Robot cleaner and cleaning system

Abstract

The present invention relates to a robot cleaning machine, a dust discharge port is formed in a dust separation part of the robot cleaning machine, and a discharge cover for opening and closing the dust discharge port is provided, so that fine dust remaining after cyclone flow can be collected, and dust and fine dust remaining in a dust cylinder of the robot cleaning machine can be automatically removed by being combined with a cleaning work station.

Description

Technical Field

[0001] The present invention relates to a robot cleaning machine and a cleaning system, and more particularly, to a cleaning system comprising a robot cleaning machine and a cleaning workstation, wherein the cleaning workstation can convergingly suck animal hair stuck to carpets, etc., and the cleaning workstation can gather dust stored in a dust barrel of the robot cleaning machine. Background Art

[0002] A cleaning machine is a device that cleans an area by sucking in or wiping away dust or foreign matter.

[0003] Such cleaning machines are divided into manual cleaning machines in which a user directly moves the cleaning machine to clean and automatic cleaning machines that move and clean by themselves.

[0004] Here, the robot cleaner walks in the area to be cleaned and sucks in foreign matter such as dust from the ground. In addition, the robot cleaner uses obstacle sensors and other sensors installed therein to automatically walk and clean in the cleaning area, or is manually controlled by a remote controller that is wirelessly connected to the robot cleaner, so that the robot cleaner cleans while walking.

[0005] On the other hand, Korean Patent KR1978282B1 discloses a robot cleaning machine including a dust canister for filtering and collecting dust.

[0006] The robot cleaning machine is detachably combined with a dust barrel on the main body. Through such a structure, a user can separate the dust barrel from the main body of the robot cleaning machine and empty the dust barrel.

[0007] At this time, in order to facilitate the discharge of dust and fine dust collected in the dust container, the lower housing of the dust container is provided in an openable and closable structure.

[0008] However, in the case of the above-mentioned robot cleaner, there is a limitation that the dust canister of the robot cleaner cannot be automatically emptied, and the user needs to directly open the lower shell of the dust canister to empty the dust canister after separating the dust canister.

[0009] In addition, in the case of the above-mentioned robot cleaner, fine dust is accumulated inside the cyclone for separating dust, but it cannot be removed. Summary of the invention

[0010] Technical issues

[0011] The present invention is developed to improve the problems of the above-mentioned conventional robot cleaning machine and cleaning system, and its purpose is to provide a robot cleaning machine capable of automatically emptying a dust can.

[0012] Another object of the present invention is to provide a robot cleaner capable of discharging fine dust accumulated inside a cyclone.

[0013] Another object of the present invention is to provide a robot cleaning machine that can automatically seal the dust canister when dust collection inside the dust canister is completed.

[0014] Means of solving problems

[0015] In order to achieve the above-mentioned purpose, the robot cleaning machine of the present invention includes: a main body, which has a space for storing a battery and a suction motor and a suction port formed therein; a dust canister, which is combined with the above-mentioned main body and stores dust flowing in through the above-mentioned suction port; and a dust separation part, which is arranged in the internal space of the above-mentioned dust canister and separates dust from the air flowing in through the above-mentioned suction port.

[0016] At this time, the dust tube includes: a dust tube body formed with a first dust discharge port; and a first discharge cover coupled to the dust tube body to open and close the first dust discharge port.

[0017] Furthermore, the dust separation portion includes: a cyclone portion, which separates dust from the air through cyclone flow; a dust collecting portion, which is arranged on the lower side of the cyclone portion in the gravity direction, collects dust separated from the cyclone portion and forms a second dust discharge port; and a second discharge cover, which is arranged on the dust collecting portion to open and close the dust collecting portion.

[0018] At this time, the first discharge cover is coupled to the outer peripheral surface of the dust tube body, and the first dust discharge port is opened and closed by air pressure.

[0019] In addition, the second discharge cover may be coupled to a lower side surface of the dust collecting portion and may be rotated by air pressure to open and close the second dust discharge port.

[0020] In addition, the first discharge cover and the second discharge cover are opened in conjunction with each other by air pressure.

[0021] On the other hand, in another embodiment of the robot cleaning machine, the dust separation part further includes: a cover cap coupled to the lower side of the dust collecting part, with one side of the second discharge cover coupled to the lower side of the dust collecting part.

[0022] In this case, the cap is formed with a cap housing portion that provides a space in which the second discharge cap can rotate.

[0023] Furthermore, the cap is formed with a hole through which the dust collected in the dust collecting portion by the rotation of the second discharge cover passes.

[0024] On the other hand, in another embodiment of the robot cleaning machine, the second dust outlet is formed on the outer peripheral surface of the dust collecting portion at a position opposite to the first dust outlet, and the second outlet cover is combined to the outer peripheral surface of the dust collecting portion, and the second dust outlet is opened and closed by air pressure.

[0025] At this time, the diameter of the lower end of the dust collecting portion is smaller than the diameter of the upper end.

[0026] On the other hand, in a robot cleaner of still another embodiment, the second discharge cover is coupled to the lower side of the dust collecting portion, and moves up and down along the gravity direction by air pressure to open and close the second dust discharge port.

[0027] On the other hand, in order to achieve the above-mentioned purpose, the cleaning system of the present invention includes: a robot cleaning machine, which is equipped with wheels, batteries and at least one motor, and sucks in dust-containing air through a suction port and stores the sucked dust in a dust can; and a robot cleaning workstation, which includes: a coupling part, which is coupled with the robot cleaning machine; a flow path part, which is connected to the internal space of the above-mentioned dust can; a dust collecting part, which captures the dust inside the above-mentioned dust can; and a dust collecting motor, which generates an attraction to suck the dust inside the above-mentioned dust can into the above-mentioned dust collecting part.

[0028] At this time, the above-mentioned dust barrel includes: a dust barrel main body, which has a first dust discharge port formed on the outer peripheral surface; and a first discharge cover, which is combined with the above-mentioned dust barrel main body to open and close the above-mentioned first dust discharge port, and the above-mentioned combination includes: a base plate, the upper side of which is combined with the above-mentioned robot cleaning machine; a dust barrel storage surface, which is formed in a direction intersecting with the ground in a manner opposite to the above-mentioned dust barrel; and a dust collecting hole, which is formed on the above-mentioned dust barrel storage surface and is connected to the above-mentioned flow path part, and when the above-mentioned first discharge cover is opened, the dust collecting hole is connected to the internal space of the above-mentioned dust barrel.

[0029] At this time, the robot cleaning machine also includes: a dust separation unit, which is arranged in the internal space of the dust barrel, separating dust from the air flowing in through the suction port, and when the first discharge cover is opened, the dust collecting hole is arranged at a position opposite to the outer peripheral surface of the dust separation unit.

[0030] Furthermore, when the robot cleaning machine is coupled to the cleaning workstation, at least a portion of the dust collecting hole is disposed at the same height as the second dust discharge port.

[0031] In addition, the dust separation part further includes: a second discharge cover, which is arranged on the dust collection part to open and close the dust collection part. When the dust collecting motor is operated, the second discharge cover is rotated by the suction force of the dust collecting motor and arranged toward the dust collecting hole.

[0032] Furthermore, when the dust collecting motor is operated, the first discharge cover is received in the flow path portion through the dust collecting hole.

[0033] Effects of the Invention

[0034] As described above, according to the robot cleaning machine and the cleaning system of the present invention, when the robot cleaning machine is coupled to the cleaning workstation, the cleaning workstation can collect dust inside the dust barrel of the robot cleaning machine and automatically empty the dust barrel of the robot cleaning machine.

[0035] In addition, in the dust separation part, a dust discharge port is formed on the lower side of the cyclone, and a discharge cover for opening and closing the dust discharge port is provided, so that when the cleaning station collects dust from the dust barrel, fine dust accumulated inside the cyclone can be discharged.

[0036] In addition, when the dust collecting motor of the cleaning workstation is in operation, the discharge cover of the dust barrel of the opening and closing robot cleaning machine opens the dust discharge port by air pressure, and when the dust collecting motor stops operating, the dust discharge port can be sealed by the restoring force of the elastic body.

[0037] In addition, the dust discharge port on the dust separation part is arranged close to the dust collecting hole of the cleaning workstation, so as to increase the shortest path for collecting dust, reduce flow path loss and increase dust collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a perspective view of a robot cleaning machine according to an embodiment of the present invention.

[0039] Figure 2 yes Figure 1 Top view of the .

[0040] Figure 3 yes Figure 1 Side view of .

[0041] Figure 4 This is a diagram for explaining a dust canister in a robot cleaner according to an embodiment of the present invention.

[0042] Figure 5 is Figure 4 FIG. 4 is a diagram showing the first discharge cover being exploded.

[0043] Figure 6 yes Figure 4 Cross-sectional view of .

[0044] Figure 7 This is a diagram for explaining the lower side of a dust separation portion in a dust barrel of a robot cleaner according to an embodiment of the present invention.

[0045] Figure 8 It is a cross-sectional view for explaining a dust canister in a robot cleaner according to a second embodiment of the present invention.

[0046] Fig. 9 It is a diagram for explaining a dust separation unit in a robot cleaner according to a second embodiment of the present invention.

[0047] Fig.10 It is a diagram for explaining a dust discharge port and a discharge cover of a dust separation unit in a robot cleaner according to a third embodiment of the present invention.

[0048] Fig.11 It is a diagram for explaining the lower side of the dust separation unit in the robot cleaner according to the third embodiment of the present invention.

[0049] Fig.12 It is a cross-sectional view for explaining a dust canister in a robot cleaner according to a fourth embodiment of the present invention.

[0050] Fig.13 It is used for Fig.12 A partially enlarged view illustrating a state in which the discharge cover is opened.

[0051] Fig.14 It is a cross-sectional view for explaining a state where a robot cleaning machine according to an embodiment of the present invention is coupled to a cleaning workstation.

[0052] Fig.15 This is a diagram for explaining control of the robot cleaner according to one embodiment of the present invention. DETAILED DESCRIPTION

[0053] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0054] The present invention can be implemented in various changes and can have various embodiments. Here, specific embodiments are illustrated in the drawings and described in detail in the embodiments. The present invention is not limited to specific embodiments, but includes all changes, equivalents and substitutes within the scope of the concept and technology of the present invention.

[0055] The terms used in this application are only used to illustrate specific embodiments and do not limit the present invention. In the absence of explicit description in the text, the singular expression includes the plural meaning.

[0056] Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as those generally understood by those skilled in the art. Terms generally used as the same as previously defined terms have the same meaning as those in the text of the relevant art and should not be interpreted as having an unusual or overly formal meaning unless explicitly defined in this application.

[0057] Figure 1 A perspective view showing a robot cleaning machine according to an embodiment of the present invention, Figure 2 Show Figure 1 A top view of Figure 3 Show Figure 1 Side view of .

[0058] The robot cleaner 100 of the embodiment of the present invention is configured to be placed on the ground and move along the ground surface (B) to clean the ground. Therefore, the following description defines the up and down directions based on the state where the robot cleaner 100 is placed on the ground.

[0059] Furthermore, the description will be given with the pair of running wheels 151 as a reference, with the side coupled to a mixer 141 described later being defined as a front side (F).

[0060] The 'lowest part' of each structure described in the embodiment of the present invention may be a part located lowest in each structure or a part closest to the ground when the robot cleaning machine 100 of the embodiment of the present invention is placed on the ground for use.

[0061] The robot cleaner 100 according to the embodiment of the present invention includes a main body 110 , a dust canister 120 , a dust separation unit 130 , a cleaning unit 140 , a walking unit 150 , a battery 160 , a suction motor 170 , a sensor unit 180 , and a control unit 190 .

[0062] The main body 110 may form the overall appearance of the robot cleaning machine 100 . Various components constituting the robot cleaning machine 100 are combined in the main body 110 , and some of the components constituting the robot cleaning machine 100 are accommodated inside the main body 110 .

[0063] Specifically, the main body 110 has components of the robot cleaner 100 in the internal space. As an example, the main body 110 accommodates a battery 160 and at least one motor in the internal space.

[0064] In an embodiment of the present invention, the main body 110 may be formed in a shape in which the width or diameter in the horizontal direction (directions parallel to X and Y) is larger than the height in the vertical direction (directions parallel to Z). Such a main body 110 is conducive to forming a stable structure of the robot cleaning machine 100 and can provide a structure that is conducive to avoiding obstacles when the robot cleaning machine 100 moves (walks).

[0065] When viewed from above or below, the body 110 may be formed in various shapes such as a circle, an ellipse, or a quadrangle.

[0066] The body 110 may be divided into a lower body 111 and an upper body 112 , and the lower body 111 and the upper body 112 are combined to form a space therein.

[0067] The lower body 111 and the upper body 112 are combined to form a space for storing the battery 160 , at least one sensor, and at least one motor.

[0068] Although not shown in the figure, an air inlet for inflow and holes for accommodating a pair of running wheels 151 are formed in the lower body 111 .

[0069] The suction port may be a passage for the dust on the ground surface to flow in. In addition, the suction port is communicated with a suction flow path (not shown) formed inside the main body 110 , and the suction flow path is communicated with the inner space of the dust cylinder 120 .

[0070] On the other hand, the lower body 111 may further include an exhaust passage. One side of the exhaust passage (not shown) is connected to the internal space of the dust cylinder 120, and the other side is connected to an exhaust port (not shown). In this case, a filter is arranged at the exhaust port.

[0071] With such a structure, the air flowing in through the suction port flows into the dust container 120 through the suction flow path, and the air passing through the dust separator 130 passes through the exhaust flow path and is exhausted from the exhaust port.

[0072] The suction port rotatably accommodates a stirrer 141 described later. With such a structure, dust around the suction port is introduced into the suction port by the rotation of the stirrer 141, and the efficiency of dust suction can be improved.

[0073] In addition, at least one auxiliary wheel 111a is provided on the bottom surface of the lower body 111. For example, one auxiliary wheel 111a is provided at the front and rear of the bottom surface of the lower body 111. With such a structure, the auxiliary wheels 111a can minimize the friction between the robot cleaner 100 and the ground surface and guide the movement of the robot cleaner 100.

[0074] The upper body 112 may form an upper appearance of the robot cleaner 100. Although not shown, the upper body 112 is provided with a display.

[0075] Although not shown, the robot cleaning machine 100 of the present invention includes a protection bar. The protection bar is coupled along an edge of the main body 110 and moves relative to the main body 110.

[0076] The protection strip is coupled along a portion of the edge of the main body 110, or is coupled along the entire edge of the main body 110. At least one elastic member (not shown) is provided between the protection strip and the main body 110. With such a structure, when the protection strip contacts an obstacle or the like and moves relatively toward the center side of the main body 110, the protection strip returns to its original position by the restoring force of the elastic member (not shown), absorbing or dispersing the impact applied to the protection strip, thereby preventing and reducing the impact transmitted to the main body 110.

[0077] On the other hand, the main body 110 of the robot cleaning machine 100 according to the embodiment of the present invention further includes a dust tube cover 113 .

[0078] The dust barrel cover 113 is rotatably coupled to the main body 110 via a hinge portion, and when coupled to the dust barrel 120, completely covers the upper surface of the dust barrel 120. The hinge portion elastically presses the dust barrel cover 113 upward, and when the dust barrel cover 113 is not coupled to the dust barrel 120, it is tilted upward relative to the upper surface of the dust barrel 120.

[0079] The dust tube cover 113 is formed in an elliptical shape extending in the front-to-back direction of the main body 110, and when coupled to the dust tube 120, completely covers the circular dust tube 120. The front-to-back length of the dust tube cover 113 corresponding to the front-to-back direction of the main body 110 is longer than the left-to-right length of the dust tube cover 113 corresponding to the left-to-right direction of the main body 110, and the left-to-right length is the same as or longer than the radius of the dust tube cover 113.

[0080] The dust cylinder 120 is used to absorb external dust and air and store the dust.

[0081] The dust barrel 120 stores dust flowing in through the suction flow path. The dust barrel 120 is formed with a dust inlet communicating with the suction flow path, an inner space for storing dust, and an air outlet for discharging air.

[0082] The specific structure of the dust container 120 will be described later.

[0083] The dust separator 130 is housed in the dust container 120 , and separates dust from the air flowing into the dust container 120 .

[0084] The specific structure of the dust separation unit 130 will be described later together with the dust container 120 .

[0085] The cleaning unit 140 sucks dust and air on the floor surface to collect the dust.

[0086] The cleaning unit 140 includes a stirrer 141 .

[0087] The agitator 141 includes a plurality of rotatable floor brushes to guide external dust and air into the dust tube 120. In this case, the agitator 141 includes at least one gear.

[0088] On the other hand, the agitator 141 of the present embodiment is provided with another agitator motor 142 to receive rotational power, and may also receive rotational power from a travel motor or a suction motor 170 according to the embodiment.

[0089] The walking unit 150 is disposed on the main body 110 and can walk on the ground surface.

[0090] The traveling part 150 includes a traveling wheel 151 and an actuator 152. At this time, the traveling wheel 151 is received in a hole formed in the lower body 110 and is coupled to the actuator 152. At this time, the actuator 152 is coupled to the body 110.

[0091] The running wheels 151 are disposed on the main body 110 and roll on the ground surface.

[0092] The running wheel 151 is composed of a first running wheel and a second running wheel. In this case, the first running wheel is constructed identically to the second running wheel, or is constructed symmetrically with the second running wheel. For example, if the first running wheel is located on the left side of the robot cleaning machine 100, the second running wheel is located on the right side of the robot cleaning machine 100, and the first running wheel and the second running wheel are constructed symmetrically with each other.

[0093] The actuator 152 includes a travel motor and a gear. In this case, the travel motor can be stored inside the main body 110 and provide power to the travel wheel 151. The travel motor includes a first travel motor and a second travel motor.

[0094] The travel motor is composed of an electric motor. A plurality of gears are configured to rotate in mesh with each other. The travel motor is connected to the travel wheel, and the rotational power of the travel motor is transmitted to the travel wheel. Therefore, when the rotating shaft of the travel motor rotates, the travel wheel rotates.

[0095] In the embodiment of the present invention, the actuator 152 is arranged close to the running wheel 151. With such a structure, the loss of power transmitted from the actuator 152 to the running wheel 151 can be minimized.

[0096] With such a structure, when the travel motor is operated, the travel wheels rotate, and the main body 110 can travel at a predetermined travel speed on the ground surface.

[0097] The battery 160 is coupled to the main body 110 to supply power to other members constituting the robot cleaning machine 100. The battery 160 supplies power to the actuator 152.

[0098] In addition, the battery 160 supplies power to the suction motor 170 . Furthermore, the battery 160 supplies power to the sensor unit 180 and the control unit 190 .

[0099] In the embodiment of the present invention, the battery 160 is charged by an external power source, and for this purpose, a charging terminal for charging the battery 160 is provided on one side of the main body 110 or on the battery 160 itself.

[0100] In the robot cleaning machine 100 of the embodiment of the present invention, the battery 160 is coupled to the body 110. Specifically, the battery 160 is received in an inner space formed by coupling the lower body 110 and the upper body 112.

[0101] The suction motor 170 generates a suction force for sucking in external dust and air through the suction port. As an example, the suction motor 170 may be an electric motor. Through the suction force generated by the suction motor 170, external dust and air flow into the suction port and reach the dust cylinder 120 after passing through the suction flow path.

[0102] on the other hand, Fig.15 Detailed Description of the Invention A diagram for explaining control of a robot cleaning machine according to an embodiment of the present invention is disclosed.

[0103] Reference Fig.15 , the sensing part 180 senses obstacles in the cleaning area of ​​the robot cleaning machine 100 .

[0104] The sensor unit 180 includes a first sensor 181 , a second sensor 182 , and a third sensor 183 .

[0105] The first sensor 181 is coupled to the main body 110 and senses the movement (relative movement) of the guard bar relative to the main body 110. Such a first sensor 181 is formed by using a micro switch, a photo interrupter, a tact switch, or the like.

[0106] The second sensor 182 is coupled to the body 110 to sense a relative distance to an obstacle. The second sensor 182 is composed of a distance sensor.

[0107] The third sensor 183 is coupled to the body 110 to sense a relative distance from the ground surface.

[0108] The situation where the relative distance to the ground surface (the distance in the vertical direction of the ground surface or the distance in the inclined direction of the ground surface) sensed by the third sensor 183 exceeds a specified value or exceeds a specified range may be a situation where the ground surface suddenly drops, so that the third sensor 183 senses the fall.

[0109] The third sensor 183 is a light sensor, and includes a light emitting portion for irradiating light and a light receiving portion for incident reflected light. The third sensor 183 is an infrared sensor.

[0110] The third sensor 183 is called a cliff sensor.

[0111] On the other hand, although not shown in the figure, the robot cleaning machine 100 according to the embodiment of the present invention may further include a displacement sensor.

[0112] The displacement sensor is disposed on the bottom surface (back surface) of the main body 110 to detect the distance moved along the ground surface.

[0113] As an example, an optical flow sensor (OFS) that obtains image information of the ground surface using light is used as a displacement sensor. Here, the optical flow sensor (OFS) includes an image sensor that captures an image of the ground surface to obtain image information of the ground surface and one or more light sources that adjust the amount of light.

[0114] The operation of the displacement sensor is described by taking an optical flow sensor as an example. The optical flow sensor is installed on the bottom (back) of the robot cleaner 100 and takes a picture of the ground surface while moving. The optical flow sensor converts the bottom image input from the image sensor and generates bottom image information in a predetermined format.

[0115] With such a configuration, the displacement sensor detects the relative position between the predetermined point and the robot cleaner 100 regardless of the slip. That is, the optical flow sensor observes the lower side of the robot cleaner 100 to perform position correction due to the slip.

[0116] On the other hand, although not shown in the drawings, the robot cleaning machine 100 according to the embodiment of the present invention may further include an angle sensor.

[0117] The angle sensor is disposed inside the main body 110 to detect a moving angle of the main body 110 .

[0118] As one example, the angle sensor uses a gyro sensor (GyroSensor) that detects the rotation speed of the main body 110. The gyro sensor detects the direction of the robot cleaner 100 using the rotation speed.

[0119] With such a structure, the angle sensor can detect the angle between the robot cleaner 100 and the direction in which the robot cleaner 100 moves, based on a predetermined virtual line.

[0120] On the other hand, an acceleration sensor is provided in the dust tube cover 113. The acceleration sensor divides the gravity acceleration acting on the acceleration sensor into X, Y, and Z vectors that are perpendicular to each other and senses the acceleration.

[0121] The control unit 190 controls the action of the actuator 152 according to predetermined information or real-time information. In order to control the control unit 190, the robot cleaner 100 has a storage medium storing an application program, and the control unit 190 drives the application program according to information input to the robot cleaner 100, information output from the robot cleaner 100, etc., thereby controlling the robot cleaner 100.

[0122] The control unit 190 controls the travel direction of the robot cleaner 100 , that is, controls the rotation speed of each of the pair of travel motors provided in the actuator 152 .

[0123] At this time, the control unit 190 controls the robot cleaner 100 to move straight or reciprocate in a straight line, or controls the robot cleaner 100 to move repeatedly in a predetermined area. In addition, the control unit 190 can control the robot cleaner 100 to move according to a predetermined walking pattern.

[0124] The control unit 190 controls the robot cleaner 100 to avoid starting when the guard bar of the robot cleaner 100 contacts an obstacle, and controls the action of the actuator 152 according to the information of the first sensor 181. For example, when the guard bar contacts an obstacle while the robot cleaner 100 is moving, the position where the guard bar contacts is grasped by the first sensor 181, and the control unit 190 controls the action of the actuator 152 to leave such a contact position.

[0125] When the distance between the robot cleaner 100 and the obstacle is less than a specified value according to the information obtained from the second sensor 182 , the control unit 190 controls the action of the actuator 152 to change the walking direction of the robot cleaner 100 or to move the robot cleaner 100 away from the obstacle.

[0126] In addition, the control part 190 controls the operation of the actuator 152 according to the distance sensed by the third sensor 183 so as to stop the robot cleaner 100 or change the traveling direction.

[0127] The control unit 190 controls the cleaning unit 140. Specifically, the control unit 190 controls the output of the suction motor 170. That is, the control unit 190 controls the rotation speed of the suction motor 170. In addition, the control unit 190 may also control the rotation speed of the agitator 141.

[0128] In addition, the control unit 190 controls the output of the suction motor 170 according to the amount of dust on the ground surface. That is, the control unit 190 senses the amount of dust on the ground surface through the sensor unit 180, and when it is determined that the amount of dust on the ground surface is greater than a predetermined reference value, the output of the suction motor 170 can be increased.

[0129] In addition, the control unit 190 senses whether the dust tube cover 113 is opened or closed by using the X, Y, and Z vector values ​​sensed by the acceleration sensor.

[0130] on the other hand, Figure 4 A diagram for explaining a dust canister in a robot cleaning machine according to an embodiment of the present invention is shown. Figure 5 Shown in Figure 4 The first discharge cover is disassembled in FIG. Figure 6 Show Figure 4 A cross-sectional view of Figure 7 A diagram for explaining the lower side of a dust separation unit in a dust cylinder of a robot cleaner according to an embodiment of the present invention is shown.

[0131] Reference Figures 4 to 7 , the dust barrel 120 of the robot cleaning machine according to an embodiment of the present invention is described as follows.

[0132] The robot cleaner 100 includes a dust canister 120. The dust canister 120 collects foreign matter such as dust.

[0133] The dust container 120 includes a dust container body 121 , a dust container cover 122 , a first dust discharge port 123 , and a first discharge cover 124 .

[0134] The dust container body 121 provides a space for storing foreign matter such as dust. As an example, the dust container body 121 may be formed in a cylindrical shape.

[0135] A dust inlet (not shown) connected to the suction flow path is formed in the dust barrel body 121, and an air outlet (not shown) connected to the exhaust flow path is formed. For example, the dust inlet and the air outlet are formed on the upper portion of the outer peripheral surface of the dust barrel body 121. With such a structure, the air sucked in through the suction port flows into the dust barrel body 121, and the air is discharged through the exhaust flow path as the dust is separated by the dust separation unit 130.

[0136] The bottom surface (lower side) of the dust barrel body 121 can be selectively opened and closed. For example, the dust barrel cover 122 is hingedly connected to the lower side of the dust barrel body 121. When the dust barrel cover 122 is opened, the internal space of the dust barrel body 121 is opened. With such a structure, the user can directly open the dust barrel cover 122 to empty the dust trapped inside the dust barrel 120.

[0137] The dust tube cover 122 is formed in a substantially disc shape and can open and close the bottom surface of the dust tube body 121. At this time, one side of the dust tube cover 122 is hingedly connected to the dust tube body 121, and the other side of the dust tube cover 122 is engaged with the dust tube body 121. At this time, the one side and the other side of the dust tube cover 122 can be arranged on opposite sides of each other with the center of the dust tube cover 122 as a reference, or can be arranged along the circumferential direction with a predetermined phase difference (angle difference) therebetween.

[0138] On the other hand, the center portion 122a of the disk-shaped dust barrel cover 122 is formed to protrude in an arch shape toward the upper side. With such a structure, the dust separated and dropped from the dust separation unit 130 moves radially outward along the slope. Therefore, it is possible to prevent the dust inside the dust barrel 120 from accumulating and remaining in the center portion of the dust barrel cover 122.

[0139] The dust barrel 120 includes dust discharge ports 123 and 133. In this case, the dust discharge ports include a first dust discharge port 123 and a second dust discharge port 133. The dust and fine dust collected in the dust barrel 120 are discharged through the dust discharge ports.

[0140] Specifically, the dust canister 120 includes a first dust outlet 123. At this time, the first dust outlet 123 is arranged on the side surface (outer peripheral surface) of the dust canister 120 of the robot cleaning machine 100, and is arranged at the rear of the robot cleaning machine 100. Therefore, when the robot cleaning machine 100 is coupled to the cleaning workstation 200, the dust canister 120 and the flow path portion 240 of the cleaning workstation 200 are arranged opposite to each other.

[0141] The first dust outlet 123 is formed to correspond to the shape of the dust collecting hole 213 of the cleaning station 200. For example, the first dust outlet 123 may be in the shape of a quadrangular hole. When the robot cleaning machine 100 is coupled to the cleaning station 200 and the first discharge cover 124 is opened, the first dust outlet 123 is communicated with the dust collecting hole 213 and the flow path portion 240.

[0142] The dust barrel 120 includes discharge covers 124 and 134. In this case, the discharge cover includes a first discharge cover 124 and a second discharge cover 134. The dust discharge ports 123 and 133 can be opened and closed by the discharge cover.

[0143] The robot cleaning machine 100 includes a first discharge cover 124. At this time, the first discharge cover 124 is formed in a shape corresponding to the shape of the first dust discharge port 123 to close the first dust discharge port 123. For example, the first discharge cover 124 is formed in a substantially quadrilateral plate shape, and is formed in a curved surface shape having the same curvature as the curvature of the outer peripheral surface of the dust barrel 120. In addition, the first discharge cover 124 is arranged at the first dust discharge port 123.

[0144] In addition, the first discharge cover 124 is hingedly connected to the dust barrel 120. Specifically, the first discharge cover 124 is hingedly connected to the outer peripheral surface of the dust barrel body 121, and rotates with the hinge pin 124a as the rotation center, and the first dust discharge port 123 is opened and closed with the rotation of the first discharge cover 124. At this time, the hinge pin 124a is provided with a torsion spring 124b, which applies a restoring force when the first discharge cover 124 is opened.

[0145] The first discharge cover 124 opens and closes the first dust discharge port 123 by air pressure. At this time, the diameter of the first discharge cover 124 is larger than the diameter of the first dust discharge port 123, and the first discharge cover 124 is arranged farther from the center of the dust canister 120 than the first dust discharge port 123. Therefore, when negative pressure is applied from the outside of the dust canister 120, the first discharge cover 124 rotates to open the first dust discharge port 123.

[0146] With such a structure, when the dust collecting motor 230 of the cleaning workstation 200 generates suction, the first discharge cover 124 rotates toward the outside of the dust barrel 120, thereby opening the first dust discharge port 123. At this time, the first discharge cover 124 is stored in the flow path portion 240. With such a structure, the dust collecting hole 213 of the cleaning workstation and the first dust discharge port 123 are closely adjacent and communicated with each other.

[0147] In addition, when the dust collecting motor 230 stops driving, the free end of the first discharge cover 124 rotates toward the dust barrel 120 by the restoring force of the torsion spring 124b to re-block the first dust discharge port 123. In this way, the first discharge cover 124 rotates with the driving of the dust collecting motor 230, thereby connecting or closing the dust barrel 120 and the flow path 240 of the robot cleaning machine 100 to each other.

[0148] On the other hand, the dust barrel 120 is provided with a seal 124c. The seal 124c is arranged along the outer contour of the first dust discharge port 123. The seal 124c is in contact with the first discharge cover 124. With such a structure, when the first discharge cover 124 closes the first dust discharge port 123, the seal 124c makes the dust barrel 120 and the first discharge cover 124 airtight, thereby preventing dust from flowing out.

[0149] On the other hand, a dust container upper housing 125 is coupled to the upper portion of the dust container body 121. The dust container upper housing 125 blocks the upper side of the dust container body 121.

[0150] Although not shown, a handle is provided on the dust barrel upper housing 125. With such a structure, the user can lift the dust barrel 120 by the handle to separate it from the main body 110 and carry the dust barrel 120.

[0151] On the other hand, the dust separator 130 is disposed inside the dust tube 120. The dust separator 130 can separate dust by cyclonic flow, thereby collecting the dust and exhausting the air.

[0152] The dust separation unit 130 includes a cyclone unit 131 , a dust collecting unit 132 , a second dust discharge port 133 , and a second discharge cover 134 .

[0153] The cyclone unit 131 separates dust from the air by the spiral flow. That is, the cyclone unit 131 may separate dust from the air by using the centrifugal force applied along the spiral flow of the air.

[0154] The cyclone portion 131 includes at least one cyclone capable of exciting a spiral flow of air.

[0155] Therefore, the air and dust sucked into the dust tube 120 flow in a spiral manner inside the dust separator 130 , so that the dust is separated and falls.

[0156] The dust collecting portion 132 is disposed below the cyclone portion 131 in the gravity direction, and can collect dust separated from the cyclone portion 131 and dropped.

[0157] The dust collecting part 132 may be formed into a cylindrical shape, and the lower side may be formed into a shape with a narrower diameter. For example, the upper part of the dust collecting part 132 is formed into a cylindrical shape with a uniform diameter, and the lower part of the dust collecting part 132 is formed into a shape with a diameter that gradually narrows as it approaches the lower side. With such a structure, the effect of gradually gathering the dust descending from the cyclone part 131 as it approaches the lower side can be achieved.

[0158] On the other hand, a second dust outlet 133 is formed at the lower end of the dust collecting portion 132. For example, the second dust outlet 133 is formed similarly to the shape of a circular hole. With such a structure, dust descending from the cyclone portion 131 is collected in the dust collecting portion 132 and moves toward the bottom surface of the dust barrel 120 through the second dust outlet 133.

[0159] On the other hand, the second dust discharge port 133 is provided with a second discharge cover 134 to open and close the second dust discharge port 133. That is, the second dust cover 134 is hingedly coupled to the dust collecting portion 132 and opens and closes the second dust discharge port 133 as it rotates.

[0160] The second discharge cover 134 is formed in a shape corresponding to the shape of the second dust discharge port 133 to close the second dust discharge port 133. For example, the second discharge cover 134 is formed in a substantially circular flat plate shape.

[0161] In addition, the second discharge cover 134 is hingedly connected to the dust collecting portion 132. At this time, the hinge has a torsion spring (not shown) to apply a restoring force when the second discharge cover 134 is opened. At this time, the hinge is arranged at a position farthest from the first dust discharge port 123.

[0162] With such a structure, when the second discharge cover 134 is opened, the second dust discharge port 133 is opened, and the dust discharged through the second dust discharge port 133 moves along the second discharge cover 134 toward the first dust discharge port 123 (refer to Figure 7 As a result, the flow path loss of the air flowing from the second dust discharge port 133 to the dust collecting hole 213 can be minimized.

[0163] In addition, the second discharge cover 134 is rotated by air pressure to open and close the second dust discharge port 133. At this time, the diameter of the second discharge cover 134 is larger than the diameter of the second dust discharge port 133, and the second discharge cover 134 is arranged on the lower side in the gravity direction compared to the second dust discharge port 133. Therefore, when negative pressure is applied from the outside of the dust collecting portion 132, the second discharge cover 134 rotates to open the second dust discharge port 133.

[0164] With such a structure, when the dust collecting motor 230 of the cleaning workstation 200 generates suction, the second discharge cover 134 rotates downward in the direction of gravity to open the second dust discharge port 133. At this time, when the dust collecting motor 230 is in motion, the second discharge cover 134 is rotated by the suction of the dust collecting motor 230 and is arranged toward the dust collecting hole 213.

[0165] In addition, when the dust collecting motor 230 stops driving, the second discharge cover 134 rotates upward in the gravity direction by the restoring force of the torsion spring to re-block the second dust discharge port 133. In this way, the second discharge cover 134 rotates with the driving of the dust collecting motor 230, thereby connecting or sealing the internal space of the dust collecting portion 132 and the internal space of the dust barrel 120 to each other.

[0166] On the other hand, the dust collecting portion 132 is provided with a seal 136. The seal 136 is arranged along the outer contour of the second dust discharge port 133. The seal 136 is in contact with the second discharge cover 134. With such a structure, when the second dust discharge port 133 is covered by the second discharge cover 134, the seal 136 makes the dust collecting portion 132 and the second discharge cover 134 airtight, thereby preventing dust from flowing out.

[0167] As described above, in the present invention, the first discharge cover 124 and the second discharge cover 134 are opened by linkage with each other through air pressure. Specifically, when the robot cleaning machine 100 is coupled to the cleaning workstation 200, when the dust collecting motor 230 is in operation, the first discharge cover 124 is opened by the suction force of the dust collecting motor 230, and as the first discharge cover 124 is opened, negative pressure is also formed inside the dust barrel 120, thereby also opening the second discharge cover 134. As a result, when the dust collecting motor 230 is in operation, both the first discharge cover 124 and the second discharge cover 134 are opened, and the dust stored inside the dust barrel 120 and the fine dust stored in the dust collecting portion 132 are also all collected.

[0168] On the other hand, a grid 135 is disposed radially outside the cyclone 131. The grid 135 can prevent dust in the air from flowing into the cyclone 131. With such a structure, dust of relatively large size or relatively large mass is blocked by the grid 135 and prevented from flowing into the cyclone 131.

[0169] on the other hand, Figure 8 A cross-sectional view for explaining a dust cartridge in a robot cleaning machine according to a second embodiment of the present invention is shown. Fig. 9 A diagram for explaining a dust separation unit in a robot cleaner according to a second embodiment of the present invention is shown.

[0170] In order to avoid repeated description, the contents not particularly described in this embodiment are the same as the structure and effect of the robot cleaning machine of one embodiment of the present invention, and thus the contents can be cited.

[0171] Reference Figure 8 and Fig. 9 , the robot cleaning machine according to the second embodiment of the present invention is described as follows.

[0172] The dust separation unit 1130 of the robot cleaning machine of this embodiment includes a cyclone unit 1131 , a dust collecting unit 1132 , a second dust discharge port 1133 , a second discharge cover 1134 , and a grid 1135 .

[0173] At this time, in this embodiment, the second dust outlet 1133 is formed on the outer peripheral surface of the dust collecting part 1132. At this time, the second dust outlet 1133 is arranged at a position on the outer peripheral surface of the dust collecting part 1132 opposite to the first dust outlet 123.

[0174] This structure has the following advantages: when the robot cleaner 100 is coupled to the cleaning workstation 200, the distance from the second dust outlet 1133 to the dust collecting hole 213 can be formed to be the shortest distance. As a result, the flow path loss of air flowing from the second dust outlet 1133 to the dust collecting hole 213 can be minimized.

[0175] At the same time, the second discharge cover 1134 is disposed on the second dust discharge port 1133 and is thus coupled to the outer peripheral surface of the dust collecting portion 1132 , and the second dust discharge port 1133 can be opened and closed by air pressure.

[0176] At this time, the second discharge cover 1134 can also be arranged at a position opposite to the first dust discharge port 123 and the dust collecting hole 213. With such a structure, when the robot cleaning machine 100 is combined with the cleaning workstation 200, when the dust collecting motor 230 is operated, the response speed of the second discharge cover 1134 being opened becomes faster.

[0177] On the other hand, in the present embodiment, the diameter of the lower end of the dust collecting portion 1132 is smaller than the diameter of the upper end. For example, the outer peripheral surface of the dust collecting portion 1132 is formed in a shape inclined toward the rear lower side. In addition, the second dust discharge port 1133 is arranged at the rear lower side of the outer peripheral surface of the dust collecting portion 1132. With such a structure, the dust descending from the cyclone portion 1131 is gathered to the rear lower side of the dust collecting portion 1132 along the inclination of the dust collecting portion 1132, and when the second dust discharge port 1133 is opened, the dust can be easily discharged.

[0178] on the other hand, Fig.10 A diagram for explaining a dust discharge port and a discharge cover of a dust separation unit in a robot cleaning machine according to a third embodiment of the present invention is shown. Fig.11 A diagram for explaining the lower side of a dust separation unit in a robot cleaner according to a third embodiment of the present invention is shown.

[0179] In order to avoid repeated description, the contents not particularly described in this embodiment are the same as the structure and effect of the robot cleaning machine of one embodiment of the present invention, and thus the contents can be cited.

[0180] Reference Fig.10 and Fig.11 , the robot cleaning machine according to the third embodiment of the present invention is described as follows.

[0181] The dust separation unit 2130 of the robot cleaning machine of the present embodiment includes a cyclone unit 2131 , a dust collecting unit 2132 , a second dust discharge port 2133 , a second discharge cover 2134 , a grid 2135 and a cap 2136 .

[0182] At this time, in this embodiment, a second dust outlet 2133 is formed on the lower side of the dust collecting portion 2132, a second outlet cover 2134 is arranged at the lower side of the second dust outlet 2133, and a cap 2136 is arranged at the lower side of the second outlet cover 2134.

[0183] At this time, the lower side of the dust collecting portion 2132 and the cover cap 2136 are sandwiched and combined, and the lower side of the dust collecting portion 2132 and the cover cap 2136 are sandwiched and fixedly combined with one side of the second discharge cover 2134.

[0184] To this end, a second discharge cover 2134 is fixed to the lower side of the dust collecting portion 2132 and is protrudingly formed with an inclined surface 2132 a so that the second discharge cover 2134 applies pressure to the second dust discharge port 2133 to block it.

[0185] In this embodiment, the second discharge cover 2134 is substantially formed in a disc shape, and one side thereof protrudes and extends radially outward to be combined between the lower side surface of the dust collecting portion 2132 and the cover cap 2136 .

[0186] The second discharge cover 2134 is formed of a material having elasticity. For example, the second discharge cover 2134 is formed of a material including rubber or silicon. With such a structure, the second discharge cover 2134 has a free end that can rotate with the fixed end fixed between the lower side of the dust collecting part 2132 and the cap 2136 as a rotation axis. Therefore, the second discharge cover 2134 rotates between the lower side of the dust collecting part 2132 and the cap 2136 to open and close the second dust discharge port 2133.

[0187] On the other hand, holes 2136a are formed in the cap 2136. That is, the lower side of the cap 2136 is formed in a lattice shape, and at least one hole 2136a is formed. The above-mentioned hole 2136a allows the dust collected in the dust collecting part 2132 as the second discharge cover 2134 rotates to pass through.

[0188] In addition, in this embodiment, a cover receiving portion 2136b is formed on the cover cap 2136 to provide a space in which the second discharge cover 2134 can rotate. The cover receiving portion 2136b is formed by being recessed on the upper side surface of the cover cap 2136 formed to have a predetermined thickness. The depth of the cover receiving portion 2136b is formed to be greater than the thickness of the second discharge cover 2134. With such a structure, a space in which the second discharge cover 2134 can rotate can be provided.

[0189] That is, according to the present embodiment, the cap 2136 limits the rotation range of the second discharge cover 2134 while fixing the second discharge cover 2134. With such a structure, the second discharge cover 2134 can be prevented from sagging, and the second dust discharge port 2133 can be prevented from being always opened.

[0190] on the other hand, Fig.12 A cross-sectional view for explaining a dust cartridge in a robot cleaning machine according to a fourth embodiment of the present invention is shown. Fig.13 Shown for Fig.12 A partially enlarged view illustrating a state in which the discharge cover is opened.

[0191] In order to avoid repeated description, the contents not particularly described in this embodiment are the same as the structure and effect of the robot cleaning machine of one embodiment of the present invention, and thus the contents can be cited.

[0192] Reference Fig.12 and Fig.13 , the robot cleaning machine according to the fourth embodiment of the present invention is described as follows.

[0193] The dust separation unit 3130 of the robot cleaning machine of this embodiment includes a cyclone unit 3131 , a dust collecting unit 3132 , a second dust discharge port 3133 , a second discharge cover 3134 and a grid 3135 .

[0194] At this time, in this embodiment, a second dust discharge port 3133 is formed on the lower side of the dust collecting portion 3132 , and a second discharge cover 3134 is arranged on the lower side of the second dust discharge port 3133 .

[0195] In the robot cleaner of this embodiment, the second discharge cover 3134 is coupled to the lower side of the dust collecting portion in a manner capable of linear reciprocating movement, and moves up and down along the direction of gravity by air pressure to open and close the second dust discharge port.

[0196] The second dust outlet 3133 is formed in the shape of a circular hole on the lower side of the dust collecting portion 3132, and there is at least one frame 3133a that crosses the circular hole. On the other hand, a hole for the shaft 3134a of the second discharge cover 3134 described later to pass through is formed in the middle position of the frame 3133a.

[0197] Furthermore, the second discharge cover 3134 is formed in a disc shape, and a shaft 3134 a is protruded from the center of the second discharge cover 3134 and passes through the frame 3133 a .

[0198] On the other hand, a washer 2134b is disposed on the upper side of the frame 3133a. The washer 2134b has the effect of covering the upper part of the shaft 3134a and preventing dust from flowing into the shaft 3134a side. On the other hand, a return spring 3134c is disposed between the washer 2134b and the shaft 3134a. The return spring 3134c applies a restoring force in the direction of the second discharge cover 3134 closing the second dust discharge port 3133 when the second discharge cover 3134 is opened.

[0199] Through such a structure, when the robot cleaning machine 100 is combined with the cleaning workstation 200, when the dust collecting motor 230 is in operation, the second discharge cover 3134 moves downward to open the second dust discharge port 3133, and when the dust collecting motor 230 stops operating, the second discharge cover 3134 moves upward to close the second dust discharge port 3133 due to the restoring force of the restoring spring.

[0200] In the case of this embodiment, compared with the case where the second dust outlet 3133 is opened by a hinge structure, there is an advantage that more space can be opened at the same time.

[0201] on the other hand, Fig.14 A cross-sectional view is shown for explaining a state in which a robot cleaning machine according to an embodiment of the present invention is coupled to a cleaning workstation.

[0202] Reference Figures 1 to 14 , a cleaning system according to an embodiment of the present invention is described as follows.

[0203] A cleaning system 1 according to an embodiment of the present invention includes a robot cleaning machine 100 and a cleaning workstation 200 .

[0204] At this time, the robot cleaning machine 100 may be applicable to the robot cleaning machine 100 of the first embodiment to the fourth embodiment described above.

[0205] On the other hand, the cleaning workstation 200 includes a coupling portion 210 , a dust collecting portion 220 , a dust collecting motor 230 , and a flow path portion 240 .

[0206] The dust collecting part 220 and the dust collecting motor 230 are arranged in the housing of the cleaning station 200, and the coupling part 210 is arranged at the lower side of the housing of the cleaning station 200. At this time, the coupling part 210 is exposed to the outside of the cleaning station 200 and forms an appearance together with the housing.

[0207] The connecting portion 210 is connected to the robot cleaning machine 100. At this time, the connecting portion 210 includes a bottom plate 211, a dust tube storage surface 212 and a dust collection hole 213.

[0208] The bottom plate 211 is provided in an upwardly inclined state in order to be coupled with the robot cleaning machine 100. The degree of inclination of the bottom plate 211 is determined according to the shape of the lower body 111 of the robot cleaning machine 100.

[0209] Therefore, the robot cleaning machine 100 is coupled to the upper side of the bottom plate 211 .

[0210] The dust barrel storage surface 212 is formed along a direction intersecting the ground. For example, the dust barrel storage surface 212 may be a surface formed along a direction perpendicular to the ground, and may be arranged opposite to the dust barrel 120. The dust barrel storage surface 212 is formed in a curved surface shape with a predetermined curvature along the horizontal direction. With such a structure, the robot cleaner 100 can be guided when it moves for dust collection so as to be coupled to an accurate position.

[0211] The coupling part 210 includes a dust collecting hole 213 provided at a position corresponding to the position where the dust canister 120 of the robot cleaning machine 100 is arranged, based on the state of coupling with the robot cleaning machine 100. More specifically, the dust collecting hole 213 is formed on the dust canister storage surface 212.

[0212] Therefore, the dust collecting hole 213 is arranged at a position opposite to the first dust discharge port 123 based on the state in which the robot cleaning machine 100 is combined. In addition, the dust collecting hole 213 is arranged at a position opposite to the outer peripheral surface of the dust separation part 130 when the first discharge cover 124 is opened. And, when the robot cleaning machine 100 is combined with the cleaning workstation 200, at least a part of the dust collecting hole 213 is arranged at the same height as the second dust discharge port 133. With such a structure, when the suction force of the dust collecting motor 230 is applied through the dust collecting hole 213, the dust stored in the dust collecting part 132 flows to the dust collecting hole 213 through the shortest path, which can improve the dust collection efficiency.

[0213] The dust collecting hole 213 is formed in a shape corresponding to the first dust discharge port 123. As an example, the dust collecting hole 213 may be a square hole. At this time, when the first discharge cover 124 is opened, the dust collecting hole 213 receives at least a portion of the first discharge cover 124. With such a structure, even if the dust collecting motor 230 is operated to open the first discharge cover 124, the first dust discharge port 123 and the dust collecting hole 213 can be arranged close to each other and communicate with each other.

[0214] In addition, although not shown, the coupling part 210 includes a charging terminal (not shown) electrically connected to the robot cleaning machine 100 to supply power to charge the robot cleaning machine 100. When the robot cleaning machine 100 is coupled, the corresponding terminal of the robot cleaning machine 100 and the charging terminal (not shown) are electrically connected, and power is supplied from the coupling part 210 to the robot cleaning machine 100, so that the robot cleaning machine 100 can be charged.

[0215] On the other hand, a flow path portion 240 is formed in the connection portion 210. Specifically, a first flow path 241 is formed in the connection portion 210. The flow path portion 240 is communicated with the dust collection hole 213.

[0216] The dust collecting part 220 refers to a dust bag that collects dust sucked from the inside of the dust canister 120 by the dust collecting motor 230 .

[0217] The dust collecting part 220 is detachably coupled to the housing of the cleaning workstation 200 .

[0218] Therefore, the dust collecting part 220 is separated from the cleaning workstation 200 and discarded, and a new dust collecting part 220 is combined. That is, the dust collecting part 220 can be defined as a consumable.

[0219] When suction is generated by the dust collecting motor 230, the dust can be collected inside as the volume of the dust bag increases. For this reason, the dust bag is made of a material that allows air to pass through but blocks foreign matter such as dust from passing through. As an example, the dust bag is made of a non-woven fabric material and can have a hexahedral shape based on the increase in volume.

[0220] Therefore, the user does not need to separately bundle a bag or the like for collecting dust, and thus the convenience of the user can be improved.

[0221] The dust collecting motor 230 is disposed at the lower portion of the dust collecting portion 220. The dust collecting motor 230 applies suction force to the flow path portion 240. Thus, the dust collecting motor 230 can provide suction force to suck the dust in the dust cylinder 120 of the robot cleaner 100.

[0222] The flow path portion 240 connects the dust tube 120 and the dust collecting portion 220 of the robot cleaner 100 .

[0223] The flow path portion 240 is formed rearward from the coupling portion 210 and is bent upward.

[0224] Specifically, the flow path portion 240 includes a first flow path 241. The first flow path 241 is communicated with the dust collection hole 213 and may be formed from the dust collection hole 213 to the rear along the front-rear direction of the cleaning workstation 200. For example, the first flow path 241 may be formed from the dust collection hole 213 to the rear in a direction parallel to the ground.

[0225] The space inside the dust barrel 120 of the robot cleaning machine 100 and the dust collecting hole 213 and the first flow path 241 can be connected to each other. That is, when the dust collecting motor 230 is in motion, the first discharge cover 124 can be opened by the suction force of the dust collecting motor 230. At this time, the space inside the dust barrel 120 of the robot cleaning machine 100 and the dust collecting hole 213 and the first flow path 241 are connected to each other, and the dust stored inside the dust barrel 120 passes through the dust collecting hole 213 and the first flow path 241.

[0226] In addition, the flow path portion 240 includes a second flow path 242. The second flow path 242 is connected to the first flow path 241 and is formed along the up-down direction of the cleaning workstation 200. That is, the second flow path 242 is formed by bending upward from the first flow path 241 and is formed along a direction perpendicular to the ground. When the dust collecting motor 230 is operated, the dust stored in the dust cylinder 120 flows upward against gravity by the suction force of the dust collecting motor 230.

[0227] In addition, the flow path portion 240 includes a third flow path 243. The third flow path 243 communicates with the second flow path 242 and is formed at a predetermined angle to the ground.

[0228] The third flow path 243 is a flow path formed in a shape bent at a predetermined angle in the second flow path 242 .

[0229] One end of the third flow path 243 in the longitudinal direction is connected to the second flow path 242 . Also, the other end of the third flow path 243 in the longitudinal direction is connected to the dust collecting unit 220 .

[0230] Therefore, the dust sucked into the dust canister 120 of the robot cleaner 100 passes through the flow path portion 240 and is collected in the dust collecting portion 220 .

[0231] Through the action of the cleaning workstation 200, the dust canister 120 of the robot cleaning machine 100 may be emptied in the following manner.

[0232] First, the robot cleaning machine 100 walks and moves on the bottom plate 211 and combines with the cleaning workstation 200. At this time, the robot cleaning machine 100 moves in a manner that the first dust discharge port 123 is close to the dust collection hole 213. At this time, the robot cleaning machine 100 determines whether it is combined with the correct position by determining whether the charging terminal of the cleaning workstation 200 and the corresponding terminal of the robot cleaning machine 100 are in contact with each other and electrically connected. Alternatively, a sensor can be set at the cleaning workstation 200 to confirm whether it is combined with the robot cleaning machine 100 at the correct position.

[0233] When the robot cleaner 100 is coupled to the cleaning workstation 200, the dust collecting motor 230 is operated. The suction force applied by the operation of the dust collecting motor 230 is transmitted along the flow path 240 and applied to the dust collecting hole 213. At this time, the first discharge cover 124 arranged at a position opposite to the dust collecting hole 213 is opened by the suction force, and the first dust discharge port 123 is connected to the dust collecting hole 213 and the flow path 240.

[0234] On the other hand, the first discharge cover 124 is opened and accommodated in the space inside the flow path portion 240 .

[0235] In addition, when the robot cleaning machine 100 is coupled to the coupling portion 210, the seal 124c in contact with the first discharge cover 124 is in contact with the dust barrel storage surface 212. Therefore, the outer peripheral surface of the dust barrel 120 of the robot cleaning machine 100 and the coupling portion 210 are airtight through the seal 124c. With such a structure, dust flowing into the dust collecting hole 213 through the first dust discharge port 123 can be prevented from scattering to the outside.

[0236] The first dust discharge port 123 is communicated with the dust collecting hole 213, so that the suction force of the dust collecting motor 230 is transmitted to the inside of the dust canister 120. As a result, an air pressure difference is generated between the inside and outside of the dust collecting portion 132, and as the second discharge cover 134 is opened, the second dust discharge port 133 is communicated with the internal space of the dust canister 120. As a result, the second dust discharge port 133 is communicated with the first dust discharge port 123, the dust collecting hole 213, and the flow path portion 240, and the dust remaining inside the dust collecting portion 132 is collected in the dust collecting portion 220.

[0237] The present invention has been described in detail above through specific embodiments, but this is only for the specific description of the present invention and the present invention is not limited thereto. Those skilled in the art can modify or improve the present invention within the technical concept of the present invention.

[0238] Simple modifications and changes of the present invention are all included in the scope of the present invention. Therefore, the specific protection scope of the present invention can be clearly understood through the attached claims.

Claims

1. A robot cleaning machine, comprising: A main body, which has a space for accommodating a battery and a suction motor formed therein, and has a suction port formed therein; a dust container, which is coupled to the main body and stores dust flowing in through the suction port; and The dust separation unit is arranged in the inner space of the dust cylinder and separates dust from the air flowing in through the suction port. The above-mentioned dust cylinder comprises: A dust cartridge body having a first dust discharge port; and The first discharge cover is coupled to the dust barrel body to open and close the first dust discharge port. The dust separation unit comprises: a cyclone section that separates dust from the air by cyclonic flow; a dust collecting portion, which is disposed on the lower side of the cyclone portion in the gravity direction, collects dust separated from the cyclone portion, and is formed with a second dust discharge port; and The second discharge cover is disposed on the dust collecting portion and opens and closes the dust collecting portion.

2. The robot cleaning machine according to claim 1, characterized in that: The first discharge cover is coupled to the outer peripheral surface of the dust tube body, and opens and closes the first dust discharge port by air pressure.

3. The robot cleaning machine according to claim 1, characterized in that: The second discharge cover is coupled to the lower side of the dust collecting portion, and is rotated by air pressure to open and close the second dust discharge port.

4. The robot cleaning machine according to claim 3, characterized in that: The dust separation unit further comprises: A cap is coupled to the lower side of the dust collecting portion, and one side of the second discharge cover is coupled between the cap and the lower side of the dust collecting portion.

5. The robot cleaning machine according to claim 4, characterized in that: The cap has a cap receiving portion that provides a space in which the second discharge cap can rotate.

6. The robot cleaning machine according to claim 4, characterized in that: The cap has a hole formed therein for allowing the dust collected in the dust collecting portion by the rotation of the second discharge cover to pass therethrough.

7. The robot cleaning machine according to claim 1, characterized in that: The second dust outlet is formed on the outer peripheral surface of the dust collecting portion at a position opposite to the first dust outlet. The second discharge cover is coupled to the outer peripheral surface of the dust collecting portion, and opens and closes the second dust discharge port by air pressure.

8. The robot cleaning machine according to claim 7, characterized in that: The diameter of the lower end of the dust collecting portion is smaller than the diameter of the upper end.

9. The robot cleaning machine according to claim 1, characterized in that: The second discharge cover is coupled to the lower side of the dust collecting portion, and moves up and down along the gravity direction by air pressure to open and close the second dust discharge port.

10. The robot cleaning machine according to claim 1, characterized in that: The first discharge cover and the second discharge cover are opened in conjunction with each other by air pressure.

11. A cleaning system comprising: A robot cleaner having wheels, a battery and at least one motor, sucking in dust-containing air through a suction port and storing the sucked dust in a dust bin; and The robot cleaning workstation comprises: a coupling part coupled with a robot cleaning machine; a flow path part connected with the inner space of the dust barrel; a dust collecting part for collecting dust inside the dust barrel; and a dust collecting motor for generating an attraction force to suck the dust inside the dust barrel into the dust collecting part. The above-mentioned dust cylinder comprises: A dust barrel body having a first dust discharge port formed on its outer peripheral surface; and The first discharge cover is coupled to the dust barrel body to open and close the first dust discharge port. The above-mentioned joint part includes: a bottom plate, the upper side of which is combined with the above-mentioned robot cleaning machine; A dust tube storage surface is formed in a direction intersecting the ground in a manner opposite to the dust tube; and A dust collecting hole is formed on the dust tube storage surface and communicates with the flow path portion. When the first discharge cover is opened, the dust collecting hole communicates with the internal space of the dust tube.

12. The cleaning system according to claim 11, characterized in that The above-mentioned robot cleaning machine also includes: The dust separation unit is arranged in the inner space of the dust cylinder to separate dust from the air flowing in through the suction port. When the first discharge cover is opened, the dust collecting hole is arranged at a position opposite to the outer peripheral surface of the dust separation unit.

13. The cleaning system according to claim 12, characterized in that The dust separation unit comprises: a cyclone portion that separates dust from the air through cyclonic flow; and The dust collecting part is arranged on the lower side of the cyclone part in the gravity direction, collects the dust separated from the cyclone part, and is formed with a second dust discharge port. When the robot cleaning machine is coupled to the cleaning workstation, at least a portion of the dust collecting hole is disposed at the same height as the second dust discharge port.

14. The cleaning system according to claim 13, characterized in that The dust separation unit further comprises: The second discharge cover is disposed on the dust collecting portion and opens and closes the dust collecting portion. When the dust collecting motor is operated, the second discharge cover is rotated by the suction force of the dust collecting motor and is arranged toward the dust collecting hole.

15. The cleaning system according to claim 13, characterized in that The dust separation unit further comprises: The second discharge cover is disposed on the dust collecting portion and opens and closes the dust collecting portion. When the dust collecting motor is operated, the first discharge cover is received in the flow path portion through the dust collecting hole.

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