Cleaning device and method of controlling the same

Abstract

A cleaning device according to this disclosure may include: a robotic vacuum cleaner, including a driving unit and a dust collection bin, the driving unit including main wheels and a wheel motor driving the main wheels, one surface of the dust collection bin being openable and the dust collection bin being used to store dirt; a base station for the robotic vacuum cleaner to dock with; and at least one processor for controlling the operation of the robotic vacuum cleaner and the base station, wherein the base station may include: a dirt collection bin; a placement part including a suction inlet for the dirt to flow from the dust collection bin, and equipped for placement of the robotic vacuum cleaner in relation to docking of the robotic vacuum cleaner with the base station; and a dirt collection pipe, a One end is connected to the suction port, and the other end is connected to the waste collection bin. The robot vacuum cleaner may further include a position sensing sensor to acquire position information of the robot vacuum cleaner as it moves by means of the driving unit. The base station may further include a pressure sensor to acquire pressure information of the inside of the waste collection pipe. The at least one processor may control the driving unit to adjust the position of the robot vacuum cleaner based on the information acquired from the position sensing sensor and the pressure sensor, so that the opening of the dust collection bin corresponds to the suction port.

Description

Technical Field

[0001] This disclosure relates to a cleaning device and a control method thereof. Background Technology

[0002] Typically, a robotic vacuum cleaner is a device that automatically cleans a space by sucking up dust and other dirt accumulated on the floor while moving around the space without user intervention. The robotic vacuum cleaner travels and cleans the space.

[0003] Robotic vacuum cleaners use distance sensors to determine the distance between themselves and obstacles such as furniture, office supplies, or walls placed in the cleaning area. They then selectively drive the left and right wheel motors to change direction while cleaning the area.

[0004] Recently, a robotic vacuum cleaner is being developed to further improve the cleaning convenience for users, and a robotic vacuum cleaner that automatically empties its waste collection bin when docked with a base station has been developed. Summary of the Invention Technical issues

[0005] The purpose of the cleaning device including the sweeping robot and the base station disclosed herein is to place the sweeping robot at an accurate position corresponding to the suction port of the base station when the sweeping robot performs the waste discharge stroke. Technical solution

[0006] The cleaning apparatus according to this disclosure may include: a robotic vacuum cleaner, including a driving unit and a dust collection bin, the driving unit including main wheels and a wheel motor driving the main wheels, one surface of the dust collection bin being openable and the dust collection bin being used to store dirt; a base station for the robotic vacuum cleaner to dock with; and at least one processor for controlling the operation of the robotic vacuum cleaner and the base station, wherein the base station may include: a dirt collection bin; a placement part including a suction inlet for the dirt to flow from the dust collection bin, and equipped for placement of the robotic vacuum cleaner in relation to docking of the robotic vacuum cleaner with the base station; and a dirt collection pipe, one end of which... The robot vacuum cleaner is connected to the suction port at one end and to the waste collection bin at the other end. The robot vacuum cleaner may further include a position sensing sensor to acquire position information as it moves via the driving unit. The base station may also include a pressure sensor to acquire pressure information inside the waste collection pipe. The at least one processor can control the driving unit based on information acquired from the position sensing sensor and the pressure sensor to adjust the position of the robot vacuum cleaner, such that the opening of the dust collection bin corresponds to the suction port.

[0007] According to the control method of the cleaning device disclosed herein, the control method of the cleaning device including a robotic vacuum cleaner and a base station equipped for placing the robotic vacuum cleaner may include the following steps: the robotic vacuum cleaner enters the base station for placement of the robotic vacuum cleaner on the base station to perform a waste discharge process; information about the position of the robotic vacuum cleaner is obtained from the position sensing sensor; information about the pressure inside the waste collection pipe of the base station is obtained from the pressure sensor; and the position of the robotic vacuum cleaner is adjusted based on the information obtained from the position sensing sensor or the pressure sensor, such that the opening of the dust collection bin of the robotic vacuum cleaner corresponds to the suction port of the base station from which the waste flows in from the dust collection bin. Invention Effects

[0008] The cleaning device according to one aspect of this disclosure can improve the ease of use for users.

[0009] The cleaning apparatus according to one aspect of this disclosure can improve cleaning efficiency.

[0010] According to one aspect of this disclosure, a cleaning device, in order to maintain a clean environment, guides the robot vacuum cleaner to a position that precisely corresponds to the dust discharge outlet of the robot vacuum cleaner and the dust suction inlet of the base station during the dust discharge stroke of the robot vacuum cleaner, thereby maintaining cleanliness.

[0011] According to one aspect of this disclosure, the robot vacuum cleaner can be positioned at a first placement position and a second placement position at the base station based on the stroke performed in the cleaning device, thereby preventing the washing water used to perform the washing stroke from splashing onto the suction port and causing a decrease in dust suction efficiency.

[0012] The technical problems to be solved by this disclosure are not limited to those mentioned above. Other technical problems not mentioned can be clearly understood by those skilled in the art from the following description. Attached Figure Description

[0013] Figure 1 This is a diagram showing the state in which a robotic vacuum cleaner is detached from a base station in a cleaning apparatus according to an embodiment.

[0014] Figure 2 This is a diagram showing the state of a sweeping robot in a cleaning apparatus according to an embodiment, positioned at a base station.

[0015] Figure 3 This is a diagram illustrating a robotic vacuum cleaner according to one embodiment.

[0016] Figure 4 It is shown Figure 3 The image shown shows the back of the robotic vacuum cleaner.

[0017] Figure 5It is shown Figure 3 The image shows the lower part of the robotic vacuum cleaner.

[0018] Figure 6 It is along Figure 4 A cross-sectional view of the robotic vacuum cleaner taken by the A-A' line.

[0019] Figure 7 This is a diagram illustrating a base station according to one embodiment.

[0020] Figure 8 It is shown Figure 7 The diagram shows the back of the base station.

[0021] Figure 9 It is along Figure 7 A cross-sectional view of the base station taken from the B-B' line.

[0022] Figure 10 An enlarged view schematically showing the main wheel of a sweeping robot in a cleaning apparatus according to an embodiment, when the robot's main wheel is located in a first placement position at a base station.

[0023] Figure 11 An enlarged view schematically showing the main wheel of a sweeping robot in a cleaning apparatus according to an embodiment, when the robot's main wheel is located in a second mounting position at a base station.

[0024] Figure 12 A control block diagram of a robotic vacuum cleaner according to one embodiment is shown.

[0025] Figure 13 A control block diagram of a base station according to one embodiment is shown.

[0026] Figure 14 A diagram showing the sequence of operations for waste collection from a cleaning apparatus according to one embodiment is provided.

[0027] Figure 15 An example of a method for controlling a robotic vacuum cleaner to perform a waste removal process at a precise location is shown according to one embodiment.

[0028] Figure 16 and Figure 17 An example of a method for controlling a base station to perform a waste discharge process at a precise location, according to one embodiment, is shown. Detailed Implementation

[0029] The various embodiments described herein and the terminology used herein are not intended to limit the technical features described herein to specific embodiments, but should be understood to include various modifications, equivalents or alternatives to the corresponding embodiments.

[0030] Regarding the description of the accompanying drawings, similar reference numerals may be used to indicate similar or related constituent elements.

[0031] Unless the context clearly specifies otherwise, the singular form of the noun corresponding to an item may include one or more of the items mentioned.

[0032] In this document, each of the following statements, such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, and “at least one of A, B or C”, may include one of the items listed together in the corresponding statement or all possible combinations thereof.

[0033] The term "and / or" includes a combination of elements of a plurality of related records or one element of a plurality of related records.

[0034] The terms "part", "module", and "component" can be implemented using hardware or software. According to an embodiment, multiple "parts", "modules", and "components" can be implemented using a single constituent element, or a "part", "module", and "component" can also include multiple constituent elements.

[0035] Terms such as “first,” “second,” “first,” or “second” can be used simply to distinguish one constituent element from another, and do not limit the constituent element in other respects (e.g., importance or order).

[0036] In cases where a certain (e.g., first) component is referred to as being "integrated" or "connected" to another (e.g., second) component with or without terms such as "functional" or "communication", it means that the first component can be connected to the second component directly (e.g., wired), wirelessly, or via a third component.

[0037] Terms such as “comprising” or “having” are used to specify the presence of features, figures, steps, operations, constituent elements, components or combinations thereof described herein, without precluding the presence or additional possibility of one or more other features or figures, steps, operations, constituent elements, components or combinations thereof.

[0038] When a constituent element is referred to as “connected,” “joined,” “supported,” or “in contact” with another constituent element, this includes not only cases where the constituent elements are directly connected, joined, supported, or in contact, but also cases where they are indirectly connected, joined, supported, or in contact through a third constituent element.

[0039] When a constituent element is "on" another constituent element, this includes not only the case where a constituent element is connected to another constituent element, but also the case where there is another constituent element between the two constituent elements.

[0040] Furthermore, the terms "front," "rear," "left," "right," "top," and "bottom," as used in the following description, are defined based on the accompanying drawings; the shape and position of each structural element are not limited by these terms. For example, as... Figure 1 As shown, the direction in which the robot vacuum cleaner 10 enters the base station 20 can be defined as rear (-X direction), and the opposite direction can be defined as front (+X direction).

[0041] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0042] Figure 1 This is a diagram showing the state in which the sweeping robot 10 in the cleaning device 1 according to an embodiment is detached from the base station 20.

[0043] Figure 2 This is a diagram showing the state in which a sweeping robot 10 is placed on a base station 20 in a cleaning device 1 according to an embodiment.

[0044] Reference Figure 1 and Figure 2 The cleaning device 1 may include a robotic vacuum cleaner 10 and a base station 20. The cleaning device 1 may be referred to as a cleaning system 1.

[0045] The robotic vacuum cleaner 10 can clean the floor while moving along the ground. The floor cleaned by the robotic vacuum cleaner 10 can be referred to as the cleaned surface. The robotic vacuum cleaner 10 can perform dry cleaning and / or wet cleaning. The robotic vacuum cleaner 10 can suck up or wipe away dirt from the cleaned surface. Here, dirt can be collectively referred to as foreign objects such as dust, hair, food residue, etc.

[0046] The robotic vacuum cleaner 10 can be installed at the base station 20. The robotic vacuum cleaner 10 can be placed at the base station 20. The robotic vacuum cleaner 10 can dock with the base station 20. At least a portion of the robotic vacuum cleaner 10 can be arranged in the receiving space 210a of the base station 20.

[0047] The robot vacuum cleaner 10 can move to the base station 20 during and / or after cleaning.

[0048] For example, the robot vacuum cleaner 10 can move to the base station 20 when it needs to be charged, when the dirt in the dustbin 141 needs to be emptied, when the moisture content of the wet cloth 160 is low, when the wet cloth 160 needs to be washed, when the wet cloth 160 needs to be sterilized, and / or when the wet cloth 160 needs to be dried.

[0049] Base station 20 can be configured to house the sweeping robot 10. Base station 20 can be configured to house the sweeping robot 10. Base station 20 can be configured to store the sweeping robot 10.

[0050] For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can charge the battery 150 of the robotic vacuum cleaner 10. For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can collect the dirt collected in the dustbin 141 of the robotic vacuum cleaner 10. For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can supply water to the water tank 114 of the robotic vacuum cleaner 10. For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can wet the damp mop 160 using water and / or steam. For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can wash the damp mop 160. For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can sterilize the damp mop 160. For example, while the robotic vacuum cleaner 10 is positioned at the base station 20, the base station 20 can dry the damp mop 160.

[0051] Figure 3 This is a diagram illustrating a robotic vacuum cleaner 10 according to one embodiment.

[0052] Figure 4 It is shown Figure 3 The image shows the rear view of the robotic vacuum cleaner 10.

[0053] Figure 5 It is shown Figure 3 The lower part of the robotic vacuum cleaner 10 is shown in the diagram.

[0054] Figure 6 It is along Figure 4 A cross-sectional view of the robotic vacuum cleaner 10 taken from the A-A' line.

[0055] The robotic vacuum cleaner 10 may include a main body 110. The main body 110 forms the overall appearance of the robotic vacuum cleaner 10. The main body 110 may house the components of the robotic vacuum cleaner 10. Electrical components may be arranged inside the main body 110. The main body 110 may be referred to as the robotic vacuum cleaner main body 110.

[0056] The robotic vacuum cleaner 10 may include a suction port 111. The suction port 111 may be formed facing the surface to be cleaned. The suction port 111 may be open towards the surface to be cleaned. The suction port 111 may be formed in the main body 110. The suction port 111 may be formed in the lower part of the main body 110. The suction port 111 may be formed through the lower surface 110b of the main body 110. Dirt on the surface to be cleaned can be sucked into the interior of the main body 110 along with air through the suction port 111. The suction port 111 may be referred to as the robotic vacuum cleaner suction port 111.

[0057] The robotic vacuum cleaner 10 may include a brush 130. The brush 130 can strike the surface being cleaned to disperse dirt. The dirt dispersed by the brush 130 can flow into the suction port 111 along with the air.

[0058] For example, the robotic vacuum cleaner 10 may include a first brush 131 disposed at the suction inlet 111. The first brush 131 may be mounted to be rotatable relative to the body 110. The axis of rotation of the first brush 131 may be an axis extending in a generally horizontal direction (Y direction). The first brush 131 may be referred to as the main brush 131.

[0059] For example, the robotic vacuum cleaner 10 may include a second brush 132 arranged adjacent to the lower edge of the main body 110. The second brush 132 may guide dirt around the main body 110 that the first brush 131 cannot reach to the suction port 111. The second brush 132 may be mounted to be rotatable relative to the main body 110. The axis of rotation of the second brush 132 may be an axis extending in a generally vertical direction (Z direction). The second brush 132 may be referred to as a side brush 132.

[0060] The robotic vacuum cleaner 10 may include a dustbin 141. Dirt and / or air drawn in through the suction port 111 can be moved to the dustbin 141. Dirt drawn in through the suction port 111 can be collected in the dustbin 141. Air drawn in through the suction port 111 can be filtered as it passes through the dustbin 141. Dirt and air drawn in through the suction port 111 can be separated within the dustbin 141.

[0061] The robotic vacuum cleaner 10 may include an outlet 112. The outlet 112 may be formed on the main body 110. The outlet 112 may be formed on the rear side of the main body 110. Air drawn in through the suction port 111 can be filtered and discharged to the outside of the robotic vacuum cleaner 10 through the outlet 112. For example, multiple outlets 112 may be provided, and multiple outlets may be formed using multiple holes. The outlet 112 may be referred to as the robotic vacuum cleaner outlet 112.

[0062] The robotic vacuum cleaner 10 may include a suction motor 142. The suction motor 142 generates suction force. Using the suction force generated in the suction motor 142, the suction port 111 can suck in dirt and / or air. Using the suction force generated in the suction motor 142, the exhaust port 112 can exhaust filtered air sucked into the robotic vacuum cleaner 10 to the outside. The suction motor 142 may be arranged in the airflow path formed between the suction port 111 and the exhaust port 112. The suction motor 142 may be referred to as the robotic vacuum cleaner suction motor 142.

[0063] The robotic vacuum cleaner 10 may include a traveling unit 120 for moving the robotic vacuum cleaner 10. The traveling unit 120 may be mounted on the main body 110 and move the main body 110. For example, the traveling unit 120 may include a pair of main wheels 121. For example, for stable movement of the robotic vacuum cleaner 10, the traveling unit 120 may also include at least one auxiliary wheel 122.

[0064] The robotic vacuum cleaner 10 may include a battery 150. The battery 150 may be configured to be rechargeable. The battery 150 provides the power required to drive the robotic vacuum cleaner 10. The robotic vacuum cleaner 10 may include a charging terminal 151. The charging terminal 151 may be electrically connected to the battery 150. While the robotic vacuum cleaner 10 is positioned at the base station 20, the charging terminal 151 of the robotic vacuum cleaner 10 may be electrically connected to the charging terminal 218 of the base station 20. With the charging terminal 151 of the robotic vacuum cleaner 10 electrically connected to the charging terminal 218 of the base station 20, the battery 150 of the robotic vacuum cleaner 10 can be charged. That is, the battery 150 can be charged during docking of the robotic vacuum cleaner 10 with the base station 20. The charging terminal 151 may be referred to as the robotic vacuum cleaner charging terminal 151.

[0065] The robotic vacuum cleaner 10 may include a wet mop 160. The wet mop 160 is detachably mountable to the lower part of the main body 110. The wet mop 160 may be mounted so as to be rotatable relative to the main body 110. The wet mop 160 may be configured to contact and clean the surface being cleaned. The wet mop 160 can wipe away dirt from the surface being cleaned while still damp. Although two wet mops 160 are shown in the accompanying drawings, the number of wet mops 160 is not limited. The wet mop 160 may be referred to as a cleaning pad 160. The wet mop 160 may be referred to as a wet pad 160.

[0066] According to various embodiments, although not shown in this disclosure, the sweeping robot 10 may also include a water bucket for supplying water to the wet mop 160, a water filling part for receiving water from the base station 20 while the sweeping robot 10 is positioned on the base station 20, a rotation drive part for rotating the wet mop 160, and / or a lifting drive part for moving the wet mop 160 up and down.

[0067] The robotic vacuum cleaner 10 may include a position sensing sensor 170. The position sensing sensor 170 can acquire information about the position of the robotic vacuum cleaner 10. The position sensing sensor 170 may include a Hall sensor.

[0068] Information regarding the location of the robotic vacuum cleaner 10 may include information regarding the location between the base station 20 and the robotic vacuum cleaner 10 and / or the distance from the base station 20.

[0069] The position sensing sensor 170 can convert changes in the magnetic field based on the positional changes between the Hall sensor and the magnet equipped on the base station 20 into electrical signals to obtain information about the position between the base station 20 and the robot vacuum cleaner 10 and / or the distance from the base station 20.

[0070] At this time, the position sensing sensor 170 can be mounted on the main body 110. The position sensing sensor 170 can be disposed on the lower surface 110b of the main body 110. For example, the position sensing sensor 170 can be disposed on the lower surface 110b of the main body 110 at a position adjacent to the wet mop 160. The magnet disposed on the base station 20 can be configured so that the robot vacuum cleaner 10 is located at a predetermined distance from the position sensing sensor 170 when placed on the base station 20.

[0071] Information regarding the position of the robotic vacuum cleaner 10 may include its driving direction, number of rotations, and / or rotation angle. The position sensing sensor 170 can convert changes in the magnetic field, based on positional changes between a Hall sensor and a magnet mounted on the main wheel 121 of the robotic vacuum cleaner 10, into electrical signals to obtain information regarding the driving direction, number of rotations, and / or rotation angle of the robotic vacuum cleaner 10. In this case, the magnet mounted on the main wheel 121 of the robotic vacuum cleaner 10 can be attached to an encoder disk mounted on the main wheel 121 of the robotic vacuum cleaner 10. The encoder disk can be fixed to the shaft of the main wheel 121 or mounted inside the main wheel 121.

[0072] At this time, the encoder disk can be attached to at least a portion of the pair of main wheels 121. With the encoder disks equipped on each of the pair of main wheels 121, the position sensing sensor 170 can compare the rotation number of each wheel based on the change in the magnetic field between the Hall sensor and the magnet attached to each encoder disk to obtain information on the driving direction of the robot vacuum cleaner 10.

[0073] Figure 7 This is a diagram illustrating a base station 20 according to one embodiment.

[0074] Figure 8 It is shown Figure 7 The diagram shows the back of base station 20.

[0075] Figure 9 It is along Figure 7 A cross-sectional view of base station 20 taken from the B-B' line.

[0076] The base station 20 may include a main body 210. The main body 210 may form the overall appearance of the base station 20. The main body 210 may form a receiving space 210a for accommodating at least a portion of the robotic vacuum cleaner 10. The main body 210 may be referred to as the base station main body 210.

[0077] The main body 210 may include a base 211 and a housing 212 that can be detachably attached to the base 211.

[0078] The base 211 may include a robot vacuum cleaner mounting section 2111 for placing the robot vacuum cleaner 10. The robot vacuum cleaner mounting section 2111 may have a shape that slopes upwards from the surface being cleaned to allow the robot vacuum cleaner 10 to enter. For example, the robot vacuum cleaner mounting section 2111 may have a shape that slopes upwards along the direction in which the robot vacuum cleaner 10 enters the base station 20. For example, an anti-slip section 216 may be formed in the robot vacuum cleaner mounting section 2111 to allow the robot vacuum cleaner 10 to easily climb onto the sloped surface of the robot vacuum cleaner mounting section 2111. For example, an anti-slip platform 215 may be formed in the robot vacuum cleaner mounting section 2111 to prevent the robot vacuum cleaner 10 mounted on the base station 20 from sliding along the sloped surface of the robot vacuum cleaner mounting section 2111. The robot vacuum cleaner 10 mounted on the base station 20 may be prevented from detaching from the base station 20 by means of the anti-slip platform 215.

[0079] The cleaner placement unit 2111 can be equipped for housing the sweeping robot 10.

[0080] The cleaner mounting section 2111 may include an upper cover 2111a and a substrate 2111b. The upper cover 2111a may be configured to cover the upper part of the substrate 2111b and be combined with the substrate 2111b. The upper cover 2111a may be used for mounting the robotic vacuum cleaner 10.

[0081] The substrate 2111b can be disposed below the upper cover 2111a. The substrate 2111b can be combined with the upper cover 2111a.

[0082] Base station 20 may include suction port 213. Suction port 213 may be formed in the robot vacuum cleaner mounting section 2111. While the robot vacuum cleaner 10 is mounted on base station 20, suction port 213 may communicate with the dust collection bin 141 of the robot vacuum cleaner 10. Suction port 213 may be equipped to suck up dirt collected in dust collection bin 141. Suction port 213 may be referred to as robot vacuum cleaner suction port 213.

[0083] Since the cleaner mounting section 2111 is configured to support the lower part of the base station housing 212 by combining the substrate 2111b with the upper cover 2111a, the suction port 213 can also be formed by combining the cover opening formed in the upper cover 2111a with the communication opening formed in the substrate 2111b. The cover opening and the communication opening can be configured with corresponding shapes.

[0084] That is, the suction port 213 can be formed by connecting the cap opening and the connecting opening to each other. However, in the following description, the cap opening or the connecting opening can be used to mean the same thing as the suction port 213.

[0085] The suction port 213 can be configured to correspond to the opening of the dust collection bin 141 when the robot vacuum cleaner 10 is placed in the cleaner mounting section 2111 and opened by the opening link 140a of the lever device 140 (described later).

[0086] The shape of the suction inlet 213 can correspond to the opening of the dust collection bin 141, and be configured as a generally rectangular shape. However, the shape of the suction inlet 213 is not limited to this. For example, the suction inlet 213 can be configured in various shapes to effectively transmit the suction force of the suction motor 224 by opening the opening of the dust collection bin 141 to connect the dust collection bin 141 to the guide portion 225a of the waste collection pipe 225.

[0087] The cleaner housing 2111 may include a lever device 140. The lever device 140 may be equipped to selectively connect the recycling device 227 to the dust collection bin 141 of the robot vacuum cleaner 10. The lever device 140 may selectively connect the recycling device 227 to the dust collection bin 141 of the robot vacuum cleaner 10 via an open link 140a.

[0088] For example, the processor 291 of the base station 20 can control the lever device 140 to be driven when the robot vacuum cleaner 10 is placed in a preset position in the cleaner placement section 2111.

[0089] The drive lever device 140 may include a rotating open link 140a toward the suction port 213 to open the lower part 141a of the dust collection bin 141, which is closing the opening of the dust collection bin 141.

[0090] The open link 140a can be configured as a multi-section link structure. One end of the open link 140a can be equipped with a magnetic element, and the lower part 141a can also be equipped with a magnetic element to engage with one end of the open link 140a by mutual attraction. Therefore, after the lever device 140 rotates the open link 140a toward the suction port 213 and engages with the lower part 141a of the dust collection bin 141, it can rotate the open link 140a in the opposite direction to the rotation to open the opening of the dust collection bin 141.

[0091] If the opening of the dust collection bin 141 is opened by the lever device 140, the dust collection bin 141 and the guide portion 225a of the waste collection pipe 225 can be connected to each other, thereby effectively transmitting the suction force of the suction motor 224.

[0092] The base 211 may include a side wall portion 2112 extending upward from the robot vacuum cleaner mounting portion 2111. The side wall portion 2112 may be configured to surround at least a portion of the robot vacuum cleaner mounting portion 2111.

[0093] The outer casing 212 may be equipped with a side wall portion 2112 covering the base 211. The outer casing 212 may house the components of the base station 20. Electrical components may be arranged inside the outer casing 212. The outer casing 212 may form an opening 212a, through which the robotic vacuum cleaner 10 may enter the housing space 210a of the base station 20.

[0094] Base station 20 may include a water tank 221. The water tank 221 may be configured to store water. The water tank 221 may contain relatively clean water. The water stored in the water tank 221 may be supplied to the water tank of the robotic vacuum cleaner 10. That is, the water stored in the water tank 221 may be used to provide moisture to the wet mop 160 or to wash the wet mop 160. The water tank 221 can be detachably mounted to the main body 210. For example, a user can hold the handle 221a of the water tank 221 to detach the water tank 221 from the main body 210 or to attach the water tank 221 to the main body 210.

[0095] Base station 20 may include a wastewater tank 222. The wastewater tank 222 may be configured to store water. The wastewater tank 222 can contain relatively dirty water. Water (wastewater) that becomes dirty while washing a wet cloth 160 can be stored in the wastewater tank 222. The wastewater tank 222 can be detachably mounted to the main body 210. For example, a user can grasp the handle 222a of the wastewater tank 222 to detach the wastewater tank 222 from the main body 210 or to attach the wastewater tank 222 to the main body 210.

[0096] Base station 20 may include a waste collection bin 223. Waste collection bin 223 may be configured to store waste collected from the dustbin 141 of the robotic vacuum cleaner 10. Waste collection bin 223 can be detachably mounted to body 210. For example, a user can grasp the handle 223a of waste collection bin 223 to detach waste collection bin 223 from body 210 or to attach waste collection bin 223 to body 210.

[0097] The waste collection bin 223 may also include a waste bag housed within it. The waste bag can be detachably secured to the waste collection bin 223. When the waste bag is secured to the waste collection bin 223, waste transferred through the waste collection conduit 225 can be collected inside the waste bag. If the waste bag is full, it can be detached from the waste collection bin 223 and discarded. If waste is transferred through the waste collection conduit 225 while the waste bag is detached from the waste collection bin 223, the waste can be collected inside the waste collection bin 223.

[0098] Although the accompanying drawings show the sewage tank 222, water supply tank 221 and waste collection tank 223 arranged side by side in a generally horizontal direction (Y direction), the positions of the sewage tank 222, water supply tank 221 and waste collection tank 223 are not restricted.

[0099] Base station 20 may include a waste collection conduit 225. The waste collection conduit 225 may be configured to guide waste sucked in through suction port 213 to waste collection bin 223. The waste collection conduit 225 may be arranged between suction port 213 and waste collection bin 223. One end of the waste collection conduit 225 may be connected to suction port 213. The other end of the waste collection conduit 225 may be connected to waste collection bin 223. That is, one end of the waste collection conduit 225 may be connected to suction port 213, and the other end may be connected to waste collection bin 223.

[0100] The waste collection pipe 225 may include a guide 225a communicating with the suction port 213, a connecting hose 225b detachably fastened to the guide 225a at one end, and a suction pipe 225c for detachably fastening the other end of the connecting hose 225b to and being fitted to the waste collection bin 223.

[0101] That is, the guide section 225a can be provided as part of the waste collection pipe 225. The guide section 225a can be arranged inside the cleaner housing 2111. The guide section 225a can also be provided inside the cleaner housing 2111 in an area adjacent to one end of the connection portion connected to the suction port 213.

[0102] The waste in the dust collection bin 141 can be sucked into the suction port 213 by the suction force generated by the suction motor 224. The waste sucked into the suction port 213 can be transferred to the guide section 225a, which communicates with the suction port 213. The waste transferred to the guide section 225a can be collected inside the waste collection bin 223 through the connecting hose 225b and the suction pipe 225c.

[0103] The guide section 225a can be configured to form a generally cuboid shape, but this is merely an example; any shape suitable for transferring waste can be adopted for the guide section 225a. The guide section 225a can be configured such that its width gradually decreases from the front to the rear. This is to make the cross-sectional area of ​​the guide section 225a narrow towards the rear, thereby increasing the flow rate of the gas flowing inside the guide section 225a.

[0104] The guide portion 225a can be configured to extend horizontally within the cleaner housing 2111. One end of the guide portion 225a can be located forward (+X direction), and the other end can be located rearward (-X direction). That is, the guide portion 225a can extend in a front-to-back direction within the cleaner housing 2111. However, the front-to-back direction can be one of several horizontal directions that can be assumed based on the interior of the cleaner housing 2111. The guide portion 225a may include a communication opening formed at one end of the guide portion 225a located at the front and a connecting hose fastening portion 202 formed at the other end of the guide portion 225a located at the rear. The communication opening can communicate with the suction port 213 to transfer dirt sucked into the suction port 213 to the guide flow path 250a.

[0105] The connecting hose 225b can connect the guide portion 225a and the suction tube 225c. Both ends of the connecting hose 225b can be detachably fastened to the guide portion 225a and the suction tube 225c, respectively. The connecting hose 225b can be formed of a flexible material. The connecting hose 225b can be housed inside the housing 212. The flexible material of the connecting hose 225b allows the suction flow path 250b connecting the guide flow path 250a and the suction tube 225c to be optimized within the housing 212. The connecting hose 225b can be equipped as an adjustable-length extension hose.

[0106] Waste that has been sucked into the suction port 213 and moved to the guide flow path 250a can be moved to the suction pipe 225c through the suction flow path 250b.

[0107] The suction pipe 225c can be configured to connect one end to the waste collection bin 223, so that the waste in the dust collection bin 141 that is guided to the guide flow path 250a of the guide section 210 is sucked into the waste collection bin 223.

[0108] The base station 20 may include a pressure sensor 270 disposed on the inner surface of the waste collection pipe 225. The pressure sensor 270 may be disposed on the inner surface of the waste collection pipe 225 at a position adjacent to the suction port 213. For example, the pressure sensor 270 may be disposed on the inner surface of the guide portion 225a.

[0109] A first exhaust outlet 115 may be formed in the housing 212. The first exhaust outlet 115 may be configured to exhaust air sucked in by the suction motor 224 from the dust collection bin 141 of the robot vacuum 10 to the outside of the base station 20. The first exhaust outlet 115 may be referred to as the first base station exhaust outlet 115.

[0110] Base station 20 may include an exhaust filter 226 arranged to filter air discharged to exhaust port 214. Exhaust filter 226 may be arranged to filter air discharged from intake motor 224. Exhaust filter 226 may be arranged adjacent to first exhaust port 115. Exhaust filter 226 may include a HEPA filter (High Efficiency Particulate Air Filter).

[0111] The rear cover 117 may be equipped with a second exhaust outlet 214, which discharges air that has been discharged to the first exhaust outlet 115 and filtered by the exhaust filter 226 to the outside of the base station 20. Multiple second exhaust outlets 214 may be provided, and these multiple outlets 214 may be configured using multiple holes. The second exhaust outlet 214 may be referred to as a second base station exhaust outlet 214.

[0112] At least a portion of a recycling device 227 for recycling the dirt collected by the dust collection chamber 16 of the sweeping robot 10 may be arranged inside the base station 20.

[0113] The recycling device 227 may include a suction motor 224 and / or a waste collection bin 223.

[0114] Base station 20 may include suction motor 224. When the robotic vacuum cleaner 10 is placed on base station 20, suction motor 224 can generate suction force to suck up dirt from dust collection bin 141. By means of the suction force of suction motor 224, dirt from dust collection bin 141 can flow along suction port 113 and dirt collection pipe 225, thereby being collected in dirt collection bin 223. By means of the suction force generated in suction motor 224, discharge port 214 can discharge air sucked into base station 20 and passing through discharge filter 226 to the outside. Suction motor 224 may be referred to as base station suction motor 224.

[0115] The base station 20 may include a washing frame 240. The washing frame 240 may be configured to correspond to a washing chamber 230. The washing frame 240 can be detachably mounted to the washing chamber 230. While the robot vacuum 10 is positioned on the base station 20, the washing frame 240 may be configured to contact a wet mop 160. While the robot vacuum 10 is positioned on the base station 20, the washing frame 240 may be configured to rub against the wet mop 160. The wet mop 160 can be washed while rubbing against the washing frame 240. At this time, the wet mop 160 may be configured to be rotatable.

[0116] Base station 20 may include electrical components for charging battery 150. For example, base station 20 may include base station power board 103. Base station power board 103 may be configured to receive power from an external source and convert it to a form suitable for base station 20. Base station power board 103 may be located on the lower rear side of housing 212. Base station power board 103 may be connected to charging terminal 218 provided on base station 20. Charging terminal 218 of base station 20 may be configured to protrude from housing 212. Charging terminal 218 of base station 20 supplies power to the battery 150 of robot vacuum cleaner 10 when robot vacuum cleaner 10 is placed in cleaner mounting section 2111. Charging terminal 218 of base station 20 may charge the battery of robot vacuum cleaner 10 wirelessly. Charging terminal 218 may be referred to as base station charging terminal 218.

[0117] The base station 20 may include a first wheel mounting section 2113 and a second wheel mounting section 2114. The first wheel mounting section 2113 and the second wheel mounting section 2114 may be implemented as at least a part of the robot vacuum cleaner mounting section 2111a. The first wheel mounting section 2113 or the second wheel mounting section 2114 may be positioned to contact the main wheels 121 of the robot vacuum cleaner 10 when it is mounted on the cleaner mounting section 2111. In other words, when the robot vacuum cleaner 10 is mounted on the cleaner mounting section 2111, the main wheels 121 of the robot vacuum cleaner 10 may contact the first wheel mounting section 2113 or the second wheel mounting section 2114. Since the main wheels 121 of the robot vacuum cleaner 10 are implemented as a pair, when the robot vacuum cleaner 10 is mounted on the cleaner mounting section 2111, the first wheel mounting section 2113 or the second wheel mounting section 2114 may be positioned to contact the pair of main wheels 121 respectively.

[0118] Hereinafter, the position where the sweeping robot 10 is placed when the main wheel 121 is placed in the first wheel placement section 2113 is referred to as the "first placement position", and the position where the sweeping robot 10 is placed when the main wheel 121 is placed in the second wheel placement section 2114 is referred to as the "second placement position".

[0119] When the robotic vacuum cleaner 10 enters the base station 20, the first placement unit 2113 can be positioned in front of the second placement unit 2114.

[0120] In other words, when the robotic vacuum cleaner 10 enters the base station 20, it will first come into contact with the second placement unit 2114 compared to the first placement unit 2113.

[0121] The first wheel mounting section 2113 or the second wheel mounting section 2114 can be recessed in a manner that corresponds to the curvature of the main wheel 121 of the robot vacuum cleaner 10. However, this is only an example. When the robot vacuum cleaner 10 is mounted on the base station 20, it can be in the form of the first wheel mounting section 2113 or the second wheel mounting section 2114 as long as it is in a form that can apply a fixing force.

[0122] The following will refer to Figure 11 and Figure 12 The operation of the cleaning device 1 is explained when the main wheel 121 of the sweeping robot 20 is placed in the first wheel placement section 2113 or the second wheel placement section 2114.

[0123] Figure 10 An enlarged view schematically showing the main wheel 121 of the sweeping robot 10 in the cleaning device 1 according to an embodiment, when it is located in the first wheel mounting section 2113 of the base station 20.

[0124] According to one embodiment, when the robotic vacuum cleaner 10 is installed on the base station 20, the main wheel 121 of the robotic vacuum cleaner 10 can be installed on the first wheel mounting portion 2113. The installation of the main wheel 121 of the robotic vacuum cleaner 10 on the first wheel mounting portion 2113 can include the case where the main wheel 121 of the robotic vacuum cleaner 10 is engaged with the first mounting position. Furthermore, the installation of the main wheel 121 of the robotic vacuum cleaner 10 on the first wheel mounting portion 2113 can also include the case where the main wheel 121 of the robotic vacuum cleaner 10 is in contact with the first mounting position.

[0125] With the main wheel 121 of the robotic vacuum cleaner 10 mounted on the first wheel mounting section 2113, the charging terminal 151 of the robotic vacuum cleaner 10 can be connected to the charging terminal 218 of the base station 20. This connection can include situations where the charging terminal 151 of the robotic vacuum cleaner 10 is in physical contact with the charging terminal 218 of the base station 20. By connecting the robotic vacuum cleaner 10 to both its charging terminal 151 and the base station 20's charging terminal 218, the battery 150 of the robotic vacuum cleaner 10 can be charged.

[0126] At this time, the processor 191 of the robotic vacuum cleaner 10 can sense that the charging terminal 151 of the robotic vacuum cleaner 10 is connected to the charging terminal 218 of the base station 20. For example, the processor 191 of the robotic vacuum cleaner 10 can determine that the charging terminal 151 of the robotic vacuum cleaner 10 is connected to the charging terminal 218 of the base station 20 based on the fact that the robotic vacuum cleaner 10 is powered through the charging terminal 151.

[0127] With the main wheel 121 of the robotic vacuum cleaner 10 mounted on the first wheel mounting section 2113, the wet mop 160 of the robotic vacuum cleaner 10 can come into contact with the washing frame 240 of the base station 20. Accordingly, the wet mop 160 can be washed while rubbing against the washing frame 240.

[0128] In other words, when the robot vacuum cleaner 10 connects to the base station 20, with the main wheel 121 of the robot vacuum cleaner 10 positioned in the first placement position 2113, the robot vacuum cleaner 10 can perform the charging cycle of the battery 150 and / or the washing cycle of the wet mop 160.

[0129] Figure 11 An enlarged view schematically showing the main wheel 121 of the sweeping robot 10 in the cleaning device 1 according to an embodiment, when it is located in the second wheel mounting section 2114 of the base station 20.

[0130] According to one embodiment, when the robotic vacuum cleaner 10 is placed on the base station 20, the main wheel 121 of the robotic vacuum cleaner 10 can be placed on the second wheel placement portion 2114. The placement of the main wheel 121 of the robotic vacuum cleaner 10 on the second wheel placement portion 2114 can include the case where the main wheel 121 of the robotic vacuum cleaner 10 is engaged with the second placement position. Furthermore, the placement of the main wheel 121 of the robotic vacuum cleaner 10 on the second wheel placement portion 2114 can also include the case where the main wheel 121 of the robotic vacuum cleaner 10 is in contact with the second placement position 2114.

[0131] With the main wheels 121 of the robotic vacuum cleaner 10 positioned in the second mounting position 2114, the lower part 141a of the dustbin 141 of the robotic vacuum cleaner 10 can be opened by means of the lever device 140 of the base station 20. Specifically, opening the lower part 141a of the dustbin 141 of the robotic vacuum cleaner 10 by means of the processor 291 of the base station 20 driving the lever device 140 to rotate the opening link 140a toward the suction port 213, so that the lower part 1141a and one end of the opening link 140a are joined by their mutual attraction, and the opening link 140a is rotated in the opposite direction to the rotation (in other words, away from the suction port 213), thereby opening the opening of the dustbin 141. In other words, when the robotic vacuum cleaner 10 is docked with the base station 20, with the main wheels 121 of the robotic vacuum cleaner 10 positioned in the second mounting position 2114, the waste discharge stroke of the robotic vacuum cleaner 10 can be performed.

[0132] Specifically, as the lower part 141a of the dust collection bin 141 of the robot vacuum cleaner 10 is opened, the recycling device 227 and the dust collection bin 141 of the robot vacuum cleaner 10 can be connected.

[0133] With the connection between the recycling device 227 and the dust collection bin 141 of the robot vacuum cleaner 10, the processor 291 of the base station 20 can drive the suction motor 224 of the recycling device 227 to recycle the dirt collected in the dust collection bin 141 into the dirt recycling bin 223.

[0134] At this time, in order to apply the suction force of the suction motor 224 to the dirt collected in the dust collection bin 141, the lower part 141a of the dust collection bin 141 of the robot vacuum cleaner 10 is accurately aligned with the suction port 213 of the base station 20, so that the lower part 141a can be opened by a predetermined angle (θ) or more by means of the lever device 140.

[0135] For reference Figure 11 and Figure 12 The robot vacuum cleaner 10 can be positioned at a first location and a second location on the base station 20 based on the stroke executed in the cleaning device 1. This prevents washing water used for the washing stroke from splashing into the suction inlet, thus avoiding reduced dust suction efficiency.

[0136] Figure 12 A control block diagram of a robotic vacuum cleaner according to one embodiment is shown.

[0137] Reference Figure 12 According to one embodiment, the robotic vacuum cleaner 10 may include a position sensing sensor 170, a battery 150, a user interface 181, a driving unit 120, a brush motor 133, a suction motor 142, a drive unit 163, a communication unit 182, and / or a control unit 190.

[0138] The position sensing sensor 170 can acquire information about the position of the robotic vacuum cleaner 10. Specifically, the position information of the robotic vacuum cleaner 10 may include information about the position between the base station 20 and the robotic vacuum cleaner 10 and / or the distance from the base station 20, the driving direction and / or rotation angle of the robotic vacuum cleaner 10.

[0139] The position sensing sensor 170 may include a Hall sensor.

[0140] The processor 191 of the robot vacuum cleaner can obtain the current coordinates of the robot vacuum cleaner 10 on the two-dimensional plane based on the information obtained from the position sensing sensor 170.

[0141] Battery 150 can supply power to various electrical components of the robotic vacuum cleaner 10. Battery 150 can be charged while the robotic vacuum cleaner 10 is placed at base station 20.

[0142] The robotic vacuum cleaner 10 may include a battery sensor that senses the charge level of the battery 150.

[0143] The processor 191 of the robotic vacuum cleaner can sense whether the charging terminal 151 of the robotic vacuum cleaner 10 is connected to the charging terminal 218 of the base station 20 to charge the battery 150. For example, the processor 191 of the robotic vacuum cleaner senses whether the charging terminal 151 of the robotic vacuum cleaner 10 is connected to the charging terminal 218 of the base station 20 based on whether the charging terminal 151 of the robotic vacuum cleaner 10 is powered on.

[0144] If the charge of battery 150 drops below a predetermined charge level, the processor 191 of the robot vacuum cleaner can control the driving unit 120 to return the robot vacuum cleaner 10 to the base station 20.

[0145] User interface 181 may include output interface and input interface. User interface 181 may be referred to as robot vacuum cleaner user interface 181.

[0146] At least one output interface can transmit various information related to the operation of the robot vacuum cleaner 10 to the user by generating sensory information.

[0147] For example, at least one output interface can transmit information related to the settings of the robot vacuum cleaner 10 and the operating time of the robot vacuum cleaner 10 to the user. Information about the operation of the robot vacuum cleaner 10 can be output through a display, indicator, and / or sound. For example, at least one output interface may include a liquid crystal display (LCD) panel, an indicator, a light-emitting diode (LED) panel, a speaker, etc.

[0148] In the case of a display including a touch screen display, the touch screen display can be an example of an output interface and an input interface.

[0149] In one embodiment, at least one output interface can output sensory information (e.g., visual information, auditory information, etc.) related to the control of the robotic vacuum cleaner 10.

[0150] At least one input interface can convert sensory information received from the user into electrical signals.

[0151] At least one input interface may include a power button for turning on the power to the robot vacuum cleaner 10.

[0152] Each button may include a visual indicator (e.g., a sentence, an icon, etc.) that can represent its function.

[0153] For example, at least one input interface may include a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touchpad, a touch screen, a micro dial, and / or a microphone, etc.

[0154] In this disclosure, a "button" may be replaced by a user interface element, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touchpad, a touch screen, a micro dial, and / or a microphone.

[0155] The robot vacuum cleaner 10 can process user input received through the user interface 181 and can output information related to the robot vacuum cleaner 10 through the user interface 181.

[0156] In one embodiment, the user interface 181 may include an input interface for receiving waste discharge commands and / or robot vacuum charging commands.

[0157] For example, a user can obtain information from the output interface to determine whether it is necessary to discharge the dirt (e.g., dust, etc.) stored in the dustbin 141 of the robot vacuum cleaner 10, and when it is determined that it is necessary to discharge the dirt stored in the dustbin 141, the user can input a dirt discharge command through the input interface.

[0158] When the robot vacuum cleaner 10 receives a command to remove dirt via the input interface, it can return to the base station 20.

[0159] If a waste removal command is input through the input interface, the sweeping robot 10 can transmit a lever device 140 drive request signal to the base station 20 through the communication unit 182.

[0160] Accordingly, if the robotic vacuum cleaner 10 returns to and is placed on the base station 20, the base station 20 can perform a waste removal cycle. At this time, the base station 20 can perform the charging operation of the robotic vacuum cleaner 10 and / or the wet mop 160 washing cycle together with the waste removal cycle.

[0161] The driving unit 120 may include driving wheels 121 and 122 mounted on the main body 110 and wheel motors that provide power to the driving wheels 121 and 122. The driving wheels 121 and 122 may include main wheels 121 and / or auxiliary wheels 122.

[0162] The driving wheels 121 and 122 can move the main body 110 by rotating. By rotating the driving wheels 122, the main body 110 can move forward, backward, or rotate. For example, if both the left and right driving wheels 121 and 122 rotate forward, the main body 110 can move forward in a straight line; if both the left and right driving wheels 121 and 122 rotate backward, the main body 110 can move backward in a straight line.

[0163] Furthermore, if the left and right driving wheels 121 and 122 rotate in the same direction but at different speeds, the main body 110 will move to the right or left in a curved path. If the left and right driving wheels 121 and 122 rotate in different directions, the main body 110 can rotate to the left or right in place.

[0164] The wheel motor generates rotational force to rotate the travel wheels 121 and 122. The wheel motor can be a DC motor or a BLDC motor, but the embodiment of the robotic vacuum cleaner 10 is not limited to the type of wheel motor. The same applies to other motors included in the robotic vacuum cleaner 10, in addition to the wheel motor.

[0165] Wheel motors may include a left wheel motor that rotates the left driving wheel and a right wheel motor that rotates the right driving wheel.

[0166] Each of the left and right side wheel motors can operate independently of each other according to the control signal from the processor 191 of the robot vacuum cleaner 10, and the main body 110 can move forward, backward, or rotate according to the operation of the left and right side wheel motors. Furthermore, the wheel motors can be operated according to the control signal from the processor 191 of the robot vacuum cleaner 10 to make the main wheel 121 and the auxiliary wheel 122 rotate independently.

[0167] The processor 191 of the robotic vacuum cleaner 10 can control the movement of the robotic vacuum cleaner 10 by controlling the driving unit 120 (e.g., wheel motor).

[0168] The brush motor 133 can rotate the brush 130.

[0169] The processor 191 of the robot vacuum cleaner 10 can control the brush motor 133 to rotate the brush 130 during dry cleaning, thereby causing foreign objects on the floor to be scattered by the brush 130.

[0170] The suction motor 142 can suck foreign objects scattered by the brush 130 into the dust collection bin 141 and cause the suction fan, which generates the suction force to suck the foreign objects into the dust collection bin 141, to rotate.

[0171] During dry cleaning, the processor 191 of the robot vacuum cleaner 10 can control the suction motor 142 to rotate the suction fan, so that the foreign objects scattered by the brush 130 can flow into the dust collection bin 141 through the suction port 111.

[0172] The communication unit 182 can communicate with external devices (e.g., servers, user equipment, base stations 20) via wired and / or wireless communication. The communication unit 182 may be referred to as the robot vacuum cleaner communication unit 182.

[0173] The communication unit 182 can transmit data to or receive data from external devices (e.g., servers, user equipment, base station 20). To this end, the communication unit 182 can support the establishment of direct (e.g., wired) or wireless communication channels with external devices and perform communication through the established communication channels. According to one embodiment, the communication unit 182 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a Global Navigation Satellite System (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module or a power line communication module). The corresponding communication modules can communicate with external devices through a first network (e.g., a short-range communication network such as Bluetooth, WiFi Direct, or IrDA) or a second network (e.g., a long-range communication network such as a traditional cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various communication modules can be integrated into a single component (e.g., a single chip), or they can be implemented as multiple independent components (e.g., multiple chips).

[0174] Short-range wireless communication modules can include, but are not limited to, Bluetooth communication modules, Bluetooth Low Energy (BLE) communication modules, Near Field Communication modules, WLAN (Wi-Fi) communication modules, Zigbee communication modules, infrared (IrDA) communication modules, Wi-Fi Direct (WFD) communication modules, ultra-wideband (UWB) communication modules, Ant+ communication modules, and microwave (uWave) communication modules.

[0175] Long-distance communication modules can include various types of communication modules that perform long-distance communication, and may include a mobile communication interface. The mobile communication interface transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0176] In one embodiment, the communication unit 182 can communicate with external devices via a surrounding connection repeater (access point (AP)). The connection repeater (AP) can connect the local area network (LAN) to which the robotic vacuum cleaner 10 is connected to to the wide area network (WAN) to which the server is connected. The robotic vacuum cleaner 10 can then connect to the server via the WAN.

[0177] In one embodiment, the communication unit 182 can communicate wirelessly with the base station 20.

[0178] The control unit 190 can control the overall operation of the robotic vacuum cleaner 10. The control unit 190 can be referred to as the robotic vacuum cleaner control unit 190.

[0179] The control unit 190 may include at least one processor 191 for controlling the operation of the robotic vacuum cleaner 10 and at least one memory 192 storing programs and data for controlling the operation of the robotic vacuum cleaner 10. In this case, the processor 191 may be referred to as the processor 191 of the robotic vacuum cleaner, and the memory 192 may be referred to as the robotic vacuum cleaner memory 192.

[0180] At least one processor 191 controls the overall operation of the robotic vacuum cleaner 10. Specifically, at least one processor 191 may be connected to various components of the robotic vacuum cleaner 10 to control the overall operation of the robotic vacuum cleaner 10. For example, at least one processor 191 may be electrically connected to a memory 192 to control the overall operation of the robotic vacuum cleaner 10. The processor 191 may be configured using one or more processors.

[0181] At least one processor 191 can perform the operation of the robotic vacuum cleaner 10 according to various embodiments by executing at least one instruction stored in memory 192.

[0182] At least one memory 192 can store data required for implementing various embodiments. Depending on the data storage purpose, the memory 192 can be implemented as a memory embedded in the robot vacuum cleaner 10, or as a memory removable from the robot vacuum cleaner 10. For example, data for driving the robot vacuum cleaner 10 can be stored in a memory embedded in the robot vacuum cleaner 10, while data for extended functions of the robot vacuum cleaner 10 can be stored in a memory removable from the robot vacuum cleaner 10. Additionally, the memory embedded in the robotic vacuum cleaner 10 can be implemented as at least one of the following: volatile memory (e.g., dynamic random access memory (DRAM), static random access memory (SRAM), or synchronous dynamic random access memory (SDRAM)). Furthermore, the memory that can be detached and installed in the robot vacuum cleaner 10 can be implemented in the form of a memory card (e.g., compact flash (CF), secure digital (SD), micro-secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.) or an external memory that can be connected to a USB port (e.g., a USB memory).

[0183] At least one processor 191 may include one or more of a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a many integrated core (MIC), a digital signal processor (DSP), a neural processing unit (NPU), a hardware accelerator, and a machine learning accelerator. At least one processor 191 can control one or any combination of other components of the robotic vacuum cleaner 10 and can perform operations related to communication or data processing. At least one processor 191 can execute at least one program or instruction stored in memory 192. For example, at least one processor 191 can perform a method according to at least one embodiment of this disclosure by executing at least one instruction stored in memory 192.

[0184] In one embodiment, the processor 191 can control the driving unit 120 according to predetermined conditions. Controlling the driving unit 120 may include moving the robotic vacuum cleaner 10.

[0185] In one embodiment, the processor 191 can control the brush motor 133 and / or the suction motor 142 according to predetermined conditions.

[0186] Figure 13 A control block diagram of a base station 20 according to one embodiment is shown.

[0187] Reference Figure 13 The base station 20 may include a pressure sensor 270, a suction motor 224, a user interface 281, a communication unit 282, a lever device 140, and / or a control unit 290.

[0188] As the robotic vacuum cleaner 10 is placed on the base station 20 and performs a dust removal process, the pressure sensor 270 can acquire information related to pressure changes based on airflow inside the waste collection pipe 225.

[0189] The processor 291 of base station 20 can determine whether the pressure inside the waste collection pipe 225 is above a preset reference pressure based on information obtained from pressure sensor 270.

[0190] If the pressure inside the waste collection pipe 225 is less than the preset reference pressure, the processor 291 of the base station 20 can determine that the lower part 141a of the dust collection bin 141 of the robot vacuum cleaner 10 has not been opened to a predetermined angle by the lever device 140.

[0191] The processor 291 of the base station 20 can determine that the lower part 141a of the dust collection bin 141 of the robotic vacuum cleaner 10 is not open at a predetermined angle, which means that the main wheel 121 of the robotic vacuum cleaner 10 is not placed in the second wheel placement part 2114 when the robotic vacuum cleaner 10 is placed on the base station 20. In other words, if the pressure inside the waste collection pipe 225 is lower than the preset reference pressure, the processor 291 of the base station 20 can determine that a blockage event has occurred in the suction inlet 213.

[0192] The suction motor 224 can generate suction force for sucking up dirt from the dust collection bin 141.

[0193] The processor 291 of the base station 20 can operate the suction motor 224 to suck the dirt from the dust collection bin 141 into the dirt recycling bin 223.

[0194] The operation by which the processor 291 of base station 20 sucks the dirt from dust collection bin 141 into dirt collection bin 223 by operating suction motor 224 can be referred to as the dirt suction stroke. While base station 20 performs the dirt suction stroke via its processor 291, the robotic vacuum cleaner 10 can perform the dirt discharge stroke via its processor 191. That is, the dirt suction stroke of base station 20 and the dirt discharge stroke of robotic vacuum cleaner 10 can be performed simultaneously.

[0195] User interface 281 may include output interface and input interface. User interface 281 may be referred to as base station user interface 281.

[0196] At least one output interface can transmit various information related to the operation of the base station to the user by generating sensory information.

[0197] For example, at least one output interface can transmit information related to the base station's settings and operating time to the user. Information related to the base station's operation can be output via a display, indicator, and / or voice. For example, at least one output interface may include a liquid crystal display (LCD) panel, an indicator, a light-emitting diode (LED) panel, a speaker, etc.

[0198] In the case of a display including a touch screen display, the touch screen display can be an example of an output interface and an input interface.

[0199] In one embodiment, at least one output interface can output sensory information (e.g., visual information, auditory information, etc.) related to the control of the base station.

[0200] At least one input interface can convert sensory information received from the user into electrical signals.

[0201] At least one input interface may include a power button for turning on the base station.

[0202] Each button may include a visual indicator (e.g., a sentence, an icon, etc.) that can represent its function.

[0203] For example, at least one input interface may include a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touchpad, a touch screen, a micro dial, and / or a microphone, etc.

[0204] In this disclosure, "button" may be replaced by a user interface element, tact switch, push switch, slide switch, toggle switch, micro switch, touch switch, touchpad, touch screen, micro dial and / or microphone.

[0205] Base station 20 can process user input received through user interface 281, and can also output base station-related information through user interface 281.

[0206] In one embodiment, the user interface 281 may include an input interface for receiving a dust discharge command.

[0207] When a user determines that the dustbin 141 of the robotic vacuum cleaner 10 needs to be emptied of dirt, the user can input a dirt emptying command through the input interface.

[0208] Base station 20 can perform a waste suction process in response to a waste discharge command input via user interface 281.

[0209] The communication unit 282 can communicate with external devices (e.g., servers, user equipment, robotic vacuum cleaner 10) via wired and / or wireless communication. The communication unit 282 may be referred to as the base station communication unit 282.

[0210] The communication unit 282 can transmit data to or receive data from external devices (e.g., servers, user equipment, robotic vacuum cleaner 10). To this end, the communication unit 282 can support the establishment of direct (e.g., wired) or wireless communication channels with external devices and perform communication through these established channels. According to one embodiment, the communication unit 282 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a Global Navigation Satellite System (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module or a power line communication module). The corresponding communication modules can communicate with external devices through a first network (e.g., a short-range communication network such as Bluetooth, WiFi Direct, or IrDA) or a second network (e.g., a long-range communication network such as a traditional cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various communication modules can be integrated into a single component (e.g., a single chip), or they can be implemented as multiple independent components (e.g., multiple chips).

[0211] Short-range wireless communication modules can include, but are not limited to, Bluetooth communication modules, Bluetooth Low Energy (BLE) communication modules, Near Field Communication modules, WLAN (Wi-Fi) communication modules, Zigbee communication modules, infrared (IrDA) communication modules, Wi-Fi Direct (WFD) communication modules, ultra-wideband (UWB) communication modules, Ant+ communication modules, and microwave (uWave) communication modules.

[0212] The long-distance communication module may include communication modules that perform various types of long-distance communication, and may include a mobile communication interface. The mobile communication interface transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0213] In one embodiment, the communication unit 282 can communicate with external devices via surrounding connection repeaters (access points (APs)). The connection repeater (AP) can connect the local area network (LAN) to which the robotic vacuum cleaner 10 is connected to to the wide area network (WAN) to which the server is connected. The base station 20 can connect to the server via the wide area network (WAN).

[0214] In one embodiment, the communication unit 282 can communicate wirelessly with the robotic vacuum cleaner 10.

[0215] Various methods can be used to communicate between the robotic vacuum cleaner 10 and the base station 20.

[0216] In one embodiment, the robotic vacuum cleaner 10 and the base station 20 can communicate directly via a short-range communication module.

[0217] In one embodiment, the robot vacuum cleaner 10 and the base station 20 can communicate directly via wired communication while the robot vacuum cleaner 10 and the base station 20 are connected.

[0218] In one embodiment, the robotic vacuum cleaner 10 and the base station 20 can communicate indirectly via an external server through a long-distance communication module.

[0219] Indirect communication via an external server may include the following scenarios: if the robot vacuum cleaner 10 transmits a predetermined signal to the external server, the external server will transmit the predetermined signal received from the robot vacuum cleaner 10 to the base station 20 and / or if the base station 20 transmits a predetermined signal to the external server, the external server will transmit the predetermined signal received from the base station 20 to the robot vacuum cleaner 10.

[0220] The lever device 140 can selectively connect the recycling device 227 to the dust collection bin 141 of the robot vacuum cleaner 10.

[0221] The processor 291 of the base station 20 can drive the lever device 140 to control the open link 140a to selectively engage with the lower part 141a of the dust collection bin 141. Furthermore, the processor 291 of the base station 20 can drive the lever device 140 to rotate the open link 140a engaged with the lower part 141a of the dust collection bin 141 towards the suction port side or in the opposite direction to the suction port.

[0222] That is, the processor 291 of the base station 20 can control the lever device 140 so that the dust collection bin 141 and the guide part 225a of the waste recycling pipe 225 are connected to each other.

[0223] The control unit 290 can control the overall operation of the base station 20.

[0224] The control unit 290 may include at least one processor 291 for controlling the operation of the base station 20 and at least one memory 292 storing programs and data for controlling the operation of the base station 20. In this case, the processor 291 may be referred to as the base station processor 291, and the memory 292 may be referred to as the base station memory 292.

[0225] At least one processor 291 controls the overall operation of the base station 20. Specifically, at least one processor 291 can be connected to various components of the base station 20 to control the overall operation of the base station 20. For example, at least one processor 291 can be electrically connected to a memory 292 to control the overall operation of the base station 20. The processor 291 can be configured using one or more processors.

[0226] At least one processor 291 can perform the operation of the base station 20 according to various embodiments by executing at least one instruction stored in memory 292.

[0227] At least one memory 292 can store data required for implementing various embodiments. Depending on the data storage purpose, the memory 292 can be implemented as a memory embedded in the base station 20 or as a memory removable from the base station 20. For example, data for driving the base station 20 can be stored in a memory embedded in the base station 20, while data for extended functions of the base station 20 can be stored in a memory removable from the base station 20. Additionally, the memory embedded in the base station 20 can be implemented as at least one of the following: volatile memory (e.g., dynamic random access memory (DRAM), static random access memory (SRAM), or synchronous dynamic random access memory (SDRAM)). Furthermore, the memory that can be detached and installed in the base station 20 can be implemented in the form of a memory card (e.g., compact flash (CF), secure digital (SD), micro-secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.) or an external memory that can be connected to a USB port (e.g., a USB memory).

[0228] At least one processor 291 may include one or more of a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a many integrated core (MIC), a digital signal processor (DSP), a neural processing unit (NPU), a hardware accelerator, and a machine learning accelerator. At least one processor 291 may control one or any combination of other components of the base station 20 and may perform operations or data processing related to communication. At least one processor 291 may execute at least one program or instruction stored in memory 292. For example, at least one processor 291 may execute a method according to at least one embodiment of the present disclosure by executing at least one instruction stored in memory 292.

[0229] Figure 14 A diagram showing the waste collection operation sequence of a cleaning device 1 according to an embodiment is provided.

[0230] Reference Figure 14 The robotic vacuum cleaner 10 can perform cleaning cycles (1401). The robotic vacuum cleaner 10 can perform dry cleaning and / or wet cleaning. The robotic vacuum cleaner 10 can clean a predetermined cleaning area according to a pre-set cleaning plan.

[0231] The robot vacuum cleaner 10 and / or base station 20 can determine whether to start a waste discharge cycle and / or a waste suction cycle (1402).

[0232] For example, the robot vacuum cleaner 10 and / or the base station 20 can receive commands from the user to discharge or suck up dirt via an input interface.

[0233] As another example, the robot vacuum cleaner 10 and / or the base station 20 may initiate a waste discharge cycle and / or a waste suction cycle based on whether preset conditions are met.

[0234] The robotic vacuum cleaner 10 can return to the base station 20 (1403) upon the commencement of the waste removal cycle ("Yes" in 1403). The robotic vacuum cleaner 10 can also return to the base station 20 after completing the cleaning cycle. However, this disclosure is not limited thereto; the robotic vacuum cleaner 10 can also return to the base station 20 during the cleaning process. For example, the robotic vacuum cleaner 10 can return to the base station 20 even if the cleaning cycle is not completed, based on waste removal commands and / or waste suction commands received from external devices (e.g., user equipment, server, home appliances, base station 20, etc.).

[0235] While the robotic vacuum cleaner 10 is positioned at the base station 20, the dirt collected in the dustbin 141 of the robotic vacuum cleaner 10 can be moved to the dirt collection bin 223 (1404) via the dirt collection pipe 225. Accordingly, the dirt collected in the dustbin 141 can be removed.

[0236] At this time, the charging terminal 151 of the robot vacuum cleaner 10 is connected to the charging terminal 218 of the base station 20 to perform the charging cycle of the robot vacuum cleaner 10 and / or the washing frame 235 equipped in the washing chamber 230 rubs against the wet cloth 160 so that the wet cloth 160 performs the washing cycle simultaneously or not simultaneously.

[0237] Based on information acquired by various sensors equipped on the cleaning device 1, the robot vacuum cleaner 10 and / or the base station 20 can determine whether the waste discharge operation and / or waste suction journey have been completed.

[0238] After completing the waste discharge and / or waste suction cycle, the robotic vacuum cleaner 10 can be configured to standby at base station 20 (1405). The robotic vacuum cleaner 10 can standby at base station 20 to establish the next cleaning plan.

[0239] The following will refer to Figures 15 to 17 An example of a method for controlling the cleaning device 1's sweeping robot 10 and / or base station 20 to enable the cleaning device 1 to perform waste discharge and / or waste suction strokes at accurate locations is described.

[0240] Figure 15 An example of a method for controlling a robotic vacuum cleaner 10 to perform a waste removal process at a precise location is shown. The control operations performed by the processor 191 of the robotic vacuum cleaner 10 can then be performed by the processor 291 of the base station 20.

[0241] According to one embodiment, the robotic vacuum cleaner 10 can return to the base station 20 and move to a first placement position (1501) upon the commencement of a waste removal cycle. The robotic vacuum cleaner 10 moving to the first placement position may include the robotic vacuum cleaner 10 moving to the position where its main wheels 121 are positioned in the first wheel placement section 2113. Specifically, the processor 191 of the robotic vacuum cleaner 10 can control the driving unit 120 (e.g., a wheel motor) to move the robotic vacuum cleaner 10 to the position where its main wheels 121 are positioned in the first wheel placement section 2113. When the robotic vacuum cleaner 10 is positioned in the first placement position, a charging cycle for the robotic vacuum cleaner 10's battery 150 and / or a washing cycle for the wet mop 160 can be performed.

[0242] The robotic vacuum cleaner 10 can determine whether the main wheel 121 of the robotic vacuum cleaner 10 is placed in the first wheel placement part 2113 (1502). The case where the main wheel 121 is placed in the first wheel placement part 2113 may include the case where the main wheel 121 is in contact with the first wheel placement part 2113.

[0243] Specifically, the processor 191 of the robotic vacuum cleaner 10 can determine whether the main wheel 121 is placed in the first wheel placement section 2113 based on whether the charging terminal 151 of the robotic vacuum cleaner 10 is connected to the charging terminal 218 of the base station 20. For example, if the charging terminal 151 of the robotic vacuum cleaner 10 is in contact with and electrically connected to the charging terminal 281 of the base station 20, the processor 191 of the robotic vacuum cleaner 10 can determine that the charging terminal 151 is connected to the charging terminal 281 of the base station 20.

[0244] Furthermore, after the processor 191 of the robotic vacuum cleaner 10 determines whether the charging terminal 151 is connected to the charging terminal 281 of the base station 20, it can determine whether the main wheel 121 of the robotic vacuum cleaner is placed in the first wheel placement part 2113 based on the position information of the robotic vacuum cleaner 10 obtained from the position sensing sensor 170.

[0245] Specifically, the position sensing sensor 170 may include a Hall sensor. The processor 191 of the robotic vacuum cleaner 10 can obtain information about the position between the base station 20 and the robotic vacuum cleaner 10 and / or the distance from the base station 20 from the position sensing sensor 170. Furthermore, the processor 191 of the robotic vacuum cleaner 10 can obtain information about the driving direction and / or rotation angle of the robotic vacuum cleaner 10 from the position sensing sensor 170. Accordingly, the processor 191 of the robotic vacuum cleaner 10 can also calculate the current coordinates on a two-dimensional plane based on the position information of the robotic vacuum cleaner 10 obtained from the position sensing sensor 170.

[0246] According to one embodiment, when the robot vacuum cleaner 10 determines whether the main wheel 121 of the robot vacuum cleaner 10 is placed in the first wheel placement part 2113, as a first determination, it can be determined whether the main wheel 121 is placed in the first wheel placement part 2113 based on whether the charging terminal 151 of the robot vacuum cleaner 10 is connected to the charging terminal 281 of the base station 20. As a second determination, it can be determined whether the main wheel 121 is placed in the first wheel placement part 2113 based on the position information of the robot vacuum cleaner 10 obtained from the position sensing sensor 170, thereby accurately adjusting the position of the robot vacuum cleaner 10.

[0247] The processor 191 of the robotic vacuum cleaner 10 can move the robotic vacuum cleaner 10 to a second placement position (1503) based on a determination that the main wheel 121 of the robotic vacuum cleaner 10 is positioned in the first wheel placement section 2113 (1502 "Yes"). The robotic vacuum cleaner 10 moving to the second placement position can include the case where the robotic vacuum cleaner 10 moves to the position where the main wheel 121 of the robotic vacuum cleaner 10 is positioned in the second wheel placement section 2114. Specifically, the processor 191 of the robotic vacuum cleaner 10 can control the driving unit 120 (e.g., a wheel motor) to move the robotic vacuum cleaner 10 to the position where the main wheel 121 is positioned in the second wheel placement section 2114.

[0248] At this time, the processor 191 of the robotic vacuum cleaner 10 can determine whether the robotic vacuum cleaner 10 has completed its movement to the second placement position based on the position information of the robotic vacuum cleaner 10 obtained from the position sensing sensor 170. The position information of the robotic vacuum cleaner 10 may include information about the position between the base station 20 and the robotic vacuum cleaner 10 and / or the distance from the base station 20.

[0249] For example, the position sensing sensor 170 may include a Hall sensor, which can convert changes in the magnetic field caused by positional changes between magnets equipped on the base station 20 into electrical signals to obtain information about the position between the base station 20 and the robotic vacuum cleaner 10 and / or the distance from the base station 20. The processor 191 of the robotic vacuum cleaner 10 can calculate the current coordinates of the robotic vacuum cleaner 10 on a two-dimensional plane based on the information about the position between the base station 20 and the robotic vacuum cleaner 10 and / or the distance from the base station 20 obtained from the position sensing sensor 170. Accordingly, the processor 191 of the robotic vacuum cleaner 10 can compare the calculated current coordinates of the robotic vacuum cleaner 10 on the two-dimensional plane with the coordinates of a preset second placement position to determine whether the robotic vacuum cleaner 10 has completed its movement to the second placement position.

[0250] If the robot vacuum cleaner 10 is determined to have failed to move to the second placement position by comparing the current coordinates on the two-dimensional plane with the coordinates of the preset second placement position, the processor 191 of the robot vacuum cleaner 10 can control the driving unit 120 (e.g., wheel motor) of the robot vacuum cleaner 10 to move the robot vacuum cleaner 10 back to the position where the main wheel 121 is placed in the second wheel placement unit 2114.

[0251] The robot vacuum cleaner 10 can begin its waste removal process (1504) based on the main wheel 121 being placed on the second wheel placement section 2114.

[0252] The processor 191 of the robotic vacuum cleaner 10 can control multiple components of the robotic vacuum cleaner 10 to perform a waste removal process. For example, the processor 191 of the robotic vacuum cleaner 10 can stop the drive of the suction motor 142 of the robotic vacuum cleaner 10 to prevent the collected dust from spreading as the dustbin 141 opens. Additionally, the processor 291 of the base station 20 can start driving the suction motor 224 of the base station 20. Accordingly, an airflow containing contaminants is generated in the waste collection pipe 225, and the waste previously contained in the dustbin 141 of the robotic vacuum cleaner 10 can be moved to the waste collection bin 223 of the base station 20.

[0253] The robot vacuum cleaner 10 can determine whether it has received a blockage event (1505) at the suction inlet 213 from the base station 20.

[0254] Specifically, the processor 191 of the robotic vacuum cleaner 10 can communicate with the communication unit 282 of the base station 20 via the communication unit 182 in a wired / wireless manner, and obtain data on whether a blockage event has occurred at the suction port 213 of the base station 20.

[0255] Furthermore, the processor 191 of the robotic vacuum cleaner 10 can receive data including information for determining whether a blockage event has occurred at the suction port 213 of the base station 20 (e.g., information on the sensing value of the pressure sensor 270) via the communication unit 182, and can determine whether a blockage event has occurred at the suction port 213 based on the information received from the base station 20.

[0256] The robot vacuum cleaner 10 can perform a waste removal process until the robot vacuum cleaner 10 receives a notification from the base station 20 that a blockage event has occurred in the suction port 213 (No in 1505).

[0257] The robotic vacuum cleaner 10 can terminate its waste removal process (1506) based on a "yes" signal received from the base station 20 indicating a blockage event at the suction inlet 213 (1505). After terminating the waste removal process, the robotic vacuum cleaner 10 can adjust its position to be in the correct location (1507).

[0258] Adjusting the position of the robotic vacuum cleaner 10 may include the following: determining the driving speed and / or driving distance of the robotic vacuum cleaner 10 and moving the robotic vacuum cleaner so that the main wheel 121 of the robotic vacuum cleaner 10 is placed in the second wheel placement part 2114 (i.e., the robotic vacuum cleaner 10 is placed in the second placement position).

[0259] At this time, the processor 191 of the robotic vacuum cleaner 10 can determine the driving speed and driving distance of the robotic vacuum cleaner 10 so that the main wheel 121 of the robotic vacuum cleaner 10 is positioned in the second wheel mounting section 2114. The processor 191 of the robotic vacuum cleaner 10 can determine the driving speed and / or driving distance of the robotic vacuum cleaner 10. For example, after the main wheel 121 of the robotic vacuum cleaner 10 moves to the second wheel mounting section 2114, the processor 191 of the robotic vacuum cleaner 10 can determine the driving speed and / or driving distance so that it moves at a driving speed of about 50 mm / s within a driving distance of about 10 mm.

[0260] Accordingly, the processor 191 of the robotic vacuum cleaner 10 can control the driving unit 120 so that the robotic vacuum cleaner 10 moves according to a determined driving speed and / or driving distance.

[0261] The robotic vacuum cleaner 10 can restart its waste removal cycle (1508) after completing position adjustment. The robotic vacuum cleaner 10 can execute the waste removal cycle and determine whether waste removal is complete (1509). For example, the robotic vacuum cleaner 10 can determine that waste removal is complete after a preset time has elapsed since restarting the waste removal cycle. However, this is only an example, and there are various methods for determining whether the robotic vacuum cleaner 10 has completed its waste removal cycle. For example, the robotic vacuum cleaner 10 can determine that it has completed the waste removal cycle upon receiving a waste removal (sucking) cycle completion signal from the base station 20.

[0262] The robot vacuum cleaner 10 can perform a waste removal process if it determines that the waste removal is incomplete (No in 1509).

[0263] The robot vacuum cleaner 10 can return to the first placement position (1510) when it determines that the waste has been completely discharged ("Yes" in 1509).

[0264] The robot vacuum 10 returning to its first placement position may include the robot vacuum 10 moving to the position where its main wheel 121 is positioned in the first wheel placement section 2113. After returning to the first placement position, the robot vacuum 10 may perform a preparation cycle for the next cleaning cycle. For example, the robot vacuum 10 may perform a charging cycle to charge the battery 150 and / or a wet mop 160 washing cycle. Alternatively, the robot vacuum 10 may remain in standby at the base station 20 until the next cleaning cycle.

[0265] Figure 16 and Figure 17 An example of a method for controlling a base station 20 to perform a waste discharge process at an accurate location is shown according to one embodiment.

[0266] According to one embodiment, base station 20 can initiate a waste suction stroke (1601). The waste suction stroke of base station 20 can be performed simultaneously with the waste discharge stroke of robot vacuum cleaner 10. For example, Figure 15 Step 1504 and Figure 16 Step 1601 can be an operation performed within the same time period.

[0267] Specifically, the processor 291 of the base station 20 can control the lever device 140 to initiate the waste suction stroke, causing the opening link 140a to engage with the lower part 141a of the dust collection bin 141 to open the lower part 141a. At this time, the processor 291 of the base station 20 can control the lever device 140 to rotate the opening link 141a engaged with the lower part 141a in a direction away from the suction port 213. Accordingly, the opening of the dust collection bin 141 can be formed at a position corresponding to the suction port 213 of the base station 20. The processor 291 of the base station 20 can control the base station suction motor 224 to move the waste collected in the dust collection bin 141 to the waste collection bin 223 of the recycling device 227. At this time, as the base station suction motor 224 is driven by the processor 291 of the base station 20, airflow based on the suction force of the suction motor 224 can be generated in the waste collection pipe 225, and air pressure can be generated within the waste collection pipe 225.

[0268] Base station 20 can determine whether the duration for which the sensing value of pressure sensor 270 is less than the reference pressure has reached a reference time (1602). At this time, the reference time and / or reference pressure can be preset values. If the dustbin 141 of the robot vacuum cleaner 10 is not located at a position above the predetermined angle that the lever device 140 can open the lower part 141a of the dustbin 141, the cross-sectional area of ​​the suction port 213 may not be sufficiently ensured, and it may be determined that the duration for which the sensing value of pressure sensor 270 is less than the reference pressure has reached the reference time.

[0269] Reference Figure 10 In order for the lower part 141a of the dust collection bin 141 of the robotic vacuum cleaner 10 to be opened at a predetermined angle by the lever device 140, the main wheel 121 needs to be installed in the second wheel mounting part 2114 when the robotic vacuum cleaner 10 is placed on the base station 20. Therefore, the situation where the sensing value of the pressure sensor 270 is less than the reference pressure may include the situation where the main wheel 121 of the robotic vacuum cleaner 10 is not installed in the second wheel mounting part 2114.

[0270] If the time it takes for the pressure sensor 270 to increase above the reference pressure reaches the reference time (No in 1602), the base station 20 can continue to perform the waste suction process.

[0271] That is, when the time it takes for the pressure sensor 270 to increase above the reference pressure reaches the reference time, the processor 291 of the base station 20 can determine that the main wheel 121 of the sweeping robot 10 is placed in the second wheel placement part 2114 and continue to perform the dirt suction stroke.

[0272] Conversely, if the duration for which the pressure sensor 270's sensed value increases above the reference pressure does not reach the reference time (i.e., the duration for which the pressure sensor 270's sensed value is less than the reference pressure reaches the reference time), the base station 20 can determine that an inlet 213 blockage event has occurred (1603).

[0273] Accordingly, base station 20 can communicate with robot vacuum cleaner 10 via communication unit 282 in a wired / wireless manner to send a signal indicating that a blockage event has occurred at suction inlet 213 to robot vacuum cleaner 10 (1604). That is, Figure 16 Step 1604 can be related to Figure 15 The example corresponds to step 1505.

[0274] Additionally, base station 20 can terminate the dirt suction stroke (1605). A blockage event may include a situation where the main wheel 121 of the robot vacuum 10 is not positioned in the second wheel mounting section 2114. Accordingly, in order to prevent dirt collected in the dustbin 141 from flowing out of the robot vacuum 10 during the dirt suction stroke when the position of the robot vacuum 10 is adjusted, base station 20 can terminate the dirt suction stroke.

[0275] Base station 20 can send the occurrence of a blockage event in suction port 213 to the robot vacuum cleaner 10 simultaneously or separately, and can stop the dirt suction process.

[0276] Reference Figure 17 In order to prevent the collected waste from flowing out of the robot vacuum cleaner 10 while stopping the waste suction process, the base station 20 can perform a series of operations to close the opening of the dust collection bin 141.

[0277] The base station 20 can control the lever device 140, causing the open link 140a to rotate (1607) in the direction close to the suction port.

[0278] As described above, with the start of the waste suction stroke (i.e., step 1601), the processor 291 of the base station 20 can control the lever device 140 to open the lower part 141a of the dust collection bin 141. That is, the processor 291 of the base station 20 keeps the opening link 141a, which is coupled to the lower part 141a, in a state of rotating a predetermined angle in a direction away from the suction port 213.

[0279] At this time, the processor 291 of the base station 20 can control the lever device 140 to close the suction port 213 (1606) based on the cessation of the dirt suction stroke.

[0280] The processor 291 of the base station 20 can control the lever device 140, causing the open link 141a, which is coupled to the door 141a, to rotate in a direction close to the suction port 213.

[0281] Accordingly, the lower part 141a of the dust collection bin 141 can be closed, and the opening of the dust collection bin 141 can also be closed. That is, the processor 291 of the base station 20 can control the lever device 140 to adjust the position of the sweeping robot (i.e., Figure 15 Before step 1507), the opening of the dust collection bin 141 is closed, thereby preventing the dirt stored in the dust collection bin 141 from spreading to the outside.

[0282] The base station 20 can control the lever device 140 to determine whether the position adjustment of the sweeping robot 10 has been completed (1607) after the opening of the dust collection bin 141 is closed.

[0283] For example, the processor 291 of the base station 20 can communicate with the robot vacuum cleaner 10 via the communication unit 283 in a wired / wireless manner, and can determine whether the position adjustment of the robot vacuum cleaner 10 has been completed based on whether a position adjustment completion signal is received from the robot vacuum cleaner 10.

[0284] As another example, base station 20 can determine whether the position adjustment of the robot vacuum cleaner 10 has been completed based on the position information of the robot vacuum cleaner 10 obtained by the position sensing sensor 170 of the robot vacuum cleaner 10 through communication with the robot vacuum cleaner 10.

[0285] As another example, the base station 20 may include a physical switch (not shown) in the second placement section 2114, and the position adjustment of the robot vacuum cleaner 10 may be determined based on the opening / closing of the physical switch.

[0286] The processor 291 of base station 20 can restart the dirt suction cycle (1608) based on the determination that the position adjustment of the robot vacuum cleaner 10 has been completed.

[0287] Base station 20 can control lever device 140 to open intake port 213 (1609).

[0288] Specifically, the processor 291 of the base station 20 can control the lever device 140 based on the determination that the position adjustment of the robotic vacuum cleaner 10 has been completed, so that the open link 140a is in a direction closer to the suction port 213. Subsequently, the processor 291 of the base station 20 can control the lever device 140 based on the engagement of the open link 140a with the lower part 141a, so that the open link 140a is in a direction away from the suction port 213. Accordingly, the suction port 213 can be opened, and the dust collection bin 141 of the robotic vacuum cleaner 10 and the waste collection bin 223 of the base station 20 can be connected through the waste collection pipe 225.

[0289] Accordingly, when the robot vacuum cleaner 10 moves to a position suitable for performing the dirt suction stroke, the base station 20 can close the suction port 213 to prevent the cleaning device 1 and its surrounding environment from being contaminated by dirt in the dust collection bin 141.

[0290] According to one embodiment, the cleaning device 1 may include: a sweeping robot 10, including a driving unit 120 and a dust collection bin 141, the driving unit 120 including main wheels 121 and a wheel motor driving the main wheels 121, one surface of the dust collection bin 141 being openable and the dust collection bin 141 being used to store dirt; a base station 20, including a dirt collection bin 223, a placement part 2111 and a dirt collection pipe 225, the placement part 2111 including a suction port 213 for the dirt to flow into from the dust collection bin 141 and configured for placement of the sweeping robot 10, one end of the dirt collection pipe 225 communicating with the suction port 213 and the other end communicating with the dirt collection bin 223; and at least one processor 191. 291, controlling the operation of the sweeping robot 10 and the base station 20, wherein the sweeping robot 10 may further include: a position sensing sensor 170, which acquires position information of the sweeping robot 10 as it moves by means of the driving unit 120, wherein the base station 20 may further include: a pressure sensor 270, which acquires information about the pressure inside the waste collection pipe 225, wherein the at least one processor 191, 291 may control the driving unit 120 to adjust the position of the sweeping robot 10 based on the information acquired from the position sensing sensor 170 and the pressure sensor, such that the opening of the dust collection bin 141 corresponds to the suction port 213.

[0291] The placement section 2111 may include: a first placement section 2113, which can be placed on the main wheel 121; and a second placement section 2114, which is separated from the first placement section 2113, wherein when the sweeping robot 10 enters the base station 20, the first placement section 2113 may be positioned in front of the second placement section 2114.

[0292] The robotic vacuum cleaner 10 may further include: a battery 150; and a robotic vacuum cleaner charging terminal 151 for charging the battery 150. The base station 20 may further include: a base station charging terminal 218 for connecting to the robotic vacuum cleaner charging terminal 151. The at least one processor 191, 291 may determine that the main wheel 121 is located in the first wheel mounting portion 2113 based on the connection between the robotic vacuum cleaner charging terminal 151 and the base station charging terminal 218.

[0293] The position sensing sensor 170 may include a Hall sensor for sensing changes in the magnetic field between itself and a magnetic body located at a position spaced apart from the position sensing sensor 170.

[0294] The base station 20 may include a magnetic body, and the position information of the robot vacuum cleaner 10 obtained by the position sensing sensor 170 may include at least one of the position of the robot vacuum cleaner 10 relative to the base station 20 and the distance between the base station 20 and the robot vacuum cleaner 10.

[0295] The main wheel 121 may include an encoder disk and a magnetic body attached to the encoder disk, and the position information of the sweeping robot 10 obtained by the position sensing sensor 170 may include at least one of the driving direction, number of rotations and rotation angle of the main wheel 121.

[0296] After determining that the main wheel is located in the first wheel mounting section 2113 based on the connection between the robot vacuum cleaner charging terminal 151 and the base station charging terminal 218, the at least one processor 191, 291 can determine again whether the main wheel 121 is located in the first wheel mounting section 2113 based on the position information of the robot vacuum cleaner 10 obtained by the position sensing sensor 170.

[0297] The at least one processor 191, 291 can move the main wheel 121 to the second wheel mounting portion 2114 based on the determination that the main wheel 121 is located in the first wheel mounting portion 2113.

[0298] The at least one processor 191, 291 can determine at least one of the driving speed and driving distance for moving the main wheel 121 to the second wheel mounting section 2114 based on information about the position of the robotic vacuum cleaner 10 obtained by the position sensing sensor 170.

[0299] The base station 20 may include a base station suction motor 224, which generates suction force to transfer the waste to the waste collection bin 223, wherein the at least one processor 191, 291 can determine whether a preset reference time has been reached when the main wheel 121 is placed in the second wheel placement part 2114 and the suction motor 224 is driven, and the sensing value of the pressure sensor 270 is less than a preset reference pressure.

[0300] The at least one processor 191, 291 can control the driving unit 120 to adjust the position of the sweeping robot 10 based on a preset reference time for the duration during which the sensing value of the pressure sensor 270 is less than a preset reference pressure.

[0301] The robotic vacuum cleaner 10 may further include a lower section 141a, which is provided with the opening of the dust collection bin 141. The base station 20 may further include a lever device 140, which includes an open link 140a connected to the lower section 141a, and rotates the open link 140a to open and close the opening of the dust collection bin 141. In order to adjust the position of the robotic vacuum cleaner 10 based on a preset reference time for the duration when the sensing value of the pressure sensor 170 is less than a preset reference pressure, the at least one processor 191, 291 may control the lever device 140 to close the opening of the dust collection bin 141 and thus close the suction port 213 before controlling the driving unit 120.

[0302] According to one embodiment, the control method of the cleaning device 1, which includes a robot vacuum cleaner 10 and a base station 20 for placing the robot vacuum cleaner 10, may include the following steps: the robot vacuum cleaner 10 enters the base station 20 to place the robot vacuum cleaner 10 on the base station 20 and performs a waste discharge stroke; information about the position of the robot vacuum cleaner 10 is obtained from the position sensing sensor 170; information about the pressure inside the waste collection pipe 225 of the base station 20 is obtained from the pressure sensor 270; and the position of the robot vacuum cleaner 10 is adjusted based on the information obtained from the position sensing sensor 170 or the pressure sensor 270, such that the opening of the dust collection bin 141 of the robot vacuum cleaner 10 corresponds to the suction port 213 of the base station 20 from which the waste flows in from the dust collection bin 141.

[0303] The base station 20 may include: a first wheel mounting section 2113 for mounting the main wheel 121 of the sweeping robot 10; and a second wheel mounting section 2114 spaced apart from the first wheel mounting section 2113. When the sweeping robot 10 enters the base station 20, the first wheel mounting section 2113 may be positioned in front of the second wheel mounting section 2114. The base station 20 may also include the following step: determining that the main wheel 121 is mounted in the first wheel mounting section 2113 based on the connection between the sweeping robot charging terminal 151 and the base station charging terminal 218.

[0304] The position sensing sensor 170 may include a Hall sensor, and may further include the following steps: acquiring information about the position of the sweeping robot 10 from the position sensing sensor 170, and sensing the change in magnetic field between the robot and a magnetic body located at a position separated from the position sensing sensor 170.

[0305] The base station 20 may include a magnetic body, wherein obtaining information about the position of the robotic vacuum cleaner 10 from the position sensing sensor 170 may include the following steps: obtaining at least one of the position of the robotic vacuum cleaner 10 relative to the base station 20 and the distance between the base station 20 and the robotic vacuum cleaner 10 from the position sensing sensor 170.

[0306] The main wheel 131 may include an encoder disk and a magnetic body attached to the encoder disk. The step of obtaining information about the position of the sweeping robot 10 from the position sensing sensor 170 may include the following steps: obtaining at least one of the driving direction, number of rotations and rotation angle of the main wheel 131.

[0307] The control method of the cleaning device 1 may further include the following steps: after determining that the main wheel 131 is placed in the first wheel placement part 2113 based on the connection between the robot vacuum charging terminal 151 and the base station charging terminal 218, the main wheel 131 is again determined to be located in the first wheel placement part 2113 based on the position information of the robot vacuum 10 obtained by the position sensing sensor 170.

[0308] The control method of the cleaning device 1 may further include the following steps: based on the determination that the main wheel 131 is located in the first wheel mounting part 2113, the main wheel 131 is moved to the second wheel mounting part 2114.

[0309] The control method of the cleaning device 1 may further include the following steps: determining at least one of a driving speed and a driving distance for moving the main wheel 131 to the second wheel mounting part 2114 based on the position information of the sweeping robot 10 obtained by the position sensing sensor 170.

[0310] The base station 20 may include a base station suction motor 224, which generates suction force to transfer the dirt to the dirt collection bin 223. The control method of the cleaning device 1 may further include the following steps: as the main wheel 131 is placed in the second wheel placement part 2114 and the suction motor 224 is driven, it is determined whether the duration for which the sensing value of the pressure sensor 170 is less than the preset reference pressure reaches a preset reference time. Based on the duration for which the sensing value of the pressure sensor 170 is less than the preset reference pressure reaches the preset reference time, the driving part 120 of the sweeping robot is controlled to adjust the position of the sweeping robot 20.

[0311] The cleaning device 1 according to one aspect of this disclosure can improve the ease of use for users.

[0312] The cleaning device 1 according to one aspect of this disclosure can improve cleaning efficiency.

[0313] According to one aspect of the present disclosure, the cleaning device 1, in order to maintain a clean environment, guides the sweeping robot to a position that precisely corresponds to the dust discharge port of the sweeping robot and the dust suction port of the base station during the dust discharge stroke of the sweeping robot, thereby maintaining cleanliness.

[0314] According to one aspect of this disclosure, the sweeping robot 10 can be positioned at a first placement position and a second placement position on the base station 20 based on the stroke performed in the cleaning device 1, thereby preventing the washing water used to perform the washing stroke from splashing onto the suction port and causing a decrease in dust suction efficiency.

[0315] The technical problems to be solved by this disclosure are not limited to those mentioned above. Other technical problems not mentioned can be clearly understood by those skilled in the art from the following description.

[0316] Furthermore, the disclosed embodiments can be implemented in the form of a recording medium storing computer-executable instructions. The instructions can be stored in the form of program code, and when run by a processor, a program module can be generated to perform the operations of the disclosed embodiments. The recording medium can be implemented as a computer-readable recording medium.

[0317] Computer-readable recording media include all types of recording media that store computer-readable instructions. Examples include read-only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0318] Computer-readable recording media may be provided in the form of non-transitory storage media. Here, "non-transitory storage media" refers only to tangible devices and does not include signals (e.g., electromagnetic waves), nor does it distinguish between cases where data is stored semi-permanently or temporarily. For example, a "non-transitory storage medium" may include a buffer for temporarily storing data.

[0319] According to one embodiment, the methods according to the various embodiments disclosed herein may be included in and provided in a computer program product. The computer program product, as a commodity, can be traded between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read-only memory) or through an app store (e.g., the Play Store). TM This can be done through direct online distribution (e.g., downloading or uploading) between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored in a machine-readable storage medium, such as the memory of a manufacturer's server, an app store's server, or a relay server, or may be temporarily generated.

[0320] As described above, the disclosed embodiments have been illustrated with reference to the accompanying drawings. Those skilled in the art will understand that the invention can be implemented in forms different from the disclosed embodiments without altering the technical concept or essential features of the invention. The disclosed embodiments are exemplary and should not be construed as restrictive.

Claims

1. A cleaning device, comprising: A sweeping robot includes a driving unit and a dust collection bin. The driving unit includes main wheels and a wheel motor that drives the main wheels. One surface of the dust collection bin can be opened and the dust collection bin is used to store dirt. The base station is used for the robotic vacuum cleaner to connect to. as well as At least one processor controls the operation of the robotic vacuum cleaner and the base station. The base station includes: a waste collection bin; a placement unit including a suction inlet for waste to flow into the collection bin, and equipped for the placement of the robotic vacuum cleaner to dock with the base station; and a waste collection pipe, one end of which is connected to the suction inlet and the other end of which is connected to the waste collection bin. The robotic vacuum cleaner further includes a position sensing sensor, which acquires position information of the robotic vacuum cleaner as it moves via the traveling unit. The base station further includes a pressure sensor to acquire information about the pressure inside the waste collection pipe. The at least one processor controls the driving unit to adjust the position of the sweeping robot based on information obtained from the position sensing sensor and the pressure sensor, so that the opening of the dust collection bin corresponds to the suction port.

2. The cleaning device according to claim 1, wherein, The mounting section further includes: a first mounting section for mounting the main wheel; and a second mounting section, separated from the first mounting section. When the sweeping robot enters the base station, the first placement unit is positioned in front of the second placement unit.

3. The cleaning device according to claim 2, wherein, The robotic vacuum cleaner also includes: a battery; and a charging terminal for charging the battery. The base station further includes a base station charging terminal, which can be connected to the charging terminal of the robotic vacuum cleaner. The at least one processor determines that the main wheel is located in the first wheel mounting section based on the connection between the robot vacuum cleaner's charging terminal and the base station's charging terminal.

4. The cleaning device according to claim 3, wherein, The position sensing sensor includes a Hall sensor that senses changes in the magnetic field between itself and a magnetic body located at a position spaced apart from the position sensing sensor.

5. The cleaning device according to claim 4, wherein, The base station includes a magnetic material. The at least one processor acquires information about the location of the robotic vacuum cleaner via the position sensing sensor, including at least one of the location of the robotic vacuum cleaner relative to the base station and the distance between the base station and the robotic vacuum cleaner.

6. The cleaning apparatus according to claim 4, wherein, The main wheel includes an encoder disk and a magnetic body attached to the encoder disk. The position information of the sweeping robot obtained by the position sensing sensor includes at least one of the driving direction, number of rotations, and rotation angle of the main wheel.

7. The cleaning apparatus according to claim 5 or 6, wherein, After determining that the main wheel is located in the first wheel mounting section based on the connection between the robot vacuum's charging terminal and the base station charging terminal, the at least one processor determines again whether the main wheel is located in the first wheel mounting section based on the position information of the robot vacuum obtained by the position sensing sensor.

8. The cleaning apparatus according to claim 7, wherein, The at least one processor moves the main wheel to the second wheel mounting location based on the determination that the main wheel is located in the first wheel mounting location.

9. The cleaning apparatus according to claim 8, wherein, The at least one processor determines at least one of a drive speed and a drive distance for moving the main wheel to the second wheel mounting section based on information about the position of the robotic vacuum cleaner obtained by the position sensing sensor.

10. The cleaning apparatus according to claim 9, wherein, The base station includes: a base station suction motor, which generates suction force to transfer the waste to the waste collection bin. The at least one processor determines whether a preset reference time has been reached for the duration during which the pressure sensor's sensing value is less than a preset reference pressure while the main wheel is positioned in the second wheel mounting section and the suction motor is driven.

11. The cleaning apparatus according to claim 10, wherein, The at least one processor controls the driving unit based on a reference time when the duration of time the pressure sensor's sensed value is less than a preset reference pressure, so as to adjust the position of the sweeping robot.

12. The cleaning apparatus according to claim 11, wherein, The robotic vacuum cleaner also includes: a lower section, equipped with the opening of the dust collection bin. The base station further includes a lever device, comprising an open link connected to the lower part, and rotating the open link to open or close the opening of the dust collection bin. In order to adjust the position of the sweeping robot based on a preset reference time for the duration when the sensing value of the pressure sensor is less than a preset reference pressure, the at least one processor controls the lever device to close the opening of the dust collection bin to close the suction port before controlling the driving unit.

13. A method for controlling a cleaning device, comprising a robotic vacuum cleaner and a base station for mounting the robotic vacuum cleaner, comprising the following steps: The robotic vacuum cleaner enters the base station so that it can be placed there to perform a waste removal process. Information about the location of the robotic vacuum cleaner is obtained from the position sensing sensor. Information about the pressure inside the waste collection pipeline for the base station is obtained from a pressure sensor. The position of the robotic vacuum cleaner is adjusted based on information obtained from the position sensing sensor or the pressure sensor, such that the opening of the robotic vacuum cleaner's dustbin corresponds to the suction port of the base station from which the dirt flows in.

14. The control method for the cleaning device according to claim 13, wherein, The base station includes: a first wheel mounting section for mounting the main wheels of the sweeping robot; and a second wheel mounting section, separated from the first wheel mounting section. When the robotic vacuum cleaner enters the base station, the first wheel placement unit is positioned in front of the second wheel placement unit. The control method for the cleaning device further includes the following steps: The connection between the robot vacuum cleaner's charging terminal and the base station's charging terminal indicates that the main wheel is located in the first wheel mounting section.

15. The control method for the cleaning device according to claim 14, wherein, The position sensing sensor includes a Hall sensor. This also includes the following steps: Information about the position of the robotic vacuum cleaner is obtained from the position sensing sensor. The change in magnetic field between the sensor and a magnetic body located at a position separated from the position sensing sensor is sensed.

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