Robot cleaner station and robot cleaner system with robot cleaner station

Abstract

The robot cleaner station includes: a base; a pad cleaning device mounted on an upper surface of the base and configured to place and clean a wiping pad; a pad moving device configured to move the used wiping pad placed on the pad cleaning device and place the cleaned wiping pad on the pad cleaning device; and at least one processor configured to execute at least one instruction stored in the at least one memory to control the pad moving device to move the used wiping pad to the pad cleaning device when the robotic cleaner moves away from the base with the cleaned wiping pad attached thereto, and control the pad moving device to move the used wiping pad to the pad cleaning device when the robotic cleaner moves away from the base with the cleaned wiping pad attached thereto. And cleaning the used wiping pad by using the pad cleaning device.

Description

TECHNICAL FIELD

[0001] The disclosure relates to a robot cleaner station, and more particularly, to a robot cleaner station capable of automatically replacing a wiping pad and cleaning the wiping pad, and a robot cleaner system having the robot cleaner station. BACKGROUND

[0002] As technology advances, various types of robot cleaners are being sold on the market.

[0003] A typical robot cleaner can be designed to automatically travel on a surface to be cleaned and collect dust or dirt on the surface to be cleaned by sucking the dust or dirt on the surface to be cleaned.

[0004] Some robot cleaners can be equipped with a wiping function of wiping a surface to be cleaned, but do not have a function of collecting dust or dirt from the surface to be cleaned.

[0005] Some robot cleaners have both a function of collecting dust or dirt from a surface to be cleaned and a function of wiping the surface to be cleaned.

[0006] Some robot cleaners having a wiping function can be configured to allow a user to manually replace a used wiping pad with a new wiping pad.

[0007] Some robot cleaners having a wiping function can include a robot cleaner station having a cleaning device for cleaning a wiping pad. When a robot cleaner having a used wiping pad enters the cleaning device, the robot cleaner station cleans the used wiping pad while the used wiping pad remains attached to the robot cleaner. When the cleaning of the wiping pad is completed, the robot cleaner leaves the robot cleaner station and wipes a surface to be cleaned. SUMMARY

[0008] TECHNICAL SOLUTION Aspects will be partially set forth in the following description, and in part will be apparent from the description, or can be learned by practice of the presented embodiments.

[0009] According to one or more embodiments of the disclosure, a robot cleaner station can include a base, a pad cleaner disposed in an upper surface of the base and configured to place and clean a wiping pad, a pad moving device configured to move a used wiping pad from the pad cleaner and place a cleaned wiping pad on the pad cleaner, and one or more processors, wherein, by executing one or more instructions stored on at least one memory, the one or more processors are configured to control the pad moving device to move the used wiping pad to the pad cleaner, and based on the robot cleaner to obtain the cleaned wiping pad and move away from the base, control the pad cleaner to clean the used wiping pad.

[0010] According to one or more embodiments of the disclosure, the pad moving device can include a lifting frame having a rectangular shape, a rotating plate rotatably disposed within the lifting frame and to which the wiping pad is fixed, a lifting device configured to move the lifting frame up and down, and a rotating device configured to rotate the rotating plate.

[0011] According to one or more embodiments of the disclosure, the rotating plate can include a first surface, a second surface opposite the first surface, a first holder locker disposed on the first surface and configured to selectively hold the wiping pad, and a second holder locker disposed on the second surface and configured to selectively hold the wiping pad.

[0012] According to one or more embodiments of the disclosure, the rotating device can include a pair of protrusions protruding from side surfaces of the rotating plate, respectively, a pair of disturbance rods disposed on both sides of the lifting frame, wherein, based on the lifting frame moving upward and one of the pair of disturbance rods disturbing one of the pair of protrusions, the rotating plate is rotated at an angle with respect to the lifting frame, and two pairs of stop grooves disposed on side surfaces of the lifting frame and configured to accommodate the pair of protrusions.

[0013] According to one or more embodiments of the disclosure, the lifting device can include a pair of racks disposed on side surfaces of the lifting frame, respectively, a pair of pinions engaged with the pair of racks, a drive gear configured to drive the pair of pinions, a motor configured to rotate the drive gear, and a pair of guides configured to guide up and down movement of the lifting frame.

[0014] According to one or more embodiments of the disclosure, the drive gear can include a first drive gear and a second drive gear engaged with the pair of pinions, respectively, and a connection shaft connecting the first drive gear and the second drive gear.

[0015] According to one or more embodiments of the present disclosure, the pad moving device can include a lifting plate having a rectangular shape and to which the wiping pad is fixed, and a lifting device configured to move the lifting plate up and down.

[0016] According to one or more embodiments of the present disclosure, the lifting device can include a pair of racks respectively provided on side surfaces of the lifting plate, a pair of pinions engaged with the pair of racks, a driving gear configured to drive the pair of pinions, a motor configured to rotate the driving gear, and a pair of guides configured to guide the lifting plate to move up and down.

[0017] According to one or more embodiments of the present disclosure, the lifting plate can include a holder locker configured to selectively hold the wiping pad on a lower surface.

[0018] According to one or more embodiments of the present disclosure, the holder locker can include a locking hole in a center of the holder locker, and a plurality of ball springs spaced apart on an inner circumferential surface of the locking hole.

[0019] According to one or more embodiments of the present disclosure, the pad moving device can include a pad holder configured to fix the wiping pad, and a holder locker configured to selectively hold the pad holder. The pad holder can include a holder plate having a lower surface to which the wiping pad is attached, and a fixing protrusion protruding from a center of an upper surface of the holder plate.

[0020] According to one or more embodiments of the present disclosure, the holder locker can include a locking hole in a center of the holder locker, and the fixing protrusion of the pad holder is to be inserted into the locking hole, and a lock included in the locking hole and configured to selectively fix the fixing protrusion.

[0021] According to one or more embodiments of the disclosure, a robotic cleaner system can include a robotic cleaner configured to wipe a surface using a cleaned wipe pad, and a robotic cleaner station configured to supply the cleaned wipe pad to the robotic cleaner, cause the cleaned wipe pad to become a used wipe pad based on completion of a wiping operation of the robotic cleaner, replace the used wipe pad with a second cleaned wipe pad, and clean the used wipe pad based on the robotic cleaner performing the wiping operation. The robotic cleaner station can include a base, a pad cleaner disposed in an upper surface of the base and configured to place the cleaned wipe pad and clean the used wipe pad, a pad moving device configured to move the used wipe pad from the pad cleaner and place the cleaned wipe pad on the pad cleaner, and one or more processors, wherein the one or more processors are configured to control the pad moving device to move the used wipe pad to the pad cleaner and control the pad cleaner to clean the used wipe pad based on the robotic cleaner obtaining the cleaned wipe pad and leaving the base to perform the wiping operation by executing one or more instructions stored on at least one memory. BRIEF DESCRIPTION OF DRAWINGS

[0022] These and / or other aspects, features, and advantages of certain embodiments of the disclosure will be more readily apparent upon consideration of the following description in conjunction with the accompanying drawings, in which: Figure 1 is a perspective view illustrating a robotic cleaner station according to one or more embodiments of the disclosure.

[0023] Figure 2 is a perspective view illustrating a robotic cleaner station without a housing according to one or more embodiments of the disclosure.

[0024] Figure 3 is a cross-sectional view illustrating the robotic cleaner station of Figure 1 along line A-A according to one or more embodiments of the disclosure.

[0025] Figure 4 is an exploded perspective view illustrating a lifting frame and a rotating plate of a pad moving device of a robotic cleaner station according to one or more embodiments of the disclosure.

[0026] Figure 5 is a cross-sectional view illustrating the rotating plate of the pad moving device according to one or more embodiments of the disclosure.

[0027] Figure 6 is a perspective view illustrating a disturbance rod of the pad moving device according to one or more embodiments of the disclosure.

[0028] Figure 7is a perspective view showing a wiping pad assembly used in a robotic cleaner station according to one or more embodiments of the present disclosure.

[0029] Figure 8 is a perspective view showing a wiping pad assembly according to one or more embodiments of the present disclosure. Figure 7 is a cross-sectional view of the wiping pad assembly of

[0030] Figure 9 is a perspective view showing a wiping pad assembly according to one or more embodiments of the present disclosure. Figure 7

[0031] Figure 10 is a perspective view showing a wiping pad assembly according to one or more embodiments of the present disclosure. Figure 7 is a bottom perspective view of a pad holder of the wiping pad assembly of

[0032] Figure 11 is a cross-sectional view of a rotating plate of a robotic cleaner station having a wiping pad coupled thereto according to one or more embodiments of the present disclosure.

[0033] Figure 12 is a cross-sectional view of a pad holder of a holder lock coupled to a robotic cleaner station according to one or more embodiments of the present disclosure.

[0034] Figure 13 is a cross-sectional view of a pad holder separated from the holder lock of Figure 12 according to one or more embodiments of the present disclosure.

[0035] Figure 14 is a view showing a robotic cleaner system according to one or more embodiments of the present disclosure.

[0036] Figure 15 is a block diagram of a robotic cleaner system according to one or more embodiments of the present disclosure.

[0037] Figure 16a , Figure 16b , Figure 16c , Figure 16d , Figure 16e , Figure 16f , Figure 16g and Figure 16h are views for explaining a method of replacing a wiping pad using a robotic cleaner system according to one or more embodiments of the present disclosure.

[0038] Figure 17 is a perspective view showing a robotic cleaner station according to one or more embodiments of the present disclosure.

[0039] Figure 18 is a perspective view showing a robotic cleaner station according to one or more embodiments of the present disclosure.​Figure 17 A bottom perspective view of a lift plate of a robotic cleaner station.

[0040] Figure 19 A cross-sectional perspective view illustrating a stacked state of two wiping pad assemblies used in a robotic cleaner station according to one or more embodiments of the present disclosure.

[0041] Figure 20 A cross-sectional view illustrating a state in which a pad holder of a wiping pad assembly is coupled to a holder locker of a lift plate of a robotic cleaner station according to one or more embodiments of the present disclosure.

[0042] Figure 21a 、 Figure 21b 、 Figure 21c 、 Figure 21d 、 Figure 21e and Figure 21f are views for explaining a method of replacing a wiping pad using a robotic cleaner system according to one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0043] The various embodiments of the present document and the terms used herein are not intended to limit the technical features described in the present document to particular embodiments, and should be understood to include various modifications, equivalents, or alternatives of the embodiments. The embodiments described herein are example embodiments, and thus, the present disclosure is not limited thereto and can be implemented in various other forms.

[0044] In the description of the drawings, like reference numerals can be used to refer to like or similar components.

[0045] The singular forms of the nouns used in connection with items can include one or more of the items unless the relevant context clearly indicates otherwise.

[0046] In the present document, each of 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", "at least one of A, B, C" can include any one of the items listed in the corresponding phrase, or any possible combination thereof.

[0047] The term "and / or" includes any of the elements of a plurality of related descriptions or a combination thereof.

[0048] Terms such as "first", "second", "main", or "secondary" can simply be used to distinguish one component from other components, and do not limit the corresponding component in other aspects (for example, importance or order) in other aspects.

[0049] When it is mentioned that one (for example, a first) component is "coupled" or "connected" to another (for example, a second) component with or without the term "functionally" or "communicatively", it means that one component can be connected to another component directly (for example, wired), wirelessly, or through a third component.

[0050] The terms such as "include" or "have" are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the embodiments, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0051] When a component is referred to as being "connected", "coupled", "supported", or "contacted" to another component, it not only means the case where the component is directly connected, coupled, supported, or contacted to the other component, but also means the case where the component is indirectly connected, coupled, supported, or contacted to the other component through a third component.

[0052] When a component is referred to as being "on" another component, it not only includes the case where the component is in contact with the other component, but also includes the case where there is another component between the two components.

[0053] In addition, the terms "front end", "rear end", "upper side", "lower side", "top end", "bottom end", and the like used in the disclosure are defined with reference to the accompanying drawings. However, the shape and position of each component are not limited by the terms.

[0054] The disclosure relates to a robot cleaner station capable of replacing a used wiping pad mounted on a robot cleaner with a cleaned wiping pad and cleaning the used wiping pad while the robot cleaner performs wiping using the cleaned wiping pad. In addition, the disclosure relates to a robot cleaner system including the above-described robot cleaner station and a robot cleaner.

[0055] Hereinafter, a robot cleaner station 1 according to one or more embodiments of the disclosure will be described with reference to the accompanying drawings. Figure 1 The detailed description of the robot cleaner station 1 according to one or more embodiments of the disclosure.

[0056] Figure 1 is a perspective view illustrating a robot cleaner station 1 according to one or more embodiments of the disclosure.

[0057] Referring to Figure 1 , the robot cleaner station 1 according to one or more embodiments of the disclosure can include a base 10, a pad cleaner 20, and a pad moving device 30.

[0058] The base 10 is formed to support the robot cleaner station 1. Accordingly, the robot cleaner station 1 can be disposed on a mounting surface by the base 10. Here, the mounting surface can be a robot cleaner 100 (see Figure 14The surface to be cleaned that moves on it.

[0059] The base 10 may include an access road 11 through which the robotic cleaner 100 reaches the upper surface of the base 10. The access road 11 may be formed as a ramp.

[0060] The pad cleaner 20 can be disposed in the upper surface of the base 10. The pad cleaner 20 is configured as a cleaning wipe pad 80 (see...). Figure 8 The pad cleaner 20 is configured to clean the lower surface of the wiping pad 80 supported by the pad moving device 30.

[0061] The pad cleaner 20 is configured to hold a wiping pad 80 thereon. The pad cleaner 20 may include a pad base 21 on which the wiping pad 80 is placed. The pad base 21 is configured to be movable a certain distance in a direction perpendicular to the upper surface of the base 10. In this embodiment, the pad cleaner 20 includes two pad bases 21 for holding two wiping pads 80.

[0062] When the robot cleaner 100 enters the interior of the robot cleaner station 1 along the access road 11, the wiping device provided on the lower surface of the robot cleaner 100 can face the pad cleaner 20 provided on the base 10. The robot cleaner 100 can place the used wiping pad 80' on the pad seat 21 of the pad cleaner 20.

[0063] The pad moving device 30 is configured to move the used wiping pad 80' placed on the pad cleaner 20. Specifically, the pad moving device 30 can be configured to pick up the wiping pad 80 placed on the pad cleaner 20 and move it upward to a height above that of the robot cleaner 100.

[0064] The pad moving device 30 can be configured to place the cleaned wiping pad 80 on the pad cleaner 20. Specifically, the pad moving device 30 is configured such that it supports the used wiping pad 80' to allow the pad cleaner 20 to clean the used wiping pad 80', and moves the cleaned wiping pad 80 to a position spaced a certain distance above the pad cleaner 20. The pad moving device 30 can position the cleaned wiping pad 80 within the pad base 21 of the pad cleaner 20.

[0065] In this embodiment, the pad moving device 30 is configured to move two wiping pads 80 at a time. However, this is merely an example, and the pad moving device 30 may be configured to move a number of wiping pads 80 corresponding to the number of wiping pads 80 attached to the robotic cleaner 100 at a time. For example, the pad moving device 30 may be configured to move one wiping pad 80 or three or more wiping pads 80 at a time.

[0066] The pad moving device 30 and the pad cleaner 20 can be manufactured by the processor 90 (see...). Figure 15 The processor 90 can be configured to control the pad moving device 30, causing the pad moving device 30 to move the wiping pad 80. The processor 90 can also be configured to control the pad cleaner 20, causing the pad cleaner 20 to clean the wiping pad 80 moved by the pad moving device 30.

[0067] The processor 90 according to embodiments of the present disclosure may include one or more processors. The one or more processors may include one or more of a central processing unit (CPU), an integrated many-core (MIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a hardware accelerator, etc. The one or more processors are capable of performing control over any or any combination of other components of the pad cleaner 20 and / or the pad moving device 30, and / or performing communication-related operations or data processing. The one or more processors execute one or more programs stored in at least one memory. The one or more programs may include one or more instructions.

[0068] For example, when the robotic cleaner 100 mounts the cleaned wiping pad 80 placed on the pad cleaner 20 and moves away from the base 10, the processor 90 can control the pad moving device 30 to move the used wiping pad 80' to the pad cleaner 20, and then control the pad cleaner 20 to clean the used wiping pad 80'. In other words, the processor 90 can control the pad cleaner 20 to clean the wiping pad 80 while the pad moving device 30 positions and supports the wiping pad 80 on the pad cleaner 20.

[0069] The processor 90 can be configured to use the pad drying device 29 to dry the cleaned wiping pad 80.

[0070] The robotic cleaner station 1 may include a housing 2. The housing is configured to house and support a base 10, a pad cleaner 20, and a pad moving device 30.

[0071] The robot cleaner 100 can be positioned on the front surface of the housing 2 through its entry point. The robot cleaner 100 can reach the upper surface of the base 10 through the entry point of the housing 2.

[0072] The robotic cleaner station 1 may include a pad drying device 29. The pad drying device 29 may be configured to dry the wiping pad 80 cleaned by the pad cleaner 20. For example, the pad drying device 29 may include at least one fan.

[0073] The pad drying device 29 can be disposed above the pad moving device 30 in the housing 2. When the wiping pad 80 moves upward through the pad moving device 30 and is positioned below the pad drying device 29, the pad drying device 29 can dry the wiping pad 80 fixed to the pad moving device 30.

[0074] The robotic cleaning station 1 may include a water container 3 and a dust container 4. The water container 3 and dust container 4 may be positioned above the pad drying device 29. An intermediate plate 5 supporting the water container 3 and dust container 4 may be positioned above the pad drying device 29. The pad drying device 29 may be positioned below the intermediate plate 5.

[0075] The clean water container 3 is configured to supply water to the robotic cleaner 100 located on the upper surface of the base 10. The dust container 4 is configured to collect dust and dirt collected in the robotic cleaner 100 located on the upper surface of the base 10.

[0076] In the following text, reference will be made to the attached document. Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 A detailed description of the pad moving device 30 of the robotic cleaner station 1 according to one or more embodiments of the present disclosure.

[0077] Figure 2 This is a perspective view showing a robotic cleaner station 1 without a housing 2 according to one or more embodiments of the present disclosure. Figure 3 This shows the section intercepted along line AA. Figure 1 Cross-sectional view of robot cleaner station 1. Figure 4 This is an exploded perspective view showing the lifting frame 40 and rotating plate of the pad moving device 30 of the robotic cleaner station 1 according to one or more embodiments of the present disclosure. Figure 5 This is a cross-sectional view showing the rotating plate of the pad moving device 30 according to one or more embodiments of the present disclosure. Figure 6 This is a perspective view showing the disturbance rod 75 of the pad moving device 30 according to one or more embodiments of the present disclosure.

[0078] Reference Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The pad moving device 30 according to one or more embodiments of the present disclosure may include a lifting frame 40, a rotating plate 50, a lifting device 60, and a rotating device 70.

[0079] The lifting frame 40 can be formed in a rectangular shape. The lifting frame 40 can be formed in the shape of a rectangular window frame with an empty interior. The lifting frame 40 is configured to support the rotation of the rotating plate 50. The lifting frame 40 is constructed to be able to move up and down via the lifting device 60.

[0080] The rotating plate 50 can be formed into a generally rectangular flat plate shape. The rotating plate 50 can be rotatably disposed inside the lifting frame 40. The rotating plate 50 is formed to support and fix the wiping pads 80. In this embodiment, the rotating plate 50 is formed to support and fix two wiping pads 80.

[0081] The rotating plate 50 may include a pair of rotating shafts 51. The pair of rotating shafts 51 may be respectively disposed at the center of the left and right surfaces of the rotating plate 50. By supporting the pair of rotating shafts 51, the rotating plate 50 can be kept in a horizontal state.

[0082] The lifting frame 40 may include a pair of shaft holes 41 corresponding to a pair of rotating shafts 51 of the rotating plate 50. The pair of shaft holes 41 may be formed on two side surfaces of the lifting frame 40, i.e., on the left and right side surfaces of the lifting frame 40. The pair of rotating shafts 51 of the rotating plate 50 may be inserted into the pair of shaft holes 41 of the lifting frame 40 respectively. Therefore, the rotating plate 50 can rotate relative to the lifting frame 40.

[0083] When no external force is applied to the rotating plate 50, the rotating plate 50 can be set to remain parallel to the lifting frame 40.

[0084] The rotating plate 50 may include a retainer lock 52. The retainer lock 52 may be disposed on each of a first surface and a second surface of the rotating plate 50. Here, the second surface of the rotating plate 50 refers to the surface opposite to the first surface. Hereinafter, the retainer lock 52 disposed on the first surface of the rotating plate 50 will be referred to as the first retainer lock, and the retainer lock 52 disposed on the second surface of the rotating plate 50 will be referred to as the second retainer lock.

[0085] The rotating plate 50 according to this embodiment has two first retainer locks 52 disposed on a first surface and two second retainer locks 52 disposed on a second surface, so as to be able to pick up two wiping pads 80 at one time. Since the first retainer locks 52 and the second retainer locks 52 are formed with the same structure, one retainer lock 52 will be described below.

[0086] The retainer lock 52 is configured to support and secure the wiping pad 80. The retainer lock 52 may be configured to selectively retain or release the wiping pad 80. When the wiping pad 80 is secured to the pad retainer 81 as in this embodiment, the retainer lock 52 may be configured to selectively retain or release the pad retainer 81.

[0087] The retainer lock 52 can be formed in the shape of a disc. A locking hole 521 can be formed in the center of the retainer lock 52. The locking hole 521 can be formed so that the fixing protrusion 83 of the pad retainer 81 can be inserted therein.

[0088] The retainer lock 52 may include a locking part that selectively secures the retaining protrusion 83 of the pad retainer 81. The locking part may be disposed in the locking hole 521 of the retainer lock 52. The locking part may be formed in various structures, as long as it can secure the retaining protrusion 83 of the pad retainer 81.

[0089] For example, the locking part can be formed as a plurality of ball springs 53. Each of the plurality of ball springs 53 may include a ball 531 and a helical spring 532 supporting the ball 531. The plurality of ball springs 53 may be arranged at regular intervals on the inner peripheral surface of the locking hole 521 of the retainer lock 52.

[0090] Multiple ball spring holes can be formed on the inner circumferential surface of the locking hole 521, and multiple ball springs 53 are disposed in the multiple ball spring holes. Therefore, when the multiple ball springs 53 are disposed in the multiple ball spring holes of the retainer lock 52, multiple balls 531 can protrude from the inner circumferential surface of the locking hole 521. Each ball 531 of the multiple ball springs 53 can move in the radial direction of the locking hole 521. Therefore, the multiple ball springs 53 can fix the fixing protrusion 83 of the pad retainer 81 inserted into the locking hole 521.

[0091] The wiping pad 80 and the pad retainer 81 can form a wiping pad assembly 80A. Referring below... Figure 7 , Figure 8 , Figure 9 and Figure 10 The following will describe in detail the wiping pad assembly 80A used in a robotic cleaner station 1 according to one or more embodiments of the present disclosure.

[0092] Figure 7 This is a perspective view showing a wiping pad assembly 80A used in a robotic cleaner station 1 according to one or more embodiments of the present disclosure. Figure 8 It is shown Figure 7 Cross-sectional view of the wiping pad assembly 80A. Figure 9 It is shown Figure 7 A perspective view of the wiping pad 80 of the wiping pad assembly 80A. Figure 10 It is shown Figure 7 Bottom perspective view of the pad holder 81 of the wiping pad assembly 80A.

[0093] Reference Figure 7 and Figure 8 The wiping pad assembly 80A according to one or more embodiments of the present disclosure includes a pad holder 81 and a wiping pad 80.

[0094] The wiping pad 80 can be secured to the lower surface of the pad holder 81. The wiping pad 80 can also be detachably secured to the lower surface of the pad holder 81. For example, the wiping pad 80 can be attached to the lower surface of the pad holder 81 using Velcro.

[0095] Reference Figure 9 The wiping pad 80 can be formed in a generally disc shape. A wiping hole 801 can be formed in the center of the wiping pad 80. The wiping hole 801 can be formed to penetrate the wiping pad 80 vertically.

[0096] One surface of the wiping pad 80 is formed as a wiping surface for wiping the surface to be cleaned, and the opposite surface of the wiping pad 80 can be formed as a removable surface, which is attached to and detached from the lower surface of the pad holder 81. The removable surface can be formed to attach to Velcro. The removable surface can be used to attach the wiping pad 80 to the wiping device of the robotic cleaner 100 or to detach the wiping pad 80 from the wiping device of the robotic cleaner 100.

[0097] Here, the wiping pad 80 used to wipe surface dirt is referred to as the used wiping pad 80', and the wiping pad 80 cleaned by the pad cleaner 20 is referred to as the cleaned wiping pad 80. That is, when the used wiping pad 80' is cleaned by the pad cleaner 20, it becomes the cleaned wiping pad 80.

[0098] Reference Figure 7 and Figure 8 The pad retainer 81 may include a retainer plate 82 and a fixing protrusion 83.

[0099] The retainer plate 82 can be configured such that the wiping pad 80 is attached to the lower surface of the retainer plate 82. The retainer plate 82 can be configured to correspond to the shape of the wiping pad 80. For example, the retainer plate 82 can be configured to be disc-shaped. The retainer plate 82 can be configured to have a diameter smaller than or similar to the diameter of the wiping pad 80.

[0100] A separation magnet 85 may be disposed at the center of the holder plate 82. The separation magnet 85 may be formed of a permanent magnet. The separation magnet 85 may be used to separate the pad holder 81 from the holder lock 52 of the rotating plate 50.

[0101] Multiple Velcro fasteners 84 can be arranged at regular intervals on the lower surface of the retainer plate 82. The multiple Velcro fasteners 84 can be arranged in a circle around the separating magnet 85. Because the removable surface is located on the upper surface of the wiping pad 80, the wiping pad 80 can be secured or attached to the lower surface of the retainer plate 82 using the multiple Velcro fasteners 84. When the wiping pad 80 is attached to the lower surface of the retainer plate 82, a wiping pad assembly 80A is formed.

[0102] The fixing protrusion 83 may be formed to protrude from the center of the upper surface of the retainer plate 82. The fixing protrusion 83 may be formed above the separating magnet 85. The fixing protrusion 83 may be formed in a cylindrical shape.

[0103] The fixed protrusion 83 is formed to be held by the retainer lock 52. Specifically, the fixed protrusion 83 can be formed such that the fixed protrusion 83 is locked by the locking part of the retainer lock 52. For example, a hook groove 831 can be provided on the upper part of the fixed protrusion 83. The hook groove 831 can be formed along the entire circumference of the outer peripheral surface of the fixed protrusion 83. The hook groove 831 is formed such that the balls 531 of the plurality of ball springs 53 of the retainer lock 52 are inserted therein.

[0104] The pad retainer 81 can be connected to the retainer locker 52 of the rotating plate 50 via the hook groove 831 of the fixing protrusion 83. Specifically, the wiping pad assembly 80A can be connected to or locked in the retainer locker 52 when the balls 531 of the plurality of ball springs 53 of the retainer locker 52 are inserted into the hook groove 831 of the fixing protrusion 83 of the pad retainer 81.

[0105] Figure 11 This is a cross-sectional view showing a rotating plate 50 with a wiping pad 80 attached to a robotic cleaner station 1 according to one or more embodiments of the present disclosure.

[0106] Reference Figure 11 The retaining protrusion 83 of the pad holder 81 is inserted into the locking hole 521 of the holder lock 52 of the rotating plate 50. When the retaining protrusion 83 of the pad holder 81 is inserted into the locking hole 521, the plurality of ball springs 53 are compressed by the retaining protrusion 83, allowing the retaining protrusion 83 to be inserted into the locking hole 521. When the retaining protrusion 83 of the pad holder 81 is inserted into the locking hole 521 such that the hook groove 831 of the retaining protrusion 83 is in front of the plurality of ball springs 53, the plurality of balls 531 are inserted into the hook groove 831 of the retaining protrusion 83. Therefore, the wiping pad assembly 80A is secured to the holder lock 52.

[0107] The lifting device 60 can be configured to move the lifting frame 40 up and down. That is, the lifting frame 40 can be moved vertically relative to the upper surface of the base 10 via the lifting device 60. The lifting device 60 is configured to position the lifting frame 40 in one of two positions: an upper position and a lower position.

[0108] Reference Figure 2 , Figure 3 and Figure 4 The lifting device 60 may include a pair of racks 61.

[0109] A pair of racks 61 can be disposed on two side surfaces of the lifting frame 40. The pair of racks 61 can be disposed perpendicular to the lifting frame 40. The pair of racks 61 can be integrally formed with the lifting frame 40. Therefore, when the pair of racks 61 move, the lifting frame 40 can move.

[0110] The lifting frame 40 may include a pair of cover frames 42 disposed on two side surfaces of the lifting frame 40. The pair of cover frames 42 may form spaces between the two side surfaces of the lifting frame 40 and the pair of racks 61, respectively. The rotating shaft 51 and the rotating protrusion 71 may protrude into the internal space of the cover frames 42, respectively.

[0111] A pair of cover frames 42 may include a left cover frame and a right cover frame. The left cover frame 42 is disposed on the left side surface of the lifting frame 40, and the right cover frame 42 is disposed on the right side surface of the lifting frame 40. A left rack 61 is disposed on the side surface of the left cover frame 42, and a right rack 61 is disposed on the side surface of the right cover frame 42.

[0112] The vertical movement of the lifting frame 40 can be guided by a pair of guide members. The pair of guide members can be provided on the left and right sides of the lifting frame 40. That is, the pair of guide members can be provided on a pair of cover frames 42 provided on both sides of the lifting frame 40.

[0113] A pair of guides can be formed as a track structure. For example, the guides may include a guide rail 62 formed on the side surface of the rack 61 and a track groove 63 formed on the side surface of the guide rail 62 facing the rack 61 of the housing 2.

[0114] Specifically, the track grooves 63 are formed on the left and right inner surfaces of the housing 2, respectively. Therefore, when the guide rails 62 of a pair of racks 61 provided on the lifting frame 40, namely the guide rail 62 of the left rack 61 and the guide rail 62 of the right rack 61, are inserted into the left track groove 63 and the right track groove 63 of the housing 2, respectively, the pair of racks 61 can move up and down along the inner surface of the housing 2.

[0115] In other words, when the guide rails 62 of a pair of racks 61 disposed on the two side surfaces of the lifting frame 40 are inserted into a pair of track grooves 63 formed on the two inner side surfaces of the housing 2, the pair of racks 61 can move up and down along the pair of track grooves 63 of the housing 2. Because the pair of racks 61 are disposed on the two side surfaces of the lifting frame 40, when the pair of racks 61 move up and down, the lifting frame 40 and the pair of racks 61 move up and down together.

[0116] The lifting device 60 may include a pair of pinions 66 that mesh with a pair of racks 61. Each of the pair of pinions 66 may be disposed on one side of each pair of racks 61. Each of the pair of pinions 66 is configured to rotate about a fixed axis formed on the inner surface of the housing 2.

[0117] When a pair of pinions 66 rotates, a pair of racks 61 can move up and down. Specifically, when a pair of pinions 66 rotates in one direction, a pair of racks 61 can move upward. When a pair of pinions 66 rotates in opposite directions, a pair of racks 61 can move downward.

[0118] The lifting device 60 may include a drive gear 64 that drives a pair of pinions 66. The drive gear 64 may include a first drive gear 641, a second drive gear 642, and a connecting shaft 643. The first drive gear 641 and the second drive gear 642 are configured to mesh with the pair of pinions 66. The connecting shaft 643 is configured to connect the first drive gear 641 and the second drive gear 642. Therefore, the first drive gear 641 and the second drive gear 642 connected by the connecting shaft 643 can rotate integrally.

[0119] The lifting device 60 may include a motor 65 that rotates the drive gear 64. The motor 65 may be mounted on one side of the first drive gear 641. The motor 65 may include a drive pinion 651 mounted on the motor shaft 65a. The drive pinion 651 may be configured to mesh with the first drive gear 641.

[0120] When motor 65 is operated, the drive pinion 651 mounted on motor shaft 65a rotates. When drive pinion 651 rotates, first drive gear 641 rotates. When first drive gear 641 rotates, second drive gear 642 rotates via connecting shaft 643. When first drive gear 641 and second drive gear 642 rotate, a pair of pinions 66 rotate. When the pair of pinions 66 rotate, a pair of racks 61 can move linearly up and down along the inner surface of housing 2. When the pair of racks 61 move up and down, the lifting frame 40 can move up and down.

[0121] The rotating device 70 is configured to rotate the rotating plate 50 disposed on the lifting frame 40. The rotating device 70 may be different from the lifting frame 40 and the rotating plate 50. Alternatively, the rotating device 70 may be integrated into the lifting frame 40 and the rotating plate 50, or may be a component of the lifting frame 40 and the rotating plate 50.

[0122] Reference Figure 4 The rotating device 70 may include a pair of rotating protrusions 71. The pair of rotating protrusions 71 may be configured to protrude from two side surfaces of the rotating plate 50. The pair of rotating protrusions 71 may be respectively disposed adjacent to the rotating shaft 51.

[0123] The rotating device 70 may include two pairs of stop grooves 72. The two pairs of stop grooves 72 may be configured to restrict the rotation of the rotating plate 50. The two pairs of stop grooves 72 may be formed on two side surfaces of the lifting frame 40. That is, one pair of stop grooves 72 may be formed on the left side surface of the lifting frame 40, and the other pair of stop grooves 72 may be formed on the right side surface of the lifting frame 40. The pair of stop grooves 72 may be symmetrical about the shaft hole 41.

[0124] The stop groove 72 can be formed upward from the lower end of the left side surface and the lower end of the right side surface of the lifting frame 40. That is, the entrance of the stop groove 72 is formed at the lower end of the left side surface and the lower end of the right side surface of the lifting frame 40.

[0125] The stop groove 72 can be formed to accommodate the rotating protrusion 71 of the rotating plate 50. A pair of stop grooves 72 formed on the right side surface of the lifting frame 40 can be formed such that the rotating protrusion 71 on the right side surface of the rotating plate 50 is inserted therein. A pair of stop grooves 72 formed on the left side surface of the lifting frame 40 can be formed such that the rotating protrusion 71 on the left side surface of the rotating plate 50 is inserted therein.

[0126] When the pair of rotating protrusions 71 of the rotating plate 50 are respectively inserted into one of the pair of stop grooves 72 formed on each of the two side surfaces of the lifting frame 40 and are located at the top of the stop groove 72, the rotating plate 50 may no longer rotate above the top of the stop groove 72, that is, no longer rotate in the upward direction of the stop groove 72. However, the rotating plate 50 may rotate below the stop groove 72, that is, rotate in the downward direction of the stop groove 72.

[0127] The rotating device 70 may include a leveling device that holds the rotating plate 50 in a horizontal position, that is, holds the rotating plate 50 parallel to the lifting frame 40. The leveling device may include a pair of horizontal magnets 73 disposed on the rotating plate 50, and two pairs of horizontal slots 74 and two pairs of horizontal metals 741 disposed on the lifting frame 40.

[0128] A pair of horizontal magnets 73 may be respectively disposed on one side of the rotating protrusions 71 on the two side surfaces of the rotating plate 50. The pair of horizontal magnets 73 may be configured to protrude from the two side surfaces of the rotating plate 50 respectively. The horizontal magnets 73 may be disposed on opposite sides of the rotating shaft 51 based on the rotating protrusions 71. The horizontal magnets 73 may be formed of permanent magnets.

[0129] Two horizontal grooves 74 can be formed on the outer side of two pairs of stop grooves 72 on the two side surfaces of the lifting frame 40, respectively. That is, one pair of horizontal grooves 74 is formed on the outer side of a pair of stop grooves 72 on the left side surface of the lifting frame 40, and the other pair of horizontal grooves 74 is formed on the outer side of a pair of stop grooves 72 on the right side surface of the lifting frame 40.

[0130] The horizontal groove 74 can be formed upward from the lower end of the left side surface and the lower end of the right side surface of the lifting frame 40, respectively. That is, the inlets of the horizontal groove 74 are formed at the lower ends of the left side surface and the lower ends of the right side surface of the lifting frame 40, respectively.

[0131] The horizontal slot 74 can be configured to accommodate the horizontal magnet 73 of the rotating plate 50. A pair of horizontal slots 74 formed on the right side surface of the lifting frame 40 can be configured such that the horizontal magnet 73 on the right side surface of the rotating plate 50 is inserted therein. A pair of horizontal slots 74 formed on the left side surface of the lifting frame 40 can be configured such that the horizontal magnet 73 on the left side surface of the rotating plate 50 is inserted therein.

[0132] Two pairs of horizontal metals 741 can be disposed on the upper surface of the lifting frame 40 above the two pairs of horizontal slots 74. Therefore, when a pair of horizontal magnets 73 of the rotating plate 50 are inserted into one pair of the two pairs of horizontal slots 74 of the lifting frame 40, magnetic force acts between the horizontal magnets 73 and the horizontal metals 741, keeping the rotating plate 50 in a horizontal state.

[0133] The rotating device 70 may include a pair of disturbance rods 75. The pair of disturbance rods 75 may be disposed on both sides of the lifting frame 40. When the lifting frame 40 rises, one of the pair of disturbance rods 75 may disturb one of the pair of rotating protrusions 71 of the rotating plate 50, thereby causing the rotating plate 50 to rotate relative to the lifting frame 40 at a certain angle.

[0134] The pair of disturbance rods 75 can be substantially the same. Therefore, only one disturbance rod 75 will be described below.

[0135] Reference Figure 6 The disturbance rod 75 may include a support plate 76, a rod 77, and a return spring 78.

[0136] The support plate 76 is formed as a generally rectangular flat plate and is disposed perpendicular to the base 10. The rod 77 and the return spring 78 may be disposed on the top of the support plate 76.

[0137] The rod 77 is formed in the shape of a strip and is hingedly mounted on the top of the support plate 76. A pair of hinge pins 771 are provided on both sides of the rod 77. The pair of hinge pins 771 are positioned closer to the rear end of the rod 77 than the front end of the rod 77.

[0138] A pair of hinge protrusions 761, including hinge holes, are formed at one end of the top of the support plate 76. When the pair of hinge pins 771 of the rod 77 are inserted into the pair of hinge holes of the support plate 76, the rod 77 can rotate relative to the support plate 76 at a certain angle. Therefore, the rod 77 can pivot relative to the upper end of the support plate 76 at a certain angle.

[0139] A return spring 78 is configured to hold the rod 77 in a horizontal position. The return spring 78 can be disposed between the rod 77 and the protrusion 762. The protrusion 762 is formed to project upwards from the other end of the top of the support plate 76. One end of the return spring 78 is fixed to the rear end of the rod 77, and the other end of the return spring 78 is fixed to the protrusion 762 of the support plate 76. Therefore, the rod 77 can be held in a horizontal position by the return spring 78.

[0140] like Figure 3 and Figure 4 As shown, a pair of disturbance rods 75 can be diagonally arranged on both sides of the lifting frame 40. That is, the pair of disturbance rods 75 can include a right disturbance rod 75 disposed on the right side of the rotation shaft 51 of the rotating plate 50 and a left disturbance rod 75 disposed on the left side of the rotation shaft 51. The left disturbance rod 75 can be disposed in the space between the left side surface of the lifting frame 40 and the left cover frame 42, and the right disturbance rod 75 can be disposed in the space between the right side surface of the lifting frame 40 and the right cover frame 42.

[0141] With the rotating protrusion 71 of the rotating plate 50 located to the right of the rotating shaft 51, when the lifting frame 40 rises, the rotating protrusion 71 agitates the right disturbance rod 75, causing the rotating plate 50 to rotate clockwise. Because the rotating protrusion 71 of the rotating plate 50 is located in the stop groove 72 of the lifting frame 40, the rotating protrusion 71 does not need to move upward. Therefore, when the lifting frame 40 descends, when the rotating protrusion 71 of the rotating plate 50 agitates the right disturbance rod 75, the rod 77 rotates downward and the rotating plate 50 does not rotate. When the rotating protrusion 71 of the rotating plate 50 passes the rod 77, the rod 77 can return to the horizontal state via the return spring 78.

[0142] When the rotating protrusion 71 of the rotating plate 50 is located to the left of the rotating shaft 51, when the lifting frame 40 rises, the rotating protrusion 71 agitates the left disturbance rod 75, causing the rotating plate 50 to rotate counterclockwise. When the lifting frame 40 descends, when the rotating protrusion 71 of the rotating plate 50 agitates the left disturbance rod 75, the rod 77 rotates downward and the rotating plate 50 does not rotate. When the rotating protrusion 71 of the rotating plate 50 passes the rod 77, the rod 77 can return to the horizontal state via the return spring 78.

[0143] The rotating device 70 may include a plurality of pushers 79. The plurality of pushers 79 may be disposed above both ends of the rotating plate 50 to push the rotating plate 50 downward. The plurality of pushers 79 may be disposed above the lifting frame 40 on the left and right inner surfaces of the housing 2. When the lifting frame 40 is in the upper position, the plurality of pushers 79 may be configured to contact or be adjacent to the rotating plate 50.

[0144] The foregoing has shown and described a retainer lock 52 using multiple ball springs 53 to fasten the pad retainers 81. However, the structure of the retainer lock 52 is not limited thereto. The retainer lock 52 can be constructed in various ways, as long as it selectively releases and fastens the pad retainers 81. For example, as Figure 12 and Figure 13 As shown, the retainer lock 52 can be configured to use a permanent magnet to secure the pad retainer 81.

[0145] Figure 12 This is a cross-sectional view showing a pad holder 81 connected to a holder lock 52 of a robotic cleaner station 1 according to one or more embodiments of the present disclosure. Figure 13 It is shown that... Figure 12 A cross-sectional view of the retainer lock 52 separated from the pad retainer 81.

[0146] Reference Figure 12 The retainer lock 52 can be formed in the shape of a disc. A locking hole 521 can be formed in the center of the retainer lock 52. The locking hole 521 can be formed so that the fixing protrusion 83 of the pad retainer 81 can be inserted therein.

[0147] Multiple metal blocks 861 may be arranged around the locking hole 521. Each of the multiple metal blocks 861 may be configured to reciprocate a certain distance in the radial direction of the retainer lock 52. The multiple metal blocks 861 may be arranged at regular intervals in the circumferential direction of the locking hole 521. Each of the multiple metal blocks 861 may be reciprocated a certain distance by an actuator 86. For example, the metal blocks 861 may be configured to move using a solenoid.

[0148] The pad retainer 81 may include a retainer plate 82 and a fixing protrusion 83.

[0149] The retainer plate 82 can be configured such that the wiping pad 80 is attached to the lower surface of the retainer plate 82. The retainer plate 82 can be configured to correspond to the shape of the wiping pad 80. For example, the retainer plate 82 can be configured to be disc-shaped. The retainer plate 82 can be configured to have a diameter smaller than or similar to the diameter of the wiping pad 80.

[0150] Multiple Velcro fasteners 84 can be arranged at regular intervals on the lower surface of the retainer plate 82. The wiping pad 80 can be secured or attached to the lower surface of the retainer plate 82 by the multiple Velcro fasteners 84. When the wiping pad 80 is attached to the lower surface of the retainer plate 82, a wiping pad assembly 80A is formed.

[0151] The fixing protrusion 83 may be formed to protrude from the center of the upper surface of the retainer plate 82. The fixing protrusion 83 is formed to insert into the locking hole 521 of the retainer lock 52. The fixing protrusion 83 may be formed in a cylindrical shape. The permanent magnet 87 may be disposed inside the fixing protrusion 83.

[0152] The pad holder 81 can be fixed to the holder lock 52 by the magnetic force between the permanent magnet 87 of the fixed protrusion 83 and the plurality of metal blocks 861 of the holder lock 52.

[0153] In other words, such as Figure 12 As shown, when the fixing protrusion 83 of the pad holder 81 is inserted into the locking hole 521 of the holder lock 52, when the metal block 861 is close to the locking hole 521, the pad holder 81 can be fixed to the holder lock 52 by the magnetic force between the permanent magnet 87 of the fixing protrusion 83 and the multiple metal blocks 861 of the holder lock 52.

[0154] like Figure 13 As shown, when the plurality of metal blocks 861 of the retainer lock 52 move away from the locking hole 521, no magnetic force is applied between the permanent magnet 87 of the fixing protrusion 83 and the plurality of metal blocks 861, so the pad retainer 81 can be separated from the retainer lock 52.

[0155] In the following text, refer to Figure 14 and Figure 15 The present disclosure will describe in detail one or more embodiments of a robotic cleaner system 200.

[0156] Figure 14 This is a view illustrating a robotic cleaner system 200 according to one or more embodiments of the present disclosure. Figure 15 This is a block diagram of a robotic cleaner system 200 according to one or more embodiments of the present disclosure.

[0157] Reference Figure 14 and Figure 15 The robotic cleaner system 200 according to one or more embodiments of the present disclosure may include a robotic cleaner station 1 and a robotic cleaner 100.

[0158] In the following description, for ease of description, the wipe pad assembly 80A, including the wipe pad 80 and the pad holder 81, is referred to as the wipe pad 80. That is, the used wipe pad 80' refers to the used wipe pad assembly 80A, and the cleaned wipe pad 80 refers to the cleaned wipe pad assembly 80A.

[0159] The robotic cleaner station 1 is configured to receive used wiping pads 80' from the robotic cleaner 100 and supply cleaned wiping pads 80' to the robotic cleaner 100. The robotic cleaner station 1 is configured to clean used wiping pads 80' and supply cleaned wiping pads 80' to the robotic cleaner 100.

[0160] The robotic cleaner station 1 may include a base 10, a pad cleaner 20, and a pad moving device 30. Since the base 10, the pad cleaner 20, and the pad moving device 30 have already been described above, their detailed descriptions are omitted.

[0161] The robot cleaner station 1 may include a position sensor 91, a communication unit 93, and a processor 90.

[0162] The position sensor 91 can be configured to detect the position of the lifting frame 40, specifically its vertical position. For example, the position sensor 91 can be configured to identify whether the lifting frame 40 is in an upper or lower position.

[0163] Position sensor 91 can be implemented using multiple physical sensors. Alternatively, position sensor 91 can be implemented in software using the rotation angle of motor 65.

[0164] The communication unit 93 is configured to communicate wirelessly with the robot cleaner 100. For example, the communication unit 93 can send a signal indicating that the wiping pad 80 is ready to the robot cleaner 100. In addition, the communication unit 93 can receive signals from the robot cleaner 100 indicating that the installation of the wiping pad 80 is complete and signals indicating that the removal of the wiping pad 80 is complete.

[0165] The communication unit 93 can be configured to communicate with mobile devices such as smartphones and tablet computers. The communication unit 93 can connect to mobile devices via various mobile communication methods such as Bluetooth, WiFi, 4G, and 5G.

[0166] The processor 90 can be configured to control the robotic cleaner station 1. The processor 90 can control the motor 65 of the pad moving device 30 to position the lifting frame 40 in one of two positions (i.e., an upper position and a lower position). The processor 90 can control the pad cleaner 20 to clean the wiping pad 80 fixed to the lifting frame 40.

[0167] The processor 90 can identify the position of the lifting frame 40 based on the signal sent from the position sensor 91. That is, the processor 90 can use the signal sent from the position sensor 91 to identify whether the lifting frame 40 is in the upper or lower position.

[0168] The processor 90 can control the pad moving device 30 and the pad cleaner 20 to clean the used wiping pad 80' fixed to the lifting frame 40.

[0169] In detail, the processor 90 controls the pad moving device 30 to position the lifting frame 40, on which the used wiping pad 80' is fixed, in a lower position, and controls the pad cleaner 20 to clean the used wiping pad 80' fixed to the lifting frame 40.

[0170] The robotic cleaner 100 is configured to move autonomously on the surface to be cleaned. The robotic cleaner 100 is configured to receive a cleaned wiping pad 80 from the robotic cleaner station 1.

[0171] The robot cleaner 100 can use the wiping pad 80 supplied from the robot cleaner station 1 to wipe the surface to be cleaned.

[0172] When wiping is complete, the robotic cleaner 100 is configured to return the used wiping pad 80' to the robotic cleaner station 1 and receive the cleaned wiping pad 80 from the robotic cleaner station 1. That is, the robotic cleaner 100 is configured to replace the used wiping pad 80' with the cleaned wiping pad 80 from the robotic cleaner station 1.

[0173] The robot cleaner 100 may include a moving device 101, a position recognition sensor 102, a suction device 103, a wiping device 104, a wiping pad attachment and removal device 105, a robot communication unit 106, and a robot processor 109.

[0174] The moving device 101 can be configured to move the robotic cleaner 100 on the surface to be cleaned. For example, the moving device 101 may include a pair of wheels. The pair of wheels may be rotatably disposed on the left and right surfaces of the robotic cleaner 100.

[0175] The position recognition sensor 102 can be configured to enable the robotic cleaner 100 to identify its own position. The robotic cleaner 100 can use the position recognition sensor 102 to identify its own position. For example, a sensor capable of identifying the current position of the robotic cleaner 100 (such as an image sensor, LiDAR sensor, etc.) can be used as the position recognition sensor 102.

[0176] The suction device 103 can be configured to generate suction to collect dirt from the surface to be cleaned. For example, the suction device 103 may include a suction motor and a dust collection device. The suction motor can be configured to generate suction. The dust collection device can be connected to a suction nozzle disposed at the bottom of the robotic cleaner 100, facing the surface to be cleaned. Therefore, when the suction motor operates, dirt from the surface to be cleaned may be sucked into the dust collection device through the suction nozzle. The dust collection device can be configured to separate and collect the dirt sucked in along with air through the suction nozzle by the suction of the suction motor.

[0177] The wiping device 104 is configured to wipe the surface to be cleaned by rotating the wiping pad 80. The wiping device 104 may be disposed on the lower surface of the robotic cleaner 100. The wiping device 104 may be configured to rotate the wiping pad 80 while it is in contact with the surface to be cleaned. In this embodiment, the wiping device 104 is configured to rotate both wiping pads 80.

[0178] The wiping device 104 can be configured to move the wiping pad 80 a certain distance in the vertical direction. That is, the wiping device 104 can be configured to position the wiping pad 80 in one of a raised position and a lowered position.

[0179] The wiping pad attachment and removal device 105 can be configured to mount the wiping pad 80 onto the wiping device 104 disposed on the lower surface of the robotic cleaner 100. Alternatively, the wiping pad attachment and removal device 105 can be configured to detach the wiping pad 80 mounted on the wiping device 104. In this embodiment, the wiping pad attachment and removal device 105 is configured to attach and detach two wiping pads 80.

[0180] The robot communication unit 106 can be configured to communicate wirelessly with the robot cleaner station 1. For example, when the robot cleaner 100 completes the installation of the wiping pad 80, the robot communication unit 106 can send a wiping pad installation signal to the robot cleaner station 1. Additionally, when the robot cleaner 100 completes the removal of the wiping pad 80, the robot communication unit 106 can send a wiping pad removal signal to the robot cleaner station 1.

[0181] The robot communication unit 106 can be configured to communicate with mobile devices such as smartphones and tablets. The robot communication unit 106 can connect to mobile devices via various mobile communication methods such as Bluetooth, WiFi, 4G, and 5G.

[0182] The robot processor 109 is configured to control the robot cleaner 100. For example, the robot processor 109 may be configured to control the moving device 101, the position recognition sensor 102, the suction device 103, the wiping device 104, the wiping pad attachment and removal device 105, and the robot communication unit 106.

[0183] The robot processor 109 according to embodiments of the present disclosure may include one or more processors. The one or more processors may include one or more of a central processing unit (CPU), an integrated many-core (MIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a hardware accelerator, etc. The one or more processors are capable of performing control over any one or any combination of other components of the robot cleaner 100, and / or performing communication-related operations or data processing. The one or more processors execute one or more programs stored in at least one memory.

[0184] The robot processor 109 can control the mobile device 101 to move the robot cleaner 100. The robot processor 109 can use the position recognition sensor 102 to identify the current position of the robot cleaner 100. The robot processor 109 can use the position recognition sensor 102 and the mobile device 101 to move the robot cleaner 100 to any location.

[0185] The robot processor 109 can control the suction device 103 to suck up dirt from the surface to be cleaned. The robot processor 109 can control the moving device 101 and the suction device 103 to move the robot cleaner 100 and suck up dirt from the surface to be cleaned.

[0186] The robot processor 109 can control the wiping device 104 to rotate the wiping pad 80, thereby wiping the surface to be cleaned. The robot processor 109 can control the moving device 101 and the wiping device 104 to move the robot cleaner 100 and rotate the wiping pad 80, thereby wiping the surface to be cleaned.

[0187] The robot processor 109 can control the wiping device 104 to position the wiping pad 80 in one of an elevated position and a lowered position.

[0188] The robot processor 109 can control the wiping pad attachment and removal device 105 to install the wiping pad 80 onto the wiping device 104. Additionally, the robot processor 109 can control the wiping pad attachment and removal device 105 to detach the wiping pad 80 from the wiping device 104.

[0189] In the following text, reference will be made to Figure 16a , Figure 16b , Figure 16c , Figure 16d ,Figure 16e , Figure 16f , Figure 16g and Figure 16h A method for replacing the wiping pad of the robotic cleaner system 200, which includes robotic cleaner station 1 and robotic cleaner 100, is described in detail.

[0190] Figure 16a , Figure 16b , Figure 16c , Figure 16d , Figure 16e , Figure 16f , Figure 16g and Figure 16h This is a view used to illustrate a method of replacing a wiping pad 80 using a robotic cleaner system 200 according to one or more embodiments of the present disclosure.

[0191] In the following description, for ease of description, the wiping pad assembly 80A, including the wiping pad 80 and the pad holder 81, is referred to as the wiping pad 80. That is, the used wiping pad 80' refers to the used wiping pad assembly 80A', and the cleaned wiping pad 80 refers to the cleaned wiping pad assembly 80A.

[0192] After wiping, the robotic cleaner 100 enters the robotic cleaner station 1 and is positioned on the upper surface of the base 10. At this time, the used wiping pad 80' mounted on the wiping device 104 of the robotic cleaner 100 is positioned above the pad cleaner 20 of the base 10. The robot processor 109 controls the wiping pad attachment and removal device 105 to detach the used wiping pad 80' mounted on the wiping device 104. Then, as... Figure 16a As shown, the separated used wiping pad 80' is positioned in the pad base 21 of the pad cleaner 20.

[0193] Figure 16a This is a view showing the state in which the wiping pad 80' used by the robot cleaner 100 is placed on the pad base 21 of the pad cleaner 20 of the robot cleaner station 1.

[0194] Reference Figure 16a The used wiping pad 80' is located on the pad base 21. A pad fixing device 23 is provided below the pad base 21. Therefore, the pad fixing device 23 is located below the used wiping pad 80'. Specifically, the insertion protrusion 232 of the pad fixing device 23 is in its original position. Therefore, the used wiping pad 80' is not fixed to the pad base 21 by the pad fixing device 23.

[0195] The pad fixing device 23 is configured to secure wiping pads 80 and 80' to the pad base 21. The pad base 21 includes a through hole 211 formed at its center. The pad fixing device 23 may include a movable plate 231 and an insertion protrusion 232 protruding from the center of the movable plate 231. The insertion protrusion 232 is formed to insert into the through hole 211 of the pad base 21. A metal sheet 233 may be disposed on the upper inner side of the insertion protrusion 232.

[0196] The movable plate 231 is configured to move in the vertical direction. The insertion protrusion 232 can be positioned at either the original position or the insertion position by means of the movable plate 231.

[0197] When the insertion protrusion 232 is in its original position, the top of the insertion protrusion 232 is below the wiping pad 80', that is, at the same level as or below the upper surface of the pad 21. When the insertion protrusion 232 is in its original position, the wiping pad 80' is not fixed to the pad 21.

[0198] When the insertion protrusion 232 is in the insertion position, it protrudes from the through hole 211 of the pad 21 and is inserted into the wiping hole 801 of the wiping pad 80', such that the upper end of the insertion protrusion 232 is adjacent to or in contact with the separation magnet 85 of the pad holder 81. When the insertion protrusion 232 is in the insertion position, the wiping pad 80' is fixed to the pad 21.

[0199] Additionally, the cleaned wiping pad 80 is fixed to the first retainer lock 52-1 on the upper surface (i.e., the first surface) of the rotating plate 50, and the wiping pad 80 is not fixed to the second retainer lock 52-2 on the lower surface (i.e., the second surface) of the rotating plate 50.

[0200] In this state, the processor 90 controls the lifting device 60 to lower the lifting frame 40 and fix the used wiping pad 80' to the lower surface of the rotating plate 50, i.e., the second surface. This state is as follows: Figure 16b As shown.

[0201] Figure 16b This is a view showing the state in which the lifting frame 40 is lowered so that the used wiping pad 80' placed on the pad seat 21 of the pad cleaner 20 is fixed to the second surface of the rotating plate 50.

[0202] Reference Figure 16bA second retainer lock 52-2, located on the lower surface (i.e., the second surface) of the rotating plate 50 of the lifting frame 40, secures the used wiping pad 80'. Specifically, when the lifting frame 40 descends, the retaining protrusion 83 of the used wiping pad 80' inserts into the locking hole 521 of the second retainer lock 52-2 located on the second surface of the rotating plate 50. Then, because the balls 531 of the plurality of ball springs 53 located in the locking hole 521 are inserted into the hook grooves 831 of the retaining protrusion 83, the used wiping pad 80' is secured to the second retainer lock 52-2.

[0203] At this time, the insertion protrusion 232 of the pad fixing device 23 remains in its original position.

[0204] In this state, the processor 90 controls the lifting device 60 to raise the lifting frame 40. As the lifting frame 40 rises, the rotating protrusion 71 of the rotating plate 50 agitates the disturbance rod 75, causing the rotating plate 50 to rotate more than 120 degrees. When the lifting frame 40 continues to rise and reaches the upper position, the rotating plate 50 rotates approximately 180 degrees via multiple actuators 79. This state is as follows... Figure 16c As shown.

[0205] Figure 16c This is a view showing the state in which the lifting frame 40 is raised, the used wiping pad 80' is above the lifting frame 40, and the cleaned wiping pad 80 is below the lifting frame 40.

[0206] Reference Figure 16c The used wiping pad 80' of the second retainer lock 52-2, which is fixed to the second surface of the rotating plate 50, is located on the upper side of the lifting frame 40, and the cleaned wiping pad 80 of the first retainer lock 52-1, which is fixed to the first surface of the rotating plate 50, is located on the lower side of the lifting frame 40. That is, the cleaned wiping pad 80 faces the pad cleaner 20.

[0207] In this state, the processor 90 controls the lifting device 60 to lower the lifting frame 40. When the lifting frame 40 lowers, the rotating protrusion 71 of the rotating plate 50 contacts the disturbance rod 75. However, because the rotating protrusion 71 is inserted into the stop groove 72 of the lifting frame 40, the rotating plate 50 does not rotate, and the rod 77 of the disturbance rod 75 bends downward.

[0208] When the lifting frame 40 is positioned in the lower position, the cleaned wiping pad 80 is positioned in the pad seat 21 of the pad cleaner 20. In this state, the processor 90 controls the pad retaining device 23 of the pad cleaner 20 to move the insertion protrusion 232 to the insertion position. Then, the insertion protrusion 232 is inserted into the wiping hole 801 of the cleaned wiping pad 80 and magnetically connected to the pad holder 81. This state is as follows. Figure 16d As shown.

[0209] Figure 16d This is a view showing the state of the lifting frame 40 lowered and the cleaned wiping pad 80 located in the pad seat 21 of the pad cleaner 20.

[0210] Reference Figure 16d The lifting frame 40 is in the lower position, and the cleaned wiping pad 80, which is fixed to the first retainer lock 52-1 of the rotating plate 50, is located in the pad seat 21. The pad retainer 81 of the cleaned wiping pad 80 is magnetically connected to the insertion protrusion 232 of the pad cleaner 20.

[0211] In this state, the processor 90 controls the lifting device 60 to raise the lifting frame 40. At this time, the pad holder 81 of the cleaned wiping pad 80 is magnetically connected to the insertion protrusion 232 of the pad cleaner 20, so that when the lifting frame 40 rises, the cleaned wiping pad 80 separates from the first holder lock 52-1 of the rotating plate 50 and remains on the pad seat 21.

[0212] When the lifting frame 40 rises, the rotating protrusion 71 of the rotating plate 50 and the disturbance rod 75 agitate each other, causing the rotating plate 50 to rotate more than 120 degrees. When the lifting frame 40 continues to rise and is in the upper position, the rotating plate 50 rotates about 180 degrees through multiple pushers 79.

[0213] As the lifting frame 40 rises, the processor 90 controls the pad retainer 23, causing the insertion protrusion 232 to move to its original position. Then, the connection between the pad holder 81 of the cleaned wiping pad 80 and the insertion protrusion 232 of the pad cleaner 20 is released. This state is as follows... Figure 16e As shown.

[0214] Figure 16e This is a view showing the state in which the lifting frame 40 is raised so that the used wiping pad 80' is located below the lifting frame 40 and the cleaned wiping pad 80 is placed on the pad base 21 of the pad cleaner 20.

[0215] Reference Figure 16e The lifting frame 40 is in the upper position, and the used wiping pad 80', which is fixed to the rotating plate 50, is located on the lower side of the lifting frame 40 so as to face the pad cleaner 20. The pad holder 81 of the cleaned wiping pad 80 placed in the pad seat 21 is not connected to the insertion protrusion 232 of the pad fixing device 23.

[0216] In this state, the processor 90 can control the communication unit 93 to send a wiping pad preparation signal to the robot cleaner 100.

[0217] When the robot cleaner 100 receives the wiping pad preparation signal from the robot cleaner station 1, the robot cleaner 100 enters the robot cleaner station 1 and installs the cleaned wiping pad 80 on the pad seat 21 of the base 10 onto itself.

[0218] In detail, when the robot processor 109 receives a wiping pad preparation signal from the robot cleaner station 1 via the robot communication unit 106, the robot processor 109 controls the moving device 101 to move the robot cleaner 100 to the base 10 of the robot cleaner station 1.

[0219] When the robotic cleaner 100 is positioned on the upper surface of the base 10, the wiping device 104 of the robotic cleaner 100 is positioned above the pad 21 of the pad cleaner 20. Then, the robotic processor 109 controls the wiping pad attachment and removal device 105 to attach the wiping pad 80 to the wiping device 104.

[0220] When the wiping pad 80 is attached, the robot processor 109 controls the moving device 101 to move the robot cleaner 100 to the outside of the robot cleaner station 1, and controls the robot communication unit 106 to send the wiping pad attachment signal to the robot cleaner station 1.

[0221] Then, the robot processor 109 controls the robot cleaner 100 to wipe the surface to be cleaned.

[0222] Figure 16f The image shows the state of the robot cleaner 100 equipped with a cleaned wiping pad 80 and leaving the robot cleaner station 1.

[0223] Reference Figure 16f The used wiping pad 80' of the second retainer lock 52-2 fixed to the rotating plate 50 faces the pad cleaner 20, and there is no wiping pad 80 in the pad cleaner 20.

[0224] When the processor 90 receives a wiping pad attachment signal from the robotic cleaner 100, it controls the lifting device 60 to lower the lifting frame 40. Because the rotating plate 50 does not rotate when the lifting frame 40 is lowered, the used wiping pad 80' is located under the lifting frame 40.

[0225] When the lifting frame 40 is in the lower position, the used wiping pad 80' is located on the pad base 21 of the pad cleaner 20. In this state, the processor 90 controls the pad cleaner 20 to clean the used wiping pad 80'. This state is as follows: Figure 16g As shown.

[0226] Figure 16g This is a view showing the state of the used wiping pad 80' cleaned by the pad cleaner 20 and fixed to the lifting frame 40 located in the lower position.

[0227] Reference Figure 16g When the pad cleaner 20 cleans the used wiping pad 80', the pad retainer 81 of the used wiping pad 80' is not connected to the insertion protrusion 232 of the pad fixing device 23. That is, when the pad cleaner 20 cleans the used wiping pad 80', the insertion protrusion 232 of the pad fixing device 23 is positioned in its original position.

[0228] When the pad cleaner 20 finishes cleaning the used wiping pad 80', the used wiping pad 80' becomes a cleaned wiping pad 80.

[0229] When cleaning of the wiping pad 80 is complete, the processor 90 controls the lifting device 60 to raise the lifting frame 40. As the lifting frame 40 rises, the rotating protrusion 71 of the rotating plate 50 agitates the disturbance rod 75, causing the rotating plate 50 to rotate more than 120 degrees. When the lifting frame 40 continues to rise and reaches the upper position, the rotating plate 50 rotates approximately 180 degrees via multiple actuators 79. Therefore, the cleaned wiping pad 80 is positioned above the lifting frame 40.

[0230] When the lifting frame 40 is in the upper position, the processor 90 controls the pad drying device 29 to dry the cleaned wiping pad 80. This state is as follows: Figure 16h As shown.

[0231] Figure 16h This is a view showing the state of the cleaned wiping pad 80 after it has been dried and fixed to the lifting frame 40 located in the upper position by the pad drying device 29.

[0232] Reference Figure 16h The cleaned wiping pad 80, fixed to the second retainer lock 52-2 of the rotating plate 50, is located on the upper side of the lifting frame 40 and faces the pad drying device 29. Therefore, when the pad drying device 29 is operated by the processor 90, the cleaned wiping pad 80 fixed to the rotating plate 50 is dried. At this time, the wiping pad 80 is not fixed to the first retainer lock 52-1 of the rotating plate 50 located on the lower side of the lifting frame 40.

[0233] In a robotic cleaner system 200 according to one or more embodiments of the present disclosure, the robotic cleaner station 1 can clean the used wiping pad 80' while the robotic cleaner 100 is performing wiping. Therefore, compared to a robotic cleaner according to the prior art that is configured to clean the wiping pad while it is attached to the robotic cleaner, the robotic cleaner system 200 according to one or more embodiments of the present disclosure can clean the used wiping pad 80' for a sufficient period of time, and thus can reliably clean the used wiping pad 80'.

[0234] Additionally, the robotic cleaner system 200 according to one or more embodiments of this disclosure separates the used wiping pad 80' from the robotic cleaner 100 and cleans the used wiping pad 80', such that the used wiping pad 80' can be dried with hot air at high temperature and can be chemically disinfected.

[0235] In the following text, refer to Figure 17 , Figure 18 , Figure 19 and Figure 20 The present disclosure will describe in detail one or more embodiments of the robotic cleaner station 1'.

[0236] Figure 17 This is a perspective view showing a robotic cleaner station 1' according to one or more embodiments of the present disclosure. Figure 18 It is shown Figure 17 Bottom perspective view of the lifting platform 31 of the robot cleaner station 1'.

[0237] Reference Figure 17 The pad moving device 30 according to one or more embodiments of the present disclosure may include a lifting plate 31 and a lifting device 60.

[0238] The lifting plate 31 can be formed into a rectangular shape. The lifting plate 31 can be formed into a roughly rectangular flat plate. The lifting plate 31 can be configured to move up and down via the lifting device 60.

[0239] The lifting plate 31 may include a retainer lock 52. The retainer lock 52 may be disposed on the lower surface of the lifting plate 31. In the case of this embodiment, as Figure 18 As shown, two retainer locks 52 are provided on the lower surface of the lifting plate 31.

[0240] The retainer lock 52 is formed to support and secure the wiping pad 80. The retainer lock 52 can be configured to selectively retain or release the wiping pad 80. When the wiping pad 80 is secured to the pad retainer 81 as in this embodiment, the retainer lock 52 can be configured to selectively retain or release the pad retainer 81.

[0241] The holder lock 52 is the same as or similar to the holder lock 52 of the robot cleaner station 1 according to the above embodiment; therefore, its detailed description is omitted.

[0242] The lifting device 60 can be configured to move the lifting plate 31 up and down. That is, the lifting plate 31 can be moved vertically relative to the upper surface of the base 10 via the lifting device 60. The lifting device 60 can be configured to position the lifting plate 31 in one of two positions (i.e., an upper position and a lower position).

[0243] The lifting device 60 may include a pair of racks 61.

[0244] A pair of racks 61 can be disposed on two side surfaces of the lifting plate 31. The pair of racks 61 can be disposed perpendicular to the lifting plate 31. The pair of racks 61 can be integrally formed with the lifting plate 31. Therefore, when the pair of racks 61 move, the lifting plate 31 can move.

[0245] The vertical movement of the lifting plate 31 can be guided by a pair of guide members. The pair of guide members can be located on the left and right sides of the lifting plate 31.

[0246] A pair of guides can be formed as a track structure. For example, the guides may include a guide rail 62 formed on the side surface of the rack 61 and a track groove 63 formed on the side surface of the guide rail 62 facing the rack 61 of the housing 2.

[0247] In detail, the track groove 63 is formed on each of the left and right inner surfaces of the housing 2 (see...). Figure 3 Therefore, when the guide rails 62 of a pair of racks 61 set on the lifting plate 31, namely the guide rail 62 of the left rack 61 and the guide rail 62 of the right rack 61, are inserted into the left track groove 63 and the right track groove 63 of the housing 2 respectively, the pair of racks 61 can move up and down along the inner surface of the housing 2.

[0248] In other words, when the guide rails 62 of a pair of racks 61 disposed on both sides of the lifting plate 31 are inserted into a pair of track grooves 63 formed on both sides of the housing 2, the pair of racks 61 can move up and down along the track grooves 63 of the housing 2. Because the pair of racks 61 are disposed on the two side surfaces of the lifting plate 31, the lifting plate 31 can move up and down together with the pair of racks 61 when the pair of racks 61 move up and down.

[0249] The lifting device 60 may include a pair of pinions 66 meshing with a pair of racks 61, a drive gear 64 driving the pair of pinions 66, and a motor 65 that rotates the drive gear 64.

[0250] The pinion 66, drive gear 64, and motor 65 are the same as or similar to the lifting device 60 of the robot cleaner station 1 according to the above embodiment; therefore, their detailed description is omitted.

[0251] When the motor 65 is operated, a pair of racks 61 can move linearly up and down along the inner surface of the housing 2 via a drive gear 64 and a pair of pinions 66. When the pair of racks 61 move up and down, the lifting plate 31 can move up and down.

[0252] The wiping pad assembly 80A' used in the robotic cleaner station 1' according to one or more embodiments of the present disclosure is configured such that two wiping pad assemblies 80A' can be stacked, as shown below. Figure 19 As shown.

[0253] Figure 19 This is a cross-sectional perspective view showing the stacked state of two wiping pad assemblies 80A' used in a robotic cleaner station 1' according to one or more embodiments of the present disclosure.

[0254] Reference Figure 19 The wiping pad assembly 80A' according to one or more embodiments of the present disclosure includes a pad holder 81' and a wiping pad 80.

[0255] The wiping pad 80 can be secured to the lower surface of the pad holder 81'. The wiping pad 80 can be detachably secured to the lower surface of the pad holder 81'. For example, the wiping pad 80 can be attached to the lower surface of the pad holder 81' using Velcro 84.

[0256] The wiping pad 80 can be generally formed in the shape of a disc. The wiping hole 801 can be formed in the center of the wiping pad 80. The wiping hole 801 can be formed to penetrate the wiping pad 80 vertically.

[0257] One surface of the wiping pad 80 is formed as a wiping surface that can be used to wipe the surface to be cleaned, and the opposite surface of the wiping pad 80 is formed as a removable surface that can be attached to and detached from the lower surface of the pad holder 81'. The removable surface can be formed to be attached to Velcro 84. The removable surface can be used to attach the wiping pad 80 to the wiping device 104 of the robotic cleaner 100 or to detach the wiping pad 80 from the wiping device 104 of the robotic cleaner 100.

[0258] The pad retainer 81' may include a retainer plate 82 and a fixing protrusion 83.

[0259] The retainer plate 82 can be configured such that the wiping pad 80 is attached to the lower surface of the retainer plate 82. The retainer plate 82 can be configured to correspond to the shape of the wiping pad 80. For example, the retainer plate 82 can be configured to be disc-shaped. The retainer plate 82 can be configured to have a diameter smaller than or similar to the diameter of the wiping pad 80.

[0260] A retaining groove 88 may be formed in the center of the lower surface of the retainer plate 82. The retaining groove 88 may be formed such that a retaining protrusion 83 of the pad retainer 81' of another wiping pad assembly 80A' is inserted therein.

[0261] Multiple Velcro fasteners 84 can be arranged at regular intervals on the lower surface of the retainer plate 82. The multiple Velcro fasteners 84 can be arranged in a circle around the retaining groove 88. Because the removable surface is provided on the upper surface of the wiping pad 80, the wiping pad 80 can be secured or attached to the lower surface of the retainer plate 82 using the multiple Velcro fasteners 84. When the wiping pad 80 is attached to the lower surface of the retainer plate 82, a wiping pad assembly 80A' is formed.

[0262] The fixing protrusion 83 can be formed to protrude from the center of the upper surface of the retainer plate 82. A fixing groove 88 can be formed in the lower part of the fixing protrusion 83. A separating magnet 89 can be provided at the bottom of the fixing groove 88, i.e., the lower part of the fixing protrusion 83. The fixing protrusion 83 can be formed in a cylindrical shape. The separating magnet 89 can be formed of a permanent magnet.

[0263] The fixing protrusion 83 is formed to be held by the retainer lock 52. Specifically, the fixing protrusion 83 can be formed such that the fixing protrusion 83 is locked by the locking part of the retainer lock 52. For example, a hook groove 831 can be provided at the upper end of the fixing protrusion 83. The hook groove 831 can be formed along the entire circumference of the outer peripheral surface of the fixing protrusion 83. The hook groove 831 is formed such that the balls 531 of the plurality of ball springs 53 of the retainer lock 52 are inserted therein.

[0264] The pad holder 81' can be connected to the holder lock 52 of the lifting plate 31 via the hook groove 831 of the fixing protrusion 83. Specifically, when the balls 531 of the plurality of ball springs 53 of the holder lock 52 are inserted into the hook groove 831 of the fixing protrusion 83 of the pad holder 81', the wiping pad assembly 80A' can be connected to or locked in the holder lock 52.

[0265] Figure 20 This is a cross-sectional view showing the state of the pad holder 81' of the wiping pad assembly 80A' according to one or more embodiments of the present disclosure being connected to the holder lock 52 of the lifting plate 31 of the robot cleaner station 1'.

[0266] Reference Figure 20 The fixing protrusion 83 of the pad holder 81' of the wiping pad assembly 80A' is inserted into the locking hole 521 of the holder lock 52 of the lifting plate 31. When the fixing protrusion 83 of the pad holder 81' is inserted into the locking hole 521, the plurality of ball springs 53 are compressed by the fixing protrusion 83, causing the fixing protrusion 83 to be inserted into the locking hole 521. When the fixing protrusion 83 of the pad holder 81' is inserted into the locking hole 521 such that the hook groove 831 of the fixing protrusion 83 is in front of the plurality of ball springs 53, the plurality of balls 531 are inserted into the hook groove 831 of the fixing protrusion 83. Therefore, the wiping pad assembly 80A' is fastened to the holder lock 52.

[0267] The following will refer toFigure 21a , 21b 21c, 21d, 21e and 21f describe in detail a method for replacing the wiping pad 80 of a robotic cleaner system 200, which includes a robotic cleaner station 1' and a robotic cleaner 100.

[0268] Figure 21a , Figure 21b , Figure 21c , Figure 21d , Figure 21e and Figure 21f This is a view used to illustrate a method of replacing a wiping pad 80 using a robotic cleaner system 200 according to one or more embodiments of the present disclosure.

[0269] In the following description, for ease of description, the wipe pad assembly 80A', which includes the wipe pad 80 and the pad holder 81', is referred to as the wipe pad 80. That is, the used wipe pad 80' refers to the used wipe pad assembly 80A', and the cleaned wipe pad 80 refers to the cleaned wipe pad assembly 80A'.

[0270] After wiping, the robot cleaner 100 enters the robot cleaner station 1' and is positioned on the upper surface of the base 10. At this time, the used wiping pad 80' mounted on the wiping device 104 of the robot cleaner 100 is positioned above the pad cleaner 20 of the base 10. At this time, the cleaned wiping pad 80 is located in the pad seat 21 of the pad cleaner 20. Therefore, the used wiping pad 80' mounted on the wiping device 104 of the robot cleaner 100 is positioned above the cleaned wiping pad 80 placed on the pad cleaner 20 of the base 10.

[0271] The robot processor 109 controls the wiping pad attachment and removal device 105 to detach the used wiping pad 80' mounted on the wiping device 104. Then, as Figure 21a As shown, the separated used wiping pads 80' are stacked on top of the cleaned wiping pads 80 located in the pad cleaner 20.

[0272] Figure 21a This is a view showing the state of the wipe pad 80' used by the robot cleaner 100 stacked on the pad base 21 of the pad cleaner 20 placed on the robot cleaner station 1' after cleaning.

[0273] Reference Figure 21a The cleaned wiping pad 80 and the used wiping pad 80' are stacked in the pad base 21. That is, the used wiping pad 80' is placed on top of the cleaned wiping pad 80.

[0274] At this time, the pad fixing device 23 located below the pad base 21 is positioned below the cleaned wiping pad 80. Specifically, the insertion protrusion 232 of the pad fixing device 23 is in the insertion position. Therefore, the cleaned wiping pad 80 is fixed to the pad base 21 by the pad fixing device 23, while the used wiping pad 80' is not fixed to the pad base 21 by the pad fixing device 23.

[0275] The pad fixing device 23 can be configured to secure the wiping pad 80 to the pad base 21. The pad base 21 includes a through hole 211 formed at the center of the pad base 21. The pad fixing device 23 may include a movable plate 231 and an insertion protrusion 232 protruding from the center of the movable plate 231. The insertion protrusion 232 can be formed to insert into the through hole 211 of the pad base 21. A metal sheet 233 may be disposed on the top of the insertion protrusion 232.

[0276] The movable plate 231 is configured to move in the vertical direction. The insertion protrusion 232 can be positioned at either the original position or the insertion position by means of the movable plate 231.

[0277] When the insertion protrusion 232 is in its original position, the top of the insertion protrusion 232 is below the cleaned wiping pad 80, that is, at the same level as or below the upper surface of the pad 21. When the insertion protrusion 232 is in its original position, the cleaned wiping pad 80 is not fixed to the pad 21.

[0278] When the insertion protrusion 232 is in the insertion position, it protrudes from the through hole 211 of the pad 21 and is inserted into the wiping hole 801 of the cleaned wiping pad 80, such that the top of the insertion protrusion 232 is adjacent to or in contact with the separation magnet 89 disposed in the fixing groove 88 of the pad holder 81. When the insertion protrusion 232 is in the insertion position, the cleaned wiping pad 80 is magnetically fixed to the pad 21.

[0279] In this state, the processor 90 controls the lifting device 60 to lower the lifting plate 31, thereby securing the used wiping pad 80' to the retainer lock 52 on the lower surface of the lifting plate 31. This state is as follows: Figure 21b As shown.

[0280] Figure 21b This is a view showing the state in which the lifting plate 31 is lowered and the used wiping pad 80' is placed on the pad seat 21 located in the pad cleaner 20 and secured with the retainer lock 52.

[0281] Reference Figure 21bThe used wiping pad 80' is secured by a retainer lock 52 located on the lower surface of the lifting plate 31. Specifically, when the lifting plate 31 descends to the lower position, the retaining protrusion 83 of the used wiping pad 80' is inserted into the locking hole 521 of the retainer lock 52 located on the lower surface of the lifting plate 31. Then, the balls 531 of the plurality of ball springs 53 located in the locking hole 521 are inserted into the hook grooves 831 of the retaining protrusion 83, thereby securing the used wiping pad 80' to the retainer lock 52 of the lifting plate 31.

[0282] At this time, the insertion protrusion 232 of the pad fixing device 23 is located at the insertion position, thereby fixing the cleaned wiping pad 80 to the pad base 21.

[0283] In this state, the processor 90 controls the lifting device 60 to raise the lifting plate 31 to the upper position. Then, the used wiping pad 80' of the retainer lock 52 fixed to the lifting plate 31 moves together with the lifting plate 31 to the upper position. This state is as follows. Figure 21c As shown.

[0284] Figure 21c This is a view showing the state in which the lifting plate 31 is raised so that the used wiping pad 80' is positioned in the upper position.

[0285] Reference Figure 21c The used wiping pad 80', which is fixed to the lower surface of the lifting plate 31 by the retainer lock 52, is located in the upper position together with the lifting plate 31, and the cleaned wiping pad 80 is placed on the pad base 21 of the pad cleaner 20. At this time, the cleaned wiping pad 80 is magnetically fixed to the pad base 21 by the insertion protrusion 232 of the pad fixing device 23.

[0286] In this state, the processor 90 controls the pad fixing device 23 of the pad cleaner 20 to move the insertion protrusion 232 to its original position. Then, the insertion protrusion 232 is located below the pad base 21, so that the cleaned wiping pad 80 is not fixed to the pad base 21.

[0287] In this state, the processor 90 can control the communication unit 93 to send a wiping pad preparation signal to the robot cleaner 100.

[0288] When the robot cleaner 100 receives the wiping pad preparation signal from the robot cleaner station 1', the robot cleaner 100 enters the robot cleaner station 1' and installs the cleaned wiping pad 80 on the pad seat 21 of the base 10 onto itself.

[0289] In detail, when the robot processor 109 receives the wiping pad preparation signal through the robot communication unit 106, the robot processor 109 controls the moving device 101 to move the robot cleaner 100 to the base 10 of the robot cleaner station 1'.

[0290] When the robotic cleaner 100 is positioned on the upper surface of the base 10, the wiping device 104 of the robotic cleaner 100 is positioned above the pad 21 of the pad cleaner 20. Then, the robotic processor 109 controls the wiping pad attachment and removal device 105 to install the wiping pad 80 placed on the pad 21 onto the wiping device 104.

[0291] When the wiping pad 80 is installed, the robot processor 109 controls the moving device 101 to move the robot cleaner 100 to the outside of the robot cleaner station 1', and controls the robot communication unit 106 to send the wiping pad installation signal to the robot cleaner station 1'.

[0292] Then, the robot processor 109 controls the robot cleaner 100 to wipe the surface to be cleaned.

[0293] exist Figure 21d The image shows the state of the robot cleaner station 1' after the robot cleaner 100 is equipped with the cleaning wipe pad 80 and leaves the robot cleaner station 1'.

[0294] Reference Figure 21d The used wiping pad 80' of the retainer lock 52 fixed to the lifting plate 31 is in the upper position, and there is no wiping pad 80 in the pad cleaner 20. The insertion protrusion 232 of the pad fixing device 23 is located at or below the bottom of the pad base 21.

[0295] When the processor 90 receives a wiping pad installation signal from the robot cleaner 100, it controls the lifting device 60 to lower the lifting plate 31 to the lower position.

[0296] When the lifting plate 31 is positioned in the lower position, the used wiping pad 80' is positioned in the pad base 21 of the pad cleaner 20. In this state, the processor 90 controls the pad cleaner 20 to clean the used wiping pad 80'. This state is as follows: Figure 21e As shown.

[0297] Figure 21e This is a view showing the state of the used wiping pad 80' cleaned by the pad cleaner 20 and fixed to the lifting plate 31 located in the lower position.

[0298] Reference Figure 21eWhen the pad cleaner 20 cleans the used wiping pad 80', the pad retainer 81' of the used wiping pad 80' is not connected to the insertion protrusion 232 of the pad fixing device 23. That is, when the pad cleaner 20 cleans the used wiping pad 80', the insertion protrusion 232 of the pad fixing device 23 is in its original position.

[0299] When the pad cleaner 20 finishes cleaning the used wiping pad 80', the used wiping pad 80' becomes a cleaned wiping pad 80.

[0300] When cleaning of the wiping pad 80 is complete, the processor 90 controls the pad fixing device 23 to move the insertion protrusion 232 to the insertion position. Then, the insertion protrusion 232 passes through the wiping hole 801 of the cleaned wiping pad 80 and inserts into the fixing groove 88 to be adjacent to or in contact with the separating magnet 89. The cleaned wiping pad 80 is then fixed to the pad base 21 by the magnetic force between the metal piece 233 of the insertion protrusion 232 and the separating magnet 89 of the fixing protrusion 83.

[0301] Then, the processor 90 controls the lifting device 60 to raise the lifting plate 31. When the lifting plate 31 is in the upper position, the processor 90 controls the pad drying device 29 to dry the cleaned wiping pad 80. This state is as follows. Figure 21f As shown.

[0302] Figure 21f This is a view showing the state of the cleaning pad 80 fixed to the pad base 21 of the pad cleaner 20 after cleaning.

[0303] In this embodiment, the pad cleaner 20 may include a pad drying device 29. The pad drying device 29 may be disposed below the pad base 21. Therefore, when the pad drying device 29 is operated by the processor 90, the cleaned wiping pad 80 fixed to the pad base 21 is dried. At this time, the wiping pad 80 is not fixed to the retainer lock 52 of the lifting plate 31 located in the upper position.

[0304] The robotic cleaner stations 1 and 1' with the above-described structure according to one or more embodiments of this disclosure can clean the used wiping pad while the robotic cleaner is performing wiping. Therefore, compared to the robotic cleaners according to the prior art that clean the used wiping pad while it is attached to the robotic cleaner, the robotic cleaner stations 1 and 1' according to one or more embodiments of this disclosure spend sufficient time cleaning the used wiping pad, so that the cleaning of the used wiping pad can be reliably completed.

[0305] In addition, according to one or more embodiments of the present disclosure, the robot cleaning stations 1 and 1' separate the used wiping pad from the robot cleaner and then clean the used wiping pad, so that the cleaned wiping pad can be dried with hot air at high temperature and chemically disinfected.

[0306] While this disclosure has been shown and described with reference to various exemplary embodiments, it should be understood that these exemplary embodiments are intended to be illustrative and not restrictive. Those skilled in the art will understand that various changes in form and detail may be made therein without departing from the true spirit and full scope of this disclosure, including the appended claims and their equivalents.

Claims

1. A robotic cleaning station, comprising: Base; A pad cleaner is disposed in the upper surface of the base and is configured to hold and clean the wiping pad; A pad moving device is configured to move a used wiping pad from the pad cleaner and place a cleaned wiping pad on the pad cleaner; as well as One or more processors, Wherein, by executing one or more instructions stored in at least one memory, the one or more processors are configured to: The control device moves the used wiping pad to the pad cleaner. The robot cleaner obtains the cleaned wiping pad and moves it away from the base, controlling the pad cleaner to clean the used wiping pad.

2. The robotic cleaner station according to claim 1, wherein, The pad moving device includes: The lifting frame has a rectangular shape; A rotating plate is rotatably disposed within the lifting frame, and the wiping pad is fixed to the rotating plate; A lifting device is configured to move the lifting frame vertically; and A rotating device is configured to rotate the rotating plate.

3. The robotic cleaner station according to claim 2, wherein, The rotating plate includes: First surface; The second surface is opposite to the first surface; A first retainer lock is located on the first surface and is configured to selectively retain the wiping pad; and A second retainer lock is located on the second surface and is configured to selectively retain the wiping pad.

4. The robotic cleaner station according to claim 2, wherein, The rotating device includes: A pair of protrusions protrude from the side surface of the rotating plate, respectively; A pair of disturbance rods are respectively disposed on both sides of the lifting frame, wherein, based on the upward movement of the lifting frame and the disturbance of one of the pair of disturbance rods with one of the pair of protrusions, the rotating plate rotates relative to the lifting frame at a certain angle; and Two pairs of stop grooves are respectively provided on the side surface of the lifting frame and are configured to accommodate the pair of protrusions.

5. The robotic cleaner station according to claim 2, wherein, The lifting device includes: A pair of racks are respectively disposed on the side surface of the lifting frame; A pair of pinions meshes with the pair of racks; A drive gear is configured to drive the pair of pinions; An electric motor, configured to rotate the drive gear; and A pair of guides are configured to guide the up-and-down movement of the lifting frame.

6. The robotic cleaner station according to claim 5, wherein, The drive gear includes: The first drive gear and the second drive gear respectively mesh with the pair of pinions, and A connecting shaft connects the first drive gear and the second drive gear.

7. The robotic cleaner station according to claim 1, wherein, The pad moving device includes: A lifting plate having a rectangular shape and the wiping pad being fixed to the lifting plate; and The lifting device is configured to move the lifting plate up and down.

8. The robotic cleaner station according to claim 7, wherein, The lifting device includes: A pair of racks are respectively disposed on the side surface of the lifting plate; A pair of pinions meshes with the pair of racks; A drive gear is configured to drive the pair of pinions; An electric motor, configured to rotate the drive gear; and A pair of guides are configured to guide the up-and-down movement of the lifting plate.

9. The robotic cleaner station according to claim 7, wherein, The lifting plate includes a retainer lock on its lower surface, wherein the retainer lock is configured to selectively retain the wiping pad.

10. The robotic cleaner station according to claim 9, wherein, The retainer lock includes: The locking hole is located at the center of the retainer lock; and Multiple ball springs are spaced apart on the inner circumferential surface of the locking hole.

11. The robotic cleaner station according to claim 1, wherein, The pad moving device includes: A pad holder is configured to hold the wiping pad in place; and The retainer lock is configured to selectively retain the pad retainer, and The pad retainer includes: A retainer plate having a lower surface, wherein the wiping pad is attached to the lower surface; and A fixing protrusion protrudes from the center of the upper surface of the retainer plate.

12. The robotic cleaner station according to claim 11, wherein, The retainer lock includes: A locking hole is located at the center of the retainer lock, and the fixing protrusion of the pad retainer will be inserted into the locking hole; and A lock is included in the locking hole and is configured to selectively secure the fixing protrusion.

13. A robotic cleaner system, comprising: Robotic cleaners are designed to wipe surfaces using a cleaned wiping pad. as well as The robotic cleaning station is constructed as follows: The cleaned wiping pad is supplied to the robotic cleaner. Based on the completion of the wiping operation by the robotic cleaner, the cleaned wiping pad becomes a used wiping pad, and a second cleaned wiping pad replaces the used wiping pad. The wiping operation is performed by the robotic cleaner to clean the used wiping pad. The robotic cleaner station includes: Base; A pad cleaner is disposed in the upper surface of the base and is configured to place the cleaned wiping pad and clean the used wiping pad; A pad moving device is configured to move a used wiping pad from the pad cleaner and place a cleaned wiping pad on the pad cleaner; and One or more processors, Wherein, by executing one or more instructions stored in at least one memory, the one or more processors are configured to: The control device moves the used wiping pad to the pad cleaner. The robot cleaner obtains a cleaned wiping pad and leaves the base to perform a wiping operation, controlling the pad cleaner to clean the used wiping pad.

14. The robotic cleaner system according to claim 13, wherein, The lifting frame has a rectangular shape; A rotating plate is rotatably disposed within the lifting frame and is configured to hold used and cleaned wiping pads in place. as well as The lifting device is configured to move the lifting frame up and down; as well as A rotating device is configured to rotate the rotating plate.

15. The robotic cleaner system according to claim 13, wherein, The pad moving device includes: A lifting plate, having a rectangular shape and configured to hold the used wiping pad; and The lifting device is configured to move the lifting plate up and down.

Images