In an embodiment, each component of the drive unit may be operated according to the command generated by the drive unit control command unit 440. In an embodiment, each component of the drive unit may be operated to correctly control the rotation direction and speed of the first main wheel 131a and the second main wheel 131b according to the command generated by the drive unit control command unit 440, thereby allowing the robot vacuum cleaner 100 to correctly move in a desired direction.

[0080] In an embodiment, the drive unit control command unit 440 may generate a control command for controlling each component of the drive unit (e.g., a motor and / or an actuator) to allow the mop towel unit 140 to move based on a command received from a user through the above-mentioned command receiving unit 410. In an embodiment, each component of the drive unit may be operated to correctly adjust the rotation speed of each rotating plate 141a or 141b according to the command generated by the drive unit control command unit 440. In this case, the mopping intensity of the robot vacuum cleaner 100 may be adjusted. In an embodiment, each component of the drive unit may adjust the mop towel unit 140 to rise or fall in the height direction according to the command generated by the drive unit control command unit 440. In this case, the distance between the mop towel unit 140 and the floor may be adjusted.

[0081] Figure 5 is a perspective view showing a docking station according to an embodiment. Figure 6 According to the embodiment Figure 5 A cross-sectional view of the docking station taken along line AA. Figure 7 According to the embodiment Figure 5 A cross-sectional view of the docking station taken along line BB. Figure 8 When viewed from the top and front Figure 6 An enlarged view of part I of FIG.

[0082] refer to Figures 5 to 8 In an embodiment, the docking station 200 may include a station housing 210 , mop towel removing units 220 a and 220 b , a mop towel supplying unit 230 , and a mop towel guiding unit 240 .

[0083] According to an embodiment, the station housing 210 may form an overall appearance of the docking station 200. According to an embodiment, the station housing 210 may include a main body unit 211 and a docking unit 212.

[0084] According to an embodiment, the docking unit 212 may provide a travel path for the cleaner 100 to approach the docking station 200. According to an embodiment, a travel track for the robot vacuum cleaner 100 to enter the docking station 200 to charge the battery 150 or replace the mop towel P may be formed on the upper surface of the docking unit 212, for example, a travel surface through which a pair of main wheels 131 provided in the robot vacuum cleaner 100 passes. According to an embodiment, a travel track for the robot vacuum cleaner 100 to leave the docking station 200 after completing the charging of the battery 150 and / or the replacement of the mop towel P, that is, a travel surface through which a pair of main wheels 131 provided in the robot vacuum cleaner 100 passes may be formed on the upper surface of the docking unit 212.

[0085] According to an embodiment, the docking unit 212 may include an inclined road. In an embodiment, the docking unit 212 may form an inclined surface that gradually rises in a direction (eg, F direction) in which the robot vacuum cleaner 100 enters the docking station 200.

[0086] According to an embodiment, the docking unit 212 may have anti-skid members 213a and 213b. In an embodiment, the anti-skid members 213a and 213b may be arranged at the edges of the left and right ends of the docking unit 212. In an embodiment, the anti-skid member 213a or 213b may be arranged in a position corresponding to the travel trajectory of the robot vacuum cleaner 100. According to an embodiment, a plurality of anti-skid members 213a and 213b may be provided. In an embodiment, the anti-skid members 213a and 213b may be arranged to be spaced apart from each other by a predetermined interval along the direction of the tilting of the docking unit 212 (or the travel direction of the robot vacuum cleaner 100 (e.g., F or R direction)). According to an embodiment, the anti-skid members 213a and 213b may be configured to prevent the sliding of the robot vacuum cleaner 100 moving along the docking unit 212. The anti-skid members 213a and 213b may be formed of, for example, rubber.

[0087] In an embodiment, the first mop cloth removal unit 220a and the second mop cloth removal unit 220b may be provided on the upper surface of the docking unit 212 at a predetermined interval. According to an embodiment, the first mop cloth removal unit 220a and the second mop cloth removal unit 220b may include a first protrusion 221a and a second protrusion 221b protruding from the surface of the docking unit 212, respectively. The first protrusion 221a or the second protrusion 221b may extend in a direction different from the traveling direction of the robot vacuum cleaner 100 (e.g., the F direction or the R direction) (e.g., the Le direction or the Ri direction perpendicular to the F direction or the R direction) with a predetermined length (e.g., it may correspond to the diameter of the mop cloth P attached to the robot vacuum cleaner 100). The respective extension directions and / or lengths of the first protrusion 221a and the second protrusion 221b may be the same as or different from each other. In an embodiment, the first protrusion 221a and the second protrusion 221b may protrude from the upper surface of the docking unit 212 at a predetermined acute angle, forming a wedge shape. In an embodiment, the angle between the upper surface of the docking unit 212 and the protrusion 221 (eg, Figure 7 The angle α) may fall within the range of about 30 degrees or less. The angles between the upper surface of the docking unit 212 and the first protrusion 221a and the second protrusion 221b may be the same as or different from each other. In the present disclosure, the description focuses on an example in which a mop towel removal unit for automatically removing a mop towel from the robot vacuum cleaner 100 is composed of a first mop towel removal unit 220a and a second mop towel removal unit 220b separated from each other, but the present disclosure is not limited thereto. In an embodiment, the robot vacuum cleaner 100 may include a long mop towel removal unit. In an embodiment, the robot vacuum cleaner 100 may include three or more separate mop towel removal units.

[0088] In an embodiment, Figure 8As shown in , the first mop towel removal unit 220a may include a first side portion 222a that connects one side end of the corresponding first protrusion 221a (e.g., one side end adjacent to the lateral edge of the docking unit 212) to the upper surface of the docking unit 212. In an embodiment, the second mop towel removal unit 220b may include a second side portion 222b that connects one side end of the second protrusion 221b adjacent to the lateral edge of the docking unit 212 (the opposite end away from the first side portion 222a) to the upper surface of the docking unit 212. Since the side portions 222a and 222b are provided on two opposite side ends of the protrusions 221a and 221b, the mop towel removed from the robot vacuum cleaner 100 can be supported to be stably inserted through the opening 214 without falling to the outside, as described below.

[0089] According to an embodiment, an opening 214 opened upward may be formed in a position corresponding to each of the first protrusion 221a and the second protrusion 221b. According to an embodiment, a corresponding opening 214 may be formed downward by each of the first protrusion 221a and the second protrusion 221b. In an embodiment, the opening may extend in the same direction as each corresponding first protrusion 221a or second protrusion 221b, but the present disclosure is not limited thereto.

[0090] According to an embodiment, each of the first protrusion 221a and the second protrusion 221b may be configured to cover at least a portion of the opening 214 in each corresponding position from above. In an embodiment, at least a portion of the corresponding opening 214 may be disposed in a space formed by the first protrusion 221a and the first side portion 222a. In an embodiment, at least a portion of the corresponding opening 214 may be disposed in a space formed by the second protrusion 221b and the second side portion 222b. As described below, at least a portion of the mop towel P removed from the robot vacuum cleaner 100 by the first protrusion 221a and / or the second protrusion 221b may be inserted through each opening 214.

[0091] In an embodiment, the docking unit 212 may include a recovery space S1 for receiving the mop towel P removed from the robot vacuum cleaner 100 at an interior below an upper surface providing a travel surface of the robot vacuum cleaner 100. In an embodiment, the opening 214 may be in communication with the recovery space S1. As described below, the mop towel P removed from the robot vacuum cleaner 100 through the first protrusion 221a and / or the second protrusion 221b may be received into the recovery space S1 through each opening 214.

[0092] According to an embodiment, Figure 7As shown in the enlarged portion of , the area adjacent to the free end of the first protrusion 221a and the opening 214 therebelow (e.g., the inner end 2121 of the docking unit 212) may be formed to be inclined downward toward the opening 214 on the upper surface of the docking unit 212 in the direction of entering the docking station 200 (e.g., the F direction) while facing the rear surface 2213 of the first protrusion 221a. According to an embodiment, the inner end 2121 of the docking unit 212 may be configured to have a surface parallel to the rear surface 2213 of the first protrusion 221a. Although Figure 7 Only the opening 214 and the inner end 2121 facing the first protrusion 221a are shown, but according to the embodiment, the opening 214 and the inner end 2121 corresponding to the second protrusion 221b may also be configured in the same or similar shape. When the inner end 2121 of the docking unit 212 is formed to be inclined toward the opening while facing the rear surface 2213 of each of the first protrusion 221a or the second protrusion 221b, the mop towel P removed from the robot vacuum cleaner 100 through the first protrusion 221a or the second protrusion 221b can be safely put into the opening 214 without falling to the outside.

[0093] According to an embodiment, as can be Figure 7 As seen in FIG. 2 , each of the plurality of mop towels P received in the mop towel supply unit 230 may be at a predetermined angle to the surface on which the docking station 200 is located so as not to be parallel to the surface.

[0094] According to an embodiment, the main body unit 211 may form the upper appearance and the side appearance of the docking station 200. According to an embodiment, the main body unit 211 may include a mop towel receiving space S2 disposed above the docking unit 212, as described below. According to an embodiment, the docking unit 212 may form the upper part of the docking station 200 through the mop towel receiving space S2. In an embodiment, the main body unit 211 may include three side walls surrounding the docking unit 212 in a direction parallel to the ground, while leaving an entrance 211a for the robot vacuum cleaner 100 to enter the docking station 200 through the docking unit 212. According to an embodiment, the main body unit 211 and the docking unit 212 may be formed integrally. According to an embodiment, the robot vacuum cleaner 100 may travel on the docking unit 212 and enter the docking station 200 through the entrance 211a defined by the three side walls of the main body unit 211.

[0095] According to an embodiment, charging terminals 2111a and 2111b configured to contact charging terminals 1111a and 1111b of the robot vacuum cleaner 100 may be provided on the inner surface of the main body unit 211. In an embodiment, the charging terminals 2111a and 2111b may be provided on the inner surface of the main body unit 211 (e.g., the inner surfaces of two opposite side walls among the three side walls), facing two opposite sides of the robot vacuum cleaner 100 in a state where the first sub-wheel 132 is placed in the cleaner placement position WP. In the present disclosure, the description focuses on an example in which the charging terminals 1111a and 1111b of the robot vacuum cleaner 100 are respectively provided on two opposite sides of the robot vacuum cleaner 100, and the charging terminals 2111a and 2111b of the docking station 200 are provided corresponding to two opposite directions perpendicular to the entry direction (e.g., F direction) of the robot vacuum cleaner 100, but the present disclosure is not limited thereto. The respective corresponding charging terminals of the robot vacuum cleaner 100 and the docking station 200 may be provided at different positions.

[0096] According to an embodiment, the mop towel supply unit 230 may be provided in the mop towel receiving space S2 of the main body unit 211. According to an embodiment, the mop towel receiving space S2 and the mop towel supply unit 230 may be provided above the docking unit 212. According to an embodiment, an unused or washed mop towel P may be received in the mop towel supply unit 230. According to an embodiment, a plurality of mop towels P received in the mop towel supply unit 230 may be lifted at a predetermined angle (e.g., nearly 90 degrees as shown) between their respective cleaning surfaces and the bottom surface (or ground), and received side by side. According to an embodiment, as shown, the mop towels received in the mop towel supply unit 230 may be arranged in two rows, but the present disclosure is not limited thereto. According to an embodiment, an outlet 231 opened downward may be formed at one end in the horizontal direction of the mop towel supply unit 230. According to an embodiment, a plurality of mop towels P received in the mop towel supply unit 230 may be discharged downward one by one through the outlet 231. Although not specifically shown, when the mop towels received in the mop towel supply unit 230 are arranged in two rows, an outlet 231 may be formed for each row, or a single long outlet may be configured for a plurality of rows. According to an embodiment, each mop towel P discharged through the outlet 231 may be supplied to each mop towel attachment position PP1 or PP2 along the mop towel guide unit 240.

[0097] According to an embodiment, the mop towel supply unit 230 may include a mop towel transfer unit 232. According to an embodiment, the mop towel transfer unit 232 may be configured to move the mop towel P received in the receiving space S2 backward and / or forward in a horizontal direction. According to an embodiment, each mop towel P received in the mop towel supply unit 230 may be inserted / inserted into each predetermined position of the mop towel transfer unit 232. In an embodiment, when the mop towel transfer unit 232 rotates, each mop towel P received in the mop towel supply unit 230 may move closer to or away from the outlet 231.

[0098] According to an embodiment, the mop towel transmission unit 232 may be configured to have a screw conveyor structure. According to an embodiment, the mop towel transmission unit 232 may include spirals 2321a and 2321b and a motor 2322. According to an embodiment, the spirals 2321a and 2321b may be configured to have a spiral structure extending in the horizontal direction. According to an embodiment, the spirals 2321a and 2321b may be axially coupled to the motor 2322. According to an embodiment, the spirals 2321a and 2321b may receive rotational power from the motor 2322 and rotate. According to an embodiment, each of the plurality of mop towels P may be inserted (or intercalated) in a corresponding one of the pitches of the spirals 2321a and 2321b.

[0099] According to an embodiment, the received plurality of mop towels P may be moved in a horizontal direction (e.g., forward / backward) by the rotation of the spirals 2321a and 2321b. In an embodiment, if the spirals 2321a and 2321b are rotated (e.g., rotated forward) by the operation of the motor 2322, each mop towel P may be moved forward in a horizontal direction (e.g., in the F direction) by the rotation of the spirals 2321a and 2321b. In this case, each mop towel P may approach or reach the outlet 231. According to an embodiment, if the spirals 2321a and 2321b are rotated (e.g., rotated in the opposite direction) by the operation of the motor 2322, each mop towel P may be moved backward in a horizontal direction (e.g., in the R direction) by the rotation of the spirals 2321a and 2321b. In this case, each mop towel P may be moved away from the outlet 231.

[0100] According to an embodiment, the mop towel transmission unit 232 may include a first transmission unit 232a and a second transmission unit 232b. According to an embodiment, a barrier rib 233 may be provided between the first transmission unit 232a and the second transmission unit 232b. In this case, the first transmission unit 232a and the second transmission unit 232b may be separated left and right inside the mop towel receiving space S2 by the barrier rib 233. The first transmission unit 232a and the second transmission unit 232b may correspond to each other in operation, structure, and shape.

[0101] According to an embodiment, a mop towel detection sensor 237 for detecting the presence of the mop towel P received in the mop towel supply unit 230 may be provided in the mop towel supply unit 230. For example, the mop towel detection sensor 237 may be a distance sensor for detecting the distance from the mop towel P inserted / inserted in the transmission unit 232a or 232b. In this case, the docking station 200 may calculate the distance from the mop towel P inserted / inserted in the transmission unit 232a or 232b through the mop towel detection sensor 237, and determine the presence or absence of the mop towel P inserted / inserted in the transmission unit 232a or 232b based on the calculated value. According to an embodiment, the docking station 200 may include an alarm providing unit (not shown) that provides an alarm about the shortage of the mop towel to the user after the mop towel detection sensor 237 detects that the mop towel P does not exist in the mop towel supply unit 230. For example, the alarm providing unit may be implemented as a device such as a voice output unit or a display output unit.

[0102] According to an embodiment, the mop towel detection sensor 237 may be disposed adjacent to the outlet 231. In this case, the mop towel detection sensor 237 may detect whether a mop towel P that may be discharged through the outlet 231 when the transport unit 232a or 232b rotates is inserted / inserted in the transport unit 232a or 232b.

[0103] Although not shown in the drawings, a pair of mop towel detection sensors 237 may be provided on two opposing inner surfaces of the mop towel supply unit 230, but the present disclosure is not limited thereto. In addition, a plurality of mop towel detection sensors 237 may be provided, and each mop towel detection sensor 237 may detect the presence of the mop towel P inserted / inserted in the pitch of the transmission unit 232a or 232b corresponding to the position where each mop towel detection sensor is provided. In this case, upon detecting that the number of the mop towel P received in the mop towel supply unit 230 is a predetermined number or less, the docking station 200 may provide a notification about the shortage of the mop towel to the user through the alarm providing unit.

[0104] According to an embodiment, sliding sections SL1 and SL2 may be formed on the docking unit 212, and the mop towel P discharged from the outlet 231 slides in the sliding sections SL1 and SL2. According to an embodiment, ends of the sliding sections SL1 and SL2 may be connected to the outlet 231. According to an embodiment, the sliding sections SL1 and SL2 may be set to have a predetermined curvature.

[0105] According to an embodiment, at least one roller 250a and 250b may be provided on the sliding sections SL1 and SL2. According to an embodiment, at least one roller 250a and 250b may help each mopping towel P discharged from the outlet 231 to smoothly move along the sliding sections SL1 and SL2 by rolling.

[0106] According to an embodiment, the mop towel guide unit 240 may be provided on the sliding sections SL1 and SL2 of the docking unit 212. According to an embodiment, the mop towel guide unit 240 may guide the movement of the mop towel P to allow each mop towel P discharged from the outlet 231 to be placed in the mop towel attachment position PP1 or PP2 along the sliding sections SL1 and SL2.

[0107] According to an embodiment, the mop towel guide unit 240 may include guide ribs 241a and 241b and a partition rib 242. According to an embodiment, the guide ribs 241a and 241b may be configured to allow each mop towel P discharged from the mop towel supply unit 230 through the outlet 231 to be located in the mop towel attachment positions PP1 and PP2. According to an embodiment, the guide ribs 241a and 241b may extend from the outlet 231 along the sliding sections SL1 and SL2. According to an embodiment, the guide ribs 241a and 241b may protrude in a direction perpendicular to the upper surface of the docking unit 212. According to an embodiment, the guide ribs 241a and 241b may extend from the outlet 231 to the mop towel attachment positions PP1 and PP2 along a path. According to an embodiment, the guide ribs 241a and 241b may be configured to surround the mop towel attachment positions PP1 and PP2 or each mop towel P located in the mop towel attachment positions PP1 and PP2.

[0108] According to an embodiment, the mop towel guide unit 240 may include a first guide rib 241a and a second guide rib 241b. According to an embodiment, an end of the first guide rib 241a and an end of the second guide rib 241b may be formed in a shape partially corresponding to the mop towel P to allow the mop towel P to be placed in the mop towel attachment positions PP1 and PP2. For example, an end of the first guide rib 241a and an end of the second guide rib 241b may be formed in a semicircular shape. The first guide rib 241a and the second guide rib 241b may correspond to each other in operation, structure, and shape.

[0109] According to an embodiment, the partition rib 242 may be provided between the first guide rib 241a and the second guide rib 241b. According to an embodiment, the partition rib 242 may separate the sliding intervals SL1 and SL2 into the first sliding interval SL1 and the second sliding interval SL2. Here, the first sliding interval SL1 may refer to an interval in which the mop towel P discharged through the outlet 231 by the first transmission unit 232a moves until the first attachment position PP1. Here, the second sliding interval SL2 may refer to an interval in which the mop towel P discharged through the outlet 231 by the second transmission unit 232b moves until the second attachment position PP2. In this case, the first guide rib 241a and the partition rib 242 may form the first sliding interval SL1, and the second guide rib 241b and the partition rib 242 may form the second sliding interval SL2.

[0110] According to an embodiment, the partition rib 242 may extend from the outlet 231 along the sliding sections SL1 and SL2. According to an embodiment, the partition rib 242 may protrude in a direction perpendicular to the upper surface of the docking unit 212. According to an embodiment, the partition rib 242 may be set to a predetermined interval from the guide rib 241a or 241b. In this case, the interval between the partition rib 242 and the guide rib 241a or 241b may form a cleaner placement position WP, wherein the first sub-wheel 132 of the robot vacuum cleaner 100 is placed in the cleaner placement position WP while a new mop towel P is attached to the mop towel P of the robot vacuum cleaner 100.

[0111] According to an embodiment, a wheel guide unit 243 may be provided on the docking unit 212. According to an embodiment, the wheel guide unit 243 may be configured to reduce interference caused by the guide ribs 241a and 241b that may occur when the robot vacuum cleaner 100 moves to the mop cloth attachment positions PP1 and PP2.

[0112] According to an embodiment, the wheel guide unit 243 may be connected to the guide ribs 241a and 241b. In an embodiment, the wheel guide unit 243 may be formed to be inclined in the moving direction (e.g., F direction) of the robot vacuum cleaner 100. In an embodiment, the wheel guide unit 243 together with the guide ribs 241a and 241b may form a path for the first sub-wheel 132 of the robot vacuum cleaner 100 to move. In this case, the robot vacuum cleaner 100 moving along the docking unit 212 may reach the cleaner placement position WP via the guide ribs 241a and 241b through the wheel guide unit 243.

[0113] According to an embodiment, charging terminals 2111a and 2111b that contact the charging terminals 1111a and 1111b of the robot vacuum cleaner 100 may be provided on two opposing inner surfaces of the main body unit 211. In an embodiment, the charging terminals 2111a and 2111b may be provided on two opposing inner surfaces of the main body unit 211 to face the side of the robot vacuum cleaner 100 in a state where the robot vacuum cleaner 100 is placed in the mop cloth attachment positions PP1 and PP2.

[0114] Fig. 9 is a diagram schematically illustrating a configuration of a docking station having a drawer-type mop towel recovery unit and a drawer-type mop towel supply unit according to an embodiment. Fig.10 is a diagram schematically illustrating a docking station having a drawer-type mop towel recovery unit and a cover-type mop towel supply unit according to an embodiment.

[0115] refer to Fig. 9 In an embodiment, the docking station 200 may include a drawer-shaped mop towel recovery unit 260, which may be drawn out from one side of the docking station 200. According to an embodiment, each mop towel removed from the mop towel removal unit 220a or 220b of the docking unit 212 may be inserted into the mop towel recovery space S1 located at the lower side of the docking unit 212 through the opening 214. According to an embodiment, the drawer-shaped mop towel recovery unit 260 for receiving the inserted mop towel may be provided in the mop towel recovery space S1. According to an embodiment, the drawer-shaped mop towel recovery unit 260 may be configured to be drawn out from one side of the docking unit 212. According to an embodiment, the drawer-shaped mop towel recovery unit 260 may be provided to be drawn out from one side of the docking unit 212. According to an embodiment, a handle 261 to be grasped by a user may be provided on one side of the drawer-shaped mop towel recovery unit 260. In this case, the user may grasp the handle 261 to draw out the drawer-shaped mop towel recovery unit 260 and recover the mop towel P received in the drawer-shaped mop towel recovery unit 260 .

[0116] According to an embodiment, a sterilizer (not shown) may be provided in the drawer-shaped mop towel recovery unit 260. In an embodiment, the sterilizer may be configured to sterilize / deodorize the mop towel P received in the drawer-shaped mop towel recovery unit 260. For example, the sterilizer may be an ultraviolet (UV) sterilizer, but the present disclosure is not limited thereto.

[0117] According to an embodiment, the docking station 200 may include a drawer-shaped mop towel supply unit 235 located at an upper side of the main body unit 211. According to an embodiment, the drawer-shaped mop towel supply unit 235 may be pulled out from the upper side of the main body unit 211 of the docking station 200. According to an embodiment, the drawer-shaped mop towel supply unit 235 may be pulled out from one side corresponding to the entrance 211a for entry / exit of the robot vacuum cleaner 100, but the present disclosure is not limited thereto. According to an embodiment, the drawer-shaped mop towel supply unit 235 may be provided in the mop towel receiving space S2 for receiving the mop towel P. According to an embodiment, a handle 236 to be grasped by a user may be provided on one side (e.g., a pulled-out side) of the drawer-shaped mop towel supply unit 235. In this case, the user may grasp the handle 236 to pull out the drawer-shaped mop towel supply unit 235 and supply the mop towel P to the drawer-shaped mop towel supply unit 235.

[0118] refer to Fig.10 In an embodiment, the docking station 200 may include a supply unit cover 2112 formed on an upper surface of the mop towel supply unit 230 or the main unit 211. According to an embodiment, the supply unit cover 2112 may have a hinge that is elongatedly disposed in a side area of ​​the upper surface of the mop towel supply unit 230 or the main unit 211. According to an embodiment, the supply unit cover 2112 may include a hinge (not shown) extending in a left / right direction (e.g., Le direction or Ri direction) on the upper surface of the main unit 211. According to an embodiment, the supply unit cover 2112 may be opened / closed when it pivots on the hinge. According to an embodiment, the supply unit cover 2112 may be coupled to be rotatable from the main unit 211 or the mop towel supply unit 230 around a hinge (not shown).

[0119] According to an embodiment, when the supply unit cover 2112 is pivoted about the hinge, the mop towel receiving space S2 and the mop towel supply unit 230 below can be opened / closed. Fig.10 As shown in , when the supply unit cover 2112 rotates counterclockwise, the mop towel supply unit 230 can be opened to be exposed to the outside, so that the user can insert or add a mop towel to the mop towel supply unit 230. For example, when the supply unit cover 2112 rotates clockwise, the mop towel supply unit 230 can be closed from the outside by the supply unit cover 2112.

[0120] Fig.11a and Fig.11b is a diagram illustrating an exemplary case of removing a wet mop cloth from a robot vacuum cleaner while passing through a mop cloth removing unit of a docking station according to an embodiment.

[0121] Fig.11aThe state in which the robot vacuum cleaner 100 enters the docking station, travels on the docking unit 212, and reaches the mop towel removal units 220a and 220b is shown. As shown, the protrusions 221a and 221b of the mop towel removal units 220a and 220b protrude from the upper surface of the docking unit 212 while forming a predetermined acute angle with the upper surface of the docking unit 212. As shown, the free ends of the protrusions 221a and 221b of the mop towel removal units 220a and 220b are located at the edge between the robot vacuum cleaner 100 and the mop towel P attached to the robot vacuum cleaner 100. Although not shown in FIG. 11A, if the robot vacuum cleaner 100 continues to travel in the entry direction (the direction indicated by the arrow), the sharp free ends of the protrusions 221a and 221b may extend into the space between the robot vacuum cleaner 100 and the mop towel P attached below. Then, the rear surfaces 2213 of the protrusions 221 a and 221 b contact the upper surface of the mop cloth P, causing the friction force to remove the mop cloth P from the robot vacuum cleaner 100 .

[0122] According to an embodiment, the robot vacuum cleaner 100 may be operated to rotate the rotating plates 141a and 141b after detecting approaching or contacting the protrusions 221a and 221b while traveling. In this case, in addition to the driving force of the robot vacuum cleaner 100 traveling in the entry direction, the robot vacuum cleaner 100 may more easily remove the mop towel P by the rotating force of the rotating plates 141a and 141b.

[0123] According to an embodiment, the docking station 200 may remove the mop towel P from the robot vacuum cleaner 100 through the protrusions 221a and 221b of the mop towel removing units 220a and 220b using only the robot vacuum cleaner 100's own power (e.g., linear power and / or rotational power) without providing a separate power.

[0124] According to an embodiment, the mop towel P removed from the lower side of the robot vacuum cleaner 100 through the protrusions 221a and 221b may be inserted below the rear surfaces 2213 of the protrusions 221a and 221b. Thereafter, the mop towel P removed from the robot vacuum cleaner 100 may be placed and received in the mop towel recovery space S1 provided inside the docking unit 212 of the docking station 200 through the opening 214 formed below the rear surfaces 2213 of the protrusions 221a and 221b. Fig.11b A moving path in which the mop towel P removed from the robot vacuum cleaner 100 is placed and received in the mop towel recovery space S1 is shown. According to an embodiment, for example, the above-described drawer-shaped mop towel recovery unit 260 may be provided in the mop towel recovery space S1, but the present disclosure is not limited thereto.

[0125] Fig.12a and Figure 12b 2 is a side view showing changes in the case where the mop towel is supplied from the mop towel supply unit to the mop towel attachment position in the docking station 200.

[0126] In an embodiment, although not specifically shown, the docking station 200 may include a first detection unit for detecting the presence or absence of the mop towel P in the mop towel attachment positions PP1 and PP2 of the docking unit 212. In an embodiment, the docking station 200 may include a sensor for detecting the presence or absence of the mop towel on the mop towel attachment positions PP1 and PP2. In an embodiment, upon detecting that the mop towel P is not present in the mop towel attachment positions PP1 and PP2, the docking station 200 may control the motor 2322 of the mop towel transmission unit 232 to rotate the spiral 2321. The mop towel P inserted / inserted in the spiral 2321 may be moved forward by the rotation of the spiral 2321. According to an embodiment, when the docking station 200 rotates the spiral 2321 to move the unused mop towel P inserted / inserted in the spiral 2321 forward, the unused mop towel P inserted / inserted in the spiral 2321 may be moved from the rear of the mop towel receiving space S2 to the front of the mop towel receiving space S2, so that the unused mop towel P inserted / inserted in the frontmost among the unused mop towels P inserted / inserted in the spiral 2321 may be located above the outlet 231. In this case, the docking station 200 may control the motor 2322 of the mop towel transfer unit 232 to stop the rotation of the spiral 2321.

[0127] In an embodiment, although not specifically shown, the docking station 200 may include a second detection unit for detecting whether the robot vacuum cleaner 100 is correctly located in the mop towel attachment positions PP1 and PP2 of the docking unit 212. In an embodiment, the docking station 200 may include a sensor for detecting whether the robot vacuum cleaner 100 is placed on the mop towel attachment positions PP1 and PP2. In an embodiment, after detecting that the robot vacuum cleaner 100 is placed in the mop towel attachment positions PP1 and PP2 and detecting by the first detection unit that the mop towel P is not present in the mop towel attachment positions PP1 and PP2, the docking station 200 may control the motor 2322 of the mop towel transmission unit 232 to rotate the spiral 2321. The mop towel P inserted / inserted in the spiral 2321 may move forward by the rotation of the spiral 2321. According to an embodiment, when the docking station 200 rotates the spiral 2321 to move the unused mop towel P inserted / inserted in the spiral 2321 forward, the unused mop towel P inserted / inserted in the spiral 2321 may be moved from the rear of the mop towel receiving space S2 to the front of the mop towel receiving space S2, so that the unused mop towel P inserted / inserted in the frontmost among the unused mop towels P inserted / inserted in the spiral 2321 may be located above the outlet 231. In this case, the docking station 200 may control the motor 2322 of the mop towel transfer unit 232 to stop the rotation of the spiral 2321.

[0128] Afterwards, if Figure 12b As shown in FIG. 2 , the mop towel P located above the outlet 231 may escape from the spiral member 2321 and fall downward to pass through the outlet 231. Then, the mop towel P having passed through the outlet 231 may move along the sliding section SL provided in the docking unit 212. The mop towel P may be guided by the guide ribs 241 so as not to be separated to the outside while moving along the sliding section SL. The mop towel P may be stopped by the guide ribs 241 and correctly positioned in the mop towel attachment position PP.

[0129] Fig.13a and Fig.13b is a side view showing a change in a case when a mop towel is attached to a robot vacuum cleaner in a mop towel attachment position of a docking station according to an embodiment. For ease of description, an internal cross-section of a configuration of a mop towel unit of a robot vacuum cleaner is shown.

[0130] like Fig.13a As shown in FIG. 1 , in the embodiment, the robot vacuum cleaner 100 is in a state where the upper position of the mop cloth attachment position PP is reached and the mop cloth P is not attached thereto.

[0131] According to an embodiment, the robot vacuum cleaner 100 may detect reaching the correct position on the mop towel attachment position PP. After detecting reaching the correct position on the mop towel attachment position PP, the robot vacuum cleaner 100 may control the driving unit to move the rotating plates 141a and 141b downward by a predetermined distance, such as Fig.13b According to an embodiment, as shown in Fig.13b As shown in , when the robot vacuum cleaner 100 controls the driving unit to move the rotating plates 141a and 141b downward, the rotating plates 141a and 141b of the robot vacuum cleaner 100 may contact the mop towel P fixed in the mop towel attachment position PP through the guide ribs 241. In an embodiment, the downward movement of the rotating plate 141a or 141b may be performed within a range where the rotating plate 141a or 141b applies a force within a predetermined range to the mop towel below. The mop towel P contacting the rotating plate 141a or 141b may be attached to the rotating plate 141a or 141b by an attachment member provided on the bottom surface of the rotating plate 141a or 141b.

[0132] Afterwards, despite Fig.13b Although not shown, if the robot vacuum cleaner 100 lifts the rotating plate 141a or 141b by driving the driving unit, the mop towel replacement of the robot vacuum cleaner 100 can be completed. The robot vacuum cleaner 100 can move in the direction opposite to the entry direction to move away from the docking station 200 and resume cleaning according to the user's command.

[0133] The terms used herein are provided only to describe some of its embodiments, rather than being intended to limit the present disclosure. As used herein, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless the context clearly indicates otherwise. As used herein, each phrase in the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C" and "at least one of A, B or C" can be included in all possible combinations of items listed together with the corresponding phrases in the multiple phrases. As used herein, the term "and / or" should be understood as comprising any and all possible combinations of one or more enumerated items. As used herein, the terms "include", "have" and "include" are only used to indicate the presence of features, components, parts or combinations thereof described herein, but the use of the term does not exclude the possibility of the presence or addition of one or more other features, components, parts or combinations thereof. As used herein, the terms "first" and "second" can modify various components regardless of importance and / or order, and are used to distinguish one component from another component without limiting the components.

[0134] As used herein, the term "configured to" may be used interchangeably with the terms "suitable for," "capable of," "designed to," "suitable for," "made to," or "capable of," depending on the circumstances. The term "configured to" does not essentially mean "specially designed in hardware to." Rather, the term "configured to" may mean that a device may perform an operation together with another device or component. For example, a device configured (or set) to perform A, B, and C may be a dedicated device that performs the corresponding operations, or may refer to a general-purpose device that is capable of performing various operations including the corresponding operations.

[0135] Meanwhile, the terms “upper side”, “lower side” and “front and rear directions” used in the present disclosure are defined with reference to the accompanying drawings, and the shapes and positions of various components are not limited by these terms.

[0136] In the present disclosure, the above description is mainly made with respect to specific embodiments, but the present disclosure is not limited to these specific embodiments, but should be understood to cover all various modifications, equivalent forms and / or alternative forms of various embodiments.

Claims

1. A docking station (200) for a robotic vacuum cleaner, comprising: a docking unit (212) having a travel path for the robotic vacuum cleaner (100) to enter the docking station (200) and travel to a mop towel attachment position (PP1, PP2) where a mop towel can be attached to the robotic vacuum cleaner (100); and A mop towel supply unit (230) is disposed above the docking unit (212) and is configured to receive a plurality of mop towels (P), wherein the plurality of mop towels are arranged side by side in a horizontal direction. The mop towel supply unit (230) comprises a mop towel transfer unit (232a, 232b), and the mop towel transfer unit (232a, 232b) is configured so that the mop towel transfer unit transfers each of the multiple mop towels (P) received by the mop towel supply unit (230) to the outlet (231) in sequence along the horizontal direction, so as to discharge each of the multiple mop towels (P) through the outlet to the mop towel attachment position (PP1, PP2).

2. The docking station (200) according to claim 1, wherein: The mop towel transmission unit (232a, 232b) comprises: a motor (2322); and The spiral member (2321) can be rotatably driven by the motor (2322) and has a spiral structure extending along the horizontal direction.

3. The docking station (200) according to claim 2, wherein: The spiral member (2321) has a plurality of pitches and is configured such that each of the plurality of mop towels (P) can be inserted into a corresponding pitch of the plurality of pitches.

4. The docking station (200) according to claim 1, wherein: The docking unit (212) comprises a mop towel guide unit (240), which is located on an upper surface of the docking unit (212) and is configured to guide each of the plurality of mop towels (P) discharged through the outlet to be located in the mop towel attachment position (PP1, PP2).

5. The docking station (200) according to claim 4, wherein: The guide unit (240) includes guide ribs (241a, 241b) protruding from the upper surface of the docking unit (212) to guide each of the plurality of mop towels (P) discharged through the outlet (231) to the mop towel attachment position (PP1, PP2).

6. The docking station (200) according to claim 4, wherein: The guide unit (240) includes at least one roller (250a, 250b) to guide each of the plurality of mop towels (P) discharged through the outlet (231) to the mop towel attachment position (PP1, PP2).

7. The docking station (200) according to claim 1, wherein: The mop towel supply unit (230) includes a supply unit cover (2112) which is pivotally connected to an upper surface of the mop towel supply unit (230) and is capable of pivoting to open or close at least a portion of the mop towel supply unit (230).

8. The docking station (200) according to claim 1, wherein: The mop towel supply unit (230) includes a drawer (235), which contains at least a portion of the mop towel transfer unit (232) and can be drawn out from the mop towel supply unit (230).

9. The docking station (200) according to claim 1, further comprising: a mop towel detection sensor (237) configured to detect the number of mop towels among the plurality of mop towels (P) present in the mop towel supply unit (230); as well as An alarm providing unit is configured to provide an alarm when the mop towel detection sensor (237) detects that the number of mop towels among the plurality of mop towels (P) present in the mop towel supply unit is a predetermined number or less.

10. The docking station (200) according to claim 1, further comprising: A mop towel removal unit (220) has at least one protrusion (221), the at least one protrusion (221) protruding from the upper surface of the docking unit (212), and is configured to allow at least a portion of the at least one protrusion (221) to be inserted into a space between the robot vacuum cleaner (100) and the mop towel (P) when the mop towel is attached to the robot vacuum cleaner (100) and the robot vacuum cleaner (100) travels along the travel path, so as to remove the mop towel (P) from the robot vacuum cleaner (100).

11. The docking station (200) according to claim 10, wherein: The at least one protrusion (221) has a wedge shape forming a predetermined acute angle with the upper surface of the docking unit (212).

12. The docking station (200) according to claim 10, wherein: The docking unit (212) comprises an opening (214), at least a portion of which is located below the at least one protrusion, so that the removed mop towel (P) is inserted into the docking unit (212) through the opening (214).

13. A cleaning system (10), comprising: A robotic vacuum cleaner (100); as well as A docking station (200), comprising: a docking unit (212) having a travel path for the robotic vacuum cleaner (100) to enter the docking station (200) and travel to a mop towel attachment position (PP1, PP2), and A mop towel supply unit (230) is arranged above the docking unit (212) and is configured to receive a plurality of mop towels (P), wherein the mop towels in the plurality of mop towels are arranged side by side in a horizontal direction. The mop towel supply unit (230) comprises a mop towel transmission unit (232a, 232b), and the mop towel transmission unit (232a, 232b) is configured so that the mop towel transmission unit sequentially transmits each of the plurality of mop towels (P) received by the mop towel supply unit (230) to the outlet (231) along the horizontal direction, so as to transmit each of the plurality of mop towels (P) through The outlet discharges to the mop towel attachment location (PP1, PP2), and The robot vacuum cleaner (100) is configured such that when the robot vacuum cleaner (100) is in the mop towel attachment position (PP1, PP2) and the mop towel discharged through the outlet (231) is located at the mop towel attachment position (PP1, PP2), PP2), attaching the mop towel to the robotic vacuum cleaner (100).

14. The cleaning system (10) according to claim 13, wherein: The mop towel supply unit (230) comprises: a motor (2322); and The spiral member (2321) can be rotatably driven by the motor (2322) and has a spiral structure extending along the horizontal direction to sequentially transmit each of the multiple mop towels (P) received in the mop towel supply unit (230) along the horizontal direction.

15. The cleaning system (10) according to claim 13, wherein: The docking station (200) comprises at least one guide rib (241) protruding from an upper surface of the docking unit (212) and at least one roller (250) located in the upper surface of the docking unit (212), the at least one guide rib (241) and the at least one roller (250) being configured to guide each of the plurality of mop towels (P) discharged from the mop towel supply unit (230) to the mop towel attachment position (PP1, PP2).

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