Sweeping robot and sweeping robot system

Abstract

The present invention relates to a kind of sweeping robot, comprising: main body, a pair of wheels are arranged on bottom surface;Suction part, be configured between a pair of the wheel;Auxiliary wheel, be configured in one side of the suction part;Truckle, relative to the suction part is configured in the opposite direction of being configured with auxiliary wheel;And rotary cleaning part, at least one cloth is combined, rotation center is configured between the truckle and the suction part;The truckle is located closer to the ground than the cloth when a pair of the wheel climbs inclined surface along truckle side direction.The inclined surface and the cloth do not contact, have the effect that can prevent the pollution of inclined surface, further prevent the generation of odor and bacterial propagation, sweeping robot can smoothly climb inclined surface.

Description

Technical Field

[0001] This invention relates to a robotic vacuum cleaner, and more specifically, to a robotic vacuum cleaner equipped with casters that prevents the mop from contacting the inclined surface when the robotic vacuum cleaner is climbing it. Background Technology

[0002] A sweeper is a device that performs cleaning by sucking in or wiping away dust or foreign objects from the area to be cleaned.

[0003] These sweepers can be divided into manual sweepers, where the user directly moves the sweeper and performs the sweeping, and automatic sweepers, which drive autonomously and perform the sweeping.

[0004] The robot vacuum cleaner autonomously navigates the area to be cleaned and sucks up dust and other debris from the ground. Additionally, it can automatically navigate and clean the area using obstacle sensors and other sensors, or it can be manually controlled using a remote control wirelessly connected to the robot.

[0005] Existing robotic vacuum cleaners clean their mop cloths after completing cleaning and connecting to the robot's base station. Since the mop cloth is in a contaminated state after cleaning the designated area, it remains in use.

[0006] As described above, the contaminated cloth needs to move along the inclined surface to connect with the robot vacuum cleaner's base station. However, while climbing the inclined surface, the contaminated cloth comes into contact with the inclined surface of the robot vacuum cleaner's base station, thus causing the inclined surface to become contaminated and produce an odor.

[0007] In addition, the damp cloth tends to sag downwards, causing friction between the cloth and the inclined surface when the robot vacuum cleaner is climbing, which can prevent the robot vacuum cleaner from climbing the inclined surface smoothly.

[0008] On the other hand, Chinese Patent Publication CN115670313A discloses a sweeping robot base station including a base body and a ramp that can move towards the base body, as well as a sweeping robot that moves the ramp to raise the sweeping robot to the base body.

[0009] However, the aforementioned robotic vacuum cleaner moves the ramp while the mop is in contact with it, causing the robot to move towards its base. This can lead to contamination of the ramp and the generation of unpleasant odors. Summary of the Invention

[0010] The present invention is proposed to improve the problems existing in the existing sweeping robots as described above, and its purpose is to provide a sweeping robot equipped with casters so that the inclined surface does not come into contact with the mop.

[0011] In addition, the purpose is to provide a sweeping robot that can prevent contamination of the inclined surface by not having the mop in contact with it, thereby preventing odor and bacterial growth, and the sweeping robot can smoothly climb the inclined surface.

[0012] In addition, the purpose is to provide a sweeping robot system that has a caster access channel set in the sweeping robot base station to guide the sweeping robot to the accurate position when docking with the sweeping robot base station.

[0013] To achieve the objectives described above, the sweeping robot according to the present invention may include: a main body having a pair of wheels on its bottom surface; a suction unit disposed between the pair of said wheels; an auxiliary wheel disposed on one side of said suction unit; casters disposed in the opposite direction to said suction unit in which the auxiliary wheels are disposed; and a rotating cleaning unit incorporating at least one mop, the center of rotation being disposed between said casters and said suction unit.

[0014] When the pair of wheels climbs the inclined surface along the side direction of the caster, the direction of rolling of the caster and the auxiliary wheel can be in a straight line.

[0015] The casters allow the rag to remain off the inclined surface as the pair of wheels climb along the side of the casters.

[0016] Additionally, the casters can be positioned closer to the ground than the rag when the pair of wheels climb the inclined surface along the caster side direction.

[0017] The rotating cleaning unit may include a drive unit that moves the rag up and down; the drive unit may lift the rag to separate it from the ground when a pair of wheels move toward the inclined surface along the caster side.

[0018] The angle formed by the imaginary line that contacts the outer circumference of the wheel and the outer circumference of the caster on the lower side with the ground can be equal to or less than the angle formed by the ground and the inclined surface.

[0019] The rotating cleaning unit may include a shaft that rotates the rag, the shaft being located above an imaginary line tangent to the lower side of the outer circumferential surface of the wheel and the outer circumferential surface of the caster.

[0020] The caster can detach from the inclined surface when the wheel contacts the inclined surface.

[0021] The drive unit can lift the rag so that the angle between the ground and the imaginary line passing through the last point of the rag and tangent to the outer peripheral surface of the caster is smaller than the angle between the inclined surface and the ground.

[0022] The casters can be configured to be separated from the ground while the pair of wheels are in contact with the ground.

[0023] The caster may be equipped with caster wheels and may include a lifter that allows the caster wheels to move in a vertical direction.

[0024] At this time, during travel along the inclined surface, the angle formed by the imaginary line tangent to the outer circumference of the caster at the point at the rearmost point of the bottom surface of the main body and the ground can be greater than the angle formed by the inclined surface and the ground.

[0025] To achieve the objectives described above, the sweeping robot system according to the present invention may include: a main body having wheels on its bottom surface; at least one rotating cleaning part disposed on the underside of the main body and capable of engaging a mop; and casters disposed on the underside of the main body and positioned further rearward than the rotating cleaning part.

[0026] The robotic vacuum cleaner base station may include: a housing section for accommodating the robotic vacuum cleaner; and a door section for opening and closing an entrance / exit for the robotic vacuum cleaner to enter and exit the housing section.

[0027] The door may include an inclined surface for the robot vacuum to climb when the entrance / exit is open; the casters may assist the mop in not contacting the inclined surface when climbing it.

[0028] The robot vacuum cleaner base station may also include a caster entry channel, which is formed by a recess in the inclined surface to guide the movement of the caster.

[0029] The robot vacuum cleaner base station may include a docking wall that is electrically and physically connected to the robot vacuum cleaner; the docking wall may include a caster groove for mounting the casters.

[0030] At this time, the angle formed by the imaginary line tangent to the lower side of the outer circumferential surface of the wheel and the outer circumferential surface of the caster and the ground can be formed to be the same as or less than the angle formed by the ground and the inclined surface.

[0031] As described above, the sweeping robot and sweeping robot system according to the present invention have the effect of being equipped with casters so that the inclined surface does not come into contact with the mop.

[0032] In addition, since the cloth does not come into contact with the inclined surface, it can prevent the inclined surface from getting contaminated, thereby preventing odor and bacterial growth, and also allows the robot vacuum cleaner to smoothly climb the inclined surface.

[0033] In addition, the robot vacuum cleaner base station is equipped with a caster access channel, which can guide the robot vacuum cleaner to the accurate position when docking with the base station. Attached Figure Description

[0034] Figure 1 This is a perspective view illustrating a sweeper system according to an embodiment of the present invention.

[0035] Figure 2 This is a perspective view illustrating the state in which the door of a robotic vacuum cleaner base station is open according to an embodiment of the present invention.

[0036] Figure 3 yes Figure 2 The main view.

[0037] Figure 4 This is a top view illustrating the mounting section and door section of a robotic vacuum cleaner base station according to an embodiment of the present invention.

[0038] Figure 5 This is a perspective view illustrating a sweeping robot according to an embodiment of the present invention.

[0039] Figure 6 yes Figure 5 Side view.

[0040] Figure 7 This is a side view illustrating the separation of the mop cloth from the floor of a robotic vacuum cleaner according to an embodiment of the present invention.

[0041] Figure 8 This is a side view illustrating the state in which the mop of a sweeping robot according to an embodiment of the present invention is maximally separated from the floor.

[0042] Figure 9 yes Figure 5 Rear view.

[0043] Figure 10 yes Figure 5 A bottom view.

[0044] Figure 11a and Figure 11b This is a diagram illustrating the process of a sweeping robot climbing an inclined surface according to an embodiment of the present invention.

[0045] Explanation of reference numerals in the attached figures: 100: Robotic vacuum cleaner base station; 211: Inhalation unit. 110: Cover body 211a: Dust outlet 120: Installation Department 211b: Inhalation Flow Path 121: Base 211c: Agitator 122: Cleaning plate 211d: Suction port 123: Connecting wall; 212: Upper cover of main body 123a: Dust passage hole; 220: Dust bin 123b: Power supply terminal; 230: Water bucket 123c: Caster groove; 231: Supply department 124: Inner wall; 240: Rotary cleaning section 127: Entrance / Exit 241: Rotating Plate 128: Washing tank; 242: Wipes 130: Door section; 243: Drive section 131: Door 244: Axle 131a: Rotary shaft; 250: Caster wheel 131b: Auxiliary access passage; 251: Casters. 131c: Casters enter the passageway; 252: Lifter 132: Door frame; 260: Wheel 134: Door drive unit; 270: Auxiliary wheel 135: Input sensor 280: Charging terminal 200: Robotic vacuum cleaner; 290: Suction motor 210: Main body. Detailed Implementation

[0046] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0047] This invention can be modified in various ways and can have various embodiments; therefore, specific embodiments are shown in the accompanying drawings and are described in detail in the description. This is not intended to limit the invention to specific implementations, but should be interpreted as encompassing all modifications, equivalents, or substitutions included within the spirit and technical scope of the invention.

[0048] In describing this invention, terms such as "first" and "second" may be used to describe various constituent elements, but the constituent elements are not limited by these terms. These terms are only used to distinguish one constituent element from other constituent elements. For example, without departing from the scope of this invention, a first constituent element may be named a second constituent element, and similarly, a second constituent element may be named a first constituent element.

[0049] The term "and / or" can include a combination of the contents of a plurality of related records or any one of the contents of a plurality of related records.

[0050] When it is mentioned that one constituent element is "connected" or "linked" to another constituent element, it should be understood that it can be directly connected or linked to another constituent element, or that there may be other constituent elements between them. Conversely, when it is mentioned that one constituent element is "directly connected" or "directly linked" to another constituent element, it should be understood that there are no other constituent elements between them.

[0051] The terminology used in this application is for illustrative purposes only and is not intended to limit the invention. Unless explicitly stated in the context, singular expressions may include plural expressions.

[0052] In this application, it should be understood that terms such as "comprising" or "having" are intended only to specify the presence of features, figures, steps, actions, constituent elements, components, or combinations thereof described in the specification, and do not preclude the possibility of the presence or addition of one or more other features, figures, steps, actions, constituent elements, components, or combinations thereof.

[0053] Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms such as those defined in common dictionaries may be interpreted as having a meaning consistent with their meaning in the relevant technical context, and may not be construed as having an ideal or overly formal meaning unless expressly defined herein.

[0054] Furthermore, the following embodiments are provided to enable those skilled in the art to understand more fully, and for the purpose of clearer illustration, the shape and size of the elements in the drawings may be exaggerated.

[0055] Figure 1 A diagram is shown illustrating a sweeper system according to an embodiment of the present invention.

[0056] Reference Figure 1 According to an embodiment of the present invention, a cleaning system 1 includes a sweeping robot base station 100 and a sweeping robot 200.

[0057] A robotic vacuum cleaner 200 can be installed in the robotic vacuum cleaner base station 100. Specifically, the robotic vacuum cleaner 200 can enter from the front of the robotic vacuum cleaner base station 100 and can be accommodated inside the robotic vacuum cleaner base station 100.

[0058] If the robotic vacuum cleaner 200 enters the interior of the robotic vacuum cleaner base station 100, it can be placed on the base 121 of the robotic vacuum cleaner base station 100. In this case, the robotic vacuum cleaner 200 and the robotic vacuum cleaner base station 100 can be electrically connected and have their flow paths aligned. Specifically, the dustbin 220 of the robotic vacuum cleaner 200 can be flow-path connected to the dust collection section 150 of the robotic vacuum cleaner base station 100. In addition, the water tank 230 of the robotic vacuum cleaner 200 can be connected to the water supply nozzle 123c of the robotic vacuum cleaner base station 100. Furthermore, the charging terminal 280 of the robotic vacuum cleaner 200 can be electrically connected to the power supply terminal 123b of the robotic vacuum cleaner base station 100.

[0059] Therefore, the robot vacuum base station 100 can remove dust from the dustbin 220 of the robot vacuum 200. The robot vacuum base station 100 can wash the mop 242 of the robot vacuum 200. The robot vacuum base station 100 can dry the mop 242 of the robot vacuum 200. The robot vacuum base station 100 can supply power to the robot vacuum 200.

[0060] Figure 2 A perspective view is shown illustrating the state in which the door of a robotic vacuum cleaner base station is open according to an embodiment of the present invention. Figure 3 It shows Figure 2 Front view, Figure 4 A top view is shown illustrating the mounting section and door section of a robotic vacuum cleaner base station according to an embodiment of the present invention.

[0061] Reference Figures 2 to 4 The following describes a robotic vacuum cleaner base station 100 according to an embodiment of the present invention.

[0062] The robot vacuum cleaner base station 100 can accommodate a robot vacuum cleaner 200. The robot vacuum cleaner 200 can be installed in the installation section 120 of the robot vacuum cleaner base station 100.

[0063] The robot vacuum cleaner base station 100 may include a cover 110.

[0064] The cover 110 can form the appearance of the robot vacuum cleaner base station 100. As an example, the cover 110 can be formed into a shape similar to a hexahedron.

[0065] The cover 110 can form a space inside that can accommodate the placement section 120, the storage section 140, the dust collection section 150, the drawer 160, the cloth washing section 170, and the cloth drying section 180.

[0066] The cover 110 may include a front face 111. The front face 111 may be configured in front of the robot vacuum cleaner base station 100.

[0067] Here, "front" can refer to the direction in which the door 131 is located, with the interior of the robot vacuum cleaner base station 100 as the reference.

[0068] Alternatively, "rear" can refer to the opposite direction from the front, based on the interior of the robot vacuum base station 100.

[0069] In addition, based on the view from inside the robot vacuum cleaner base station 100, the left side can be called the left side and the right side can be called the right side.

[0070] The front face 111 can be formed as a quadrilateral shape.

[0071] The front surface 111 can have an entrance 111a for the robot vacuum cleaner 200 to enter and exit. A drawer 160 can be extended from the front surface 111. A storage cover 145 and a drawer cover 163 can be provided on the front surface 111. The front surface 111 can form a space for storing items.

[0072] Therefore, the front part 111 can have an appearance similar to that of a chest of drawers.

[0073] Furthermore, the robotic vacuum cleaner 200 can enter the interior of the mounting section 120 through the front side 111. Therefore, according to the present invention, the robotic vacuum cleaner 200 is not exposed to the outside and has the same aesthetic appeal as the indoor furniture.

[0074] The housing 110 may include a rear face 112. The rear face 112 may be positioned behind the robot vacuum base station 100. The rear face 112 may be positioned on the opposite side of the front face 111, with the dust collection motor 153 as a reference. The rear face 112 may be shaped to correspond to the shape of the front face 111. For example, the rear face 112 may be shaped as a quadrilateral. An exhaust port 112a may be formed on the rear face 112.

[0075] The cover 110 may include a top side 113. The top side 113 may cover the top of the drawer 160. For example, the top side 113 may be formed into a quadrilateral shape. In this case, the top side 113 may be formed with its edges protruding a predetermined height. That is, the top side 113 may be formed into a recessed shape. Items may be placed on the top side of the top side 113. Specifically, a charging section 113a for charging electronic devices may be provided on the top side 113. Therefore, if an electronic device is placed on the top side 113, the electronic device can be charged.

[0076] The cover 110 may include a lower side 114. The lower side 114 may be configured to face the ground. The lower side 114 may be disposed on the lower side of the base 121, supporting the base 121. A plurality of support legs 115 may be provided on the lower side of the lower side 114.

[0077] The support leg 115 can support the lower side of the cover 110. The support leg 115 can contact the ground to support the cover 110. Therefore, the lower side 114 can be separated from the ground (kitchen floor) by a specified height.

[0078] The robotic vacuum cleaner 200 and the robotic vacuum cleaner base station 100 can be physically connected, electrically connected, and / or connected via the mounting unit 120.

[0079] The installation unit 120 can be installed inside the cover 110.

[0080] An entrance 127 for introducing the robotic vacuum cleaner 200 can be formed in front of the installation unit 120. The entrance 127 can refer to the space formed in front of the robotic vacuum cleaner base station 100.

[0081] The entrance / exit 127 can be configured to allow the robotic vacuum cleaner 200 to pass through. That is, the height of the entrance / exit 127 is greater than the height of the robotic vacuum cleaner 200. In this case, the entrance / exit 127 may refer to the space formed vertically upward from the front end of the base 121 (described later). Alternatively, the entrance / exit 127 may refer to the space formed in the door frame 132 (described later) and allowing the robotic vacuum cleaner 200 to pass through.

[0082] At this time, entrance / exit 127 can be opened and closed by door 131.

[0083] The installation section 120 may include a receiving space S, a base 121, a docking wall 123, and an inner wall 124.

[0084] The receiving space S of the placement section 120 can accommodate the robotic vacuum cleaner 200. As one example, the receiving space S can refer to the space surrounded by the base 121, the docking wall 123, and the inner wall 124. As another example, the receiving space S can refer to the space surrounded by the base 121, the cleaning plate 122, the docking wall 123, and the inner wall 124. As yet another example, the receiving space S can refer to the space where the robotic vacuum cleaner 200 is located when it is connected to the power supply terminal 123b, or the space where the robotic vacuum cleaner 200 is located when its dustbin 220 is connected to the dust passage hole 123a.

[0085] The base 121 is configured to support the robot vacuum 200 when it enters the robot vacuum base station 100. The wheels 260 of the robot vacuum 200 can contact the upper side of the base 121. In addition, the auxiliary wheels 270 of the robot vacuum 200 can contact the upper side of the base 121.

[0086] The base 121 may include a base body 121a, an inclined portion 121b, a wheel engagement portion 121c, an agitator receiving portion 121d, and a cleaning tank 128.

[0087] The base body 121a can form the overall shape of the base 121. The base body 121a can be provided with an inclined part 121b, a wheel engagement part 121c, an agitator receiving part 121d, and a cleaning tank 128.

[0088] The tilting part 121b can be configured in the base body 121a as an entry point for the robot vacuum cleaner 200 to climb.

[0089] The tilting portion 121b may have a forward tilt in the direction in which the robot vacuum cleaner 200 enters. More specifically, the front end of the tilting portion 121b may be connected to the lower side 114 without any height difference, and may have an upward tilt that increases towards the rear. That is, the tilting portion 121b may be configured to gradually rise when the robot vacuum cleaner 200 enters.

[0090] The wheel 260 of the robotic vacuum cleaner 200, which moves upward along the inclined portion 121b, can be mounted at the wheel engagement portion 121c. If the wheel 260 of the robotic vacuum cleaner 200 is mounted at the wheel engagement portion 121c, a physical connection between the robotic vacuum cleaner 200 and the robotic vacuum cleaner base station 100 can be achieved. The surface of the wheel engagement portion 121c can be formed to correspond to the surface of the wheel 260, so that the robotic vacuum cleaner 200 can stop stably.

[0091] The wheel engagement portion 121c can be configured at the stop position of the left and right side wheels 260 of the robotic vacuum cleaner 200 so that the robotic vacuum cleaner 200 stops at an accurate position. Here, the stop position of the wheels 260 refers to the stop position set for connecting the robotic vacuum cleaner 200 to the power supply terminal 123b and / or the stop position set for connecting the dustbin 220 of the robotic vacuum cleaner 200 to the dust passage hole 123a.

[0092] The docking wall 123 is configured with a dust passage 123a, a power supply terminal 123b, and a water nozzle 123c of the robot vacuum base station 100. The docking wall 123 spatially separates the accommodating space S from the components of the robot vacuum base station 100. The docking wall 123 extends vertically along the rear side of the base 121. The docking wall 123 can be formed to correspond to the shape of the robot vacuum 200. For example, if the main body 210 of the robot vacuum 200 is cylindrical, the docking wall 123 can be formed as an arc with a predetermined radius. Using the configuration described above, it can surround the outer contour of the robot vacuum 200 and increase the area of ​​the outer surface facing the robot vacuum 200. Furthermore, it can stably support the robot vacuum 200.

[0093] A dust passage hole 123a can be formed in the placement section 120 to allow air from outside the cover 110 to flow into the interior. Specifically, a dust passage hole 123a can be formed in the mating wall 123 to allow air from outside the cover 110 to flow into the interior.

[0094] The dust can communicate with the dust bin 220 of the robot vacuum cleaner 200 through the hole 123a. The dust can also communicate with the dust discharge outlet 221 of the dust bin 220 of the robot vacuum cleaner 200. The dust can be shaped to correspond to the shape of the dust bin 220, so that the dust in the dust bin 220 flows into the dust collection section 150.

[0095] Dust can be connected to the dust collection flow path 152 through the hole 123a.

[0096] The robotic vacuum cleaner base station 100 may include a power supply module for supplying power to the robotic vacuum cleaner 200. The power supply module may include a power supply module housing and power supply terminals 123b. Circuit boards and components for power supply may be mounted inside the power supply module housing. Furthermore, the power supply terminals 123b may be located at the front of the power supply module housing and configured to be exposed on the mating wall 123.

[0097] The power supply terminal 123b can supply power to the robotic vacuum cleaner 200 attached to the mounting section 120. The power supply terminal 123b can contact and be electrically connected to the charging terminal of the robotic vacuum cleaner 200. The power supply terminal 123b can be disposed in the mounting section 120. Specifically, the power supply terminal 123b can be disposed on the docking wall 123. The power supply terminal 123b can be electrically connected to the robotic vacuum cleaner 200 attached to the docking wall 123. The power supply terminal 123b can supply power to the battery of the robotic vacuum cleaner 200 attached to the docking wall 123.

[0098] The robot vacuum cleaner base station 100 may also include a water supply nozzle 123c.

[0099] The water supply nozzle 123c can be connected to the supply section 231 of the water tank 230 of the robotic vacuum cleaner 200. Specifically, the water supply nozzle 123c can be connected to the inlet of the water tank 230. The water supply nozzle 123c can supply water supplied from the cleaning water tank 171 to the storage space inside the water tank 230 of the robotic vacuum cleaner 200.

[0100] The inner wall 124 can be formed on the inner side of the cover 110 in the left and right directions. A pair of inner walls 124 can be arranged on the left and right sides of the base 121. The inner walls 124 can be connected to both ends of the mating wall 123.

[0101] The cleaning plate 122 is a component used to clean the mop of the robotic vacuum cleaner 200, and the cleaning plate 122 can be placed in the cleaning tank 128 of the base 121. In addition, the cleaning plate 122 can contact the mop 242 when the robotic vacuum cleaner 200 is in place.

[0102] The cleaning plate 122 can be formed as a whole as a plate that slopes downward towards the center.

[0103] Specifically, the cleaning plate 122 includes a flow guide surface formed in a curved shape. Furthermore, at least one through hole 122b for fluid to pass through can be formed on the flow guide surface. Additionally, cleaning protrusions 122a can be formed protruding on the flow guide surface.

[0104] At this time, a pair of cleaning protrusions 122a can be symmetrically formed on the flow guide surface. Specifically, the pair of cleaning protrusions 122a can be disposed on the vertically lower side of the pair of mop pads 242 of the robot vacuum cleaner 200, configured to face the pair of mop pads 242, and configured to be able to contact at least a portion of the pair of mop pads 242.

[0105] Furthermore, a plurality of holes 122b can be formed on the flow guiding surface, between a pair of cleaning protrusions 122a. For example, a plurality of holes 122b can be formed on the flow guiding surface at the lowest position above the ground (kitchen floor), between a pair of cleaning protrusions 122a. Thus, fluid expelled between the pair of cleaning protrusions 122a can be guided to the holes 122b and flow.

[0106] On the other hand, the height of the flow guide surface from the kitchen floor can increase further back from the location where the through hole 122b is formed. That is, the height of the flow guide surface from the kitchen floor can increase as it gets closer to the external air exhaust section 181c, which will be described later.

[0107] With this configuration, cleaning water and / or air can flow along the flow guide surface and flow out through the through hole 122b into the space formed between the cleaning plate 122 and the cleaning tank 128.

[0108] If cleaning water is supplied to the cleaning plate 122 and the cloth 242 rotates, the cloth 242 can be cleaned while rubbing against the stationary cleaning protrusion 122a.

[0109] The cleaning tank 128 is configured to house the cleaning plate 122. The cleaning tank 128 can be disposed on the rear side of the base body 121a. The cleaning tank 128 can be disposed on the underside of the cleaning plate 122 and detachably coupled to the cleaning plate 122. The cleaning tank 128 can be formed correspondingly to the cleaning plate 122 so that the cleaning plate 122 can be inserted. Liquid that has passed through the cleaning plate 122 can flow into the cleaning tank 128.

[0110] The cleaning tank 128 may include: a cleaning tank base surface for fluid flow through the cleaning plate 122; and a cleaning tank wall that extends vertically outward from the outer contour of the cleaning tank base surface. In this case, the height of the cleaning tank base surface from the ground (kitchen floor) can decrease towards the rear of the robot vacuum base station 100. This allows the fluid passing through the cleaning plate 122 to be collected at the rear of the cleaning tank 128 and discharged to the outside through the wastewater suction unit 175 (described later).

[0111] The door 130 may be configured to cover a portion of the lower front end of the cover 110.

[0112] The door 130 includes a door 131. The door 131 forms the front appearance of the robotic vacuum cleaner base station 100 when the entrance / exit 127 is closed. For example, the door 131 can be formed into an approximately rectangular flat plate shape. The length of the door 131 in the left-right direction can be set to be greater than or equal to the length of the cover 110 in the left-right direction. This configuration has the effect of making the appearance of the robotic vacuum cleaner base station 100 neat and tidy.

[0113] A door frame 132 may be provided on the lower front side of the cover 110. A door 131 is connected to the door frame 132 in an openable and closable manner. In addition, an entrance 127 for the robot vacuum cleaner 200 to enter and exit may be formed in the door frame 132.

[0114] The door frame 132 can form the front appearance of the robot vacuum cleaner base station 100 when the door 131 is open.

[0115] The rotation axis 131a of the door 131 can be configured at the lower end of the door frame 132 and configured to be parallel to the ground when the entrance 127 is open, or it can be configured to tilt downwards towards the front, with the end configured to contact the ground.

[0116] The door 131 may be provided with a hinge portion and rotatably connected to the door frame 132. A plurality of hinge portions may be separately arranged along the rotation axis 131a, and may be arranged at different intervals from each other.

[0117] Additionally, when the entrance / exit 127 is closed, the door 131 may have an auxiliary entry channel 131b on the side facing the cover 110. The auxiliary entry channel 131b may be configured to allow the robot vacuum cleaner 200 to move stably toward the placement section 120 or the entrance / exit 127, and may be configured to tilt upwards as it moves backwards.

[0118] Specifically, the auxiliary entry channel 131b can be formed in the shape of a groove to enable stable tilting movement of the robotic vacuum cleaner 200. In the auxiliary entry channel 131b, the grooves formed along the left-right direction can be arranged at equal intervals in the front-back direction. This auxiliary entry channel 131b can be formed such that its width in the left-right direction narrows towards the rear. Therefore, the left-right movement of the robotic vacuum cleaner 200's wheels 260 is increasingly restricted and guided to a precise position as it moves towards the mounting section 120 or the entrance / exit 127.

[0119] The auxiliary entry channel 131b guides the wheel 260 toward the wheel guide 121ba disposed in the mounting section 120. The auxiliary entry channel 131b can be provided as a pair and disposed in various positions consecutive to the pair of wheel guides 121ba.

[0120] The door frame 132 may be equipped with an entry sensor 135 to detect the approach of the robotic vacuum cleaner 200. The entry sensor 135 may be configured in front of the enclosure 110 to detect the approach of the robotic vacuum cleaner 200. For example, the entry sensor 135 may be an IR sensor.

[0121] The entry sensor 135 can be installed on the upper front of the door frame 132. This maximizes the detection range. Alternatively, the entry sensor 135 can be installed in the center of the entrance / exit 127 in the left-right direction. This allows the robot vacuum cleaner 200 to be guided in its entry direction through communication with it.

[0122] The door 131 can be rotated by the door drive unit 134. As an example, the door drive unit 134 may include a door drive motor and a drive linkage.

[0123] The door drive motor can be configured inside the housing 110 and in the upper space of the door frame 132. Specifically, the door drive motor can be configured in the storage body 141. For example, the door drive motor can be configured on the upper side of the drive linkage.

[0124] This improves space utilization, enhances accessibility, and provides convenience for users.

[0125] The drive linkage is configured to connect the door drive motor and the door 131 and transmit power. The drive linkage may include at least one link to transmit the driving force of the door drive motor to the door 131 and cause the door 131 to rotate.

[0126] Figure 5 A perspective view illustrating a robotic vacuum cleaner according to an embodiment of the present invention is shown. Figure 6 It shows Figure 5 Side view, Figure 7 A side view illustrating the separation of the mop from the floor in a robotic vacuum cleaner according to an embodiment of the present invention is shown. Figure 8 A side view is shown illustrating the state in which the mop of a robotic vacuum cleaner is maximally separated from the floor according to an embodiment of the present invention. Figure 9 It shows Figure 5 Rear view, Figure 10 It shows Figure 5 A bottom view.

[0127] Reference Figures 5 to 10 The following describes a sweeping robot 200 according to an embodiment of the present invention.

[0128] The robotic vacuum cleaner 200 can autonomously drive in the area to be cleaned and suck up dust and other foreign objects from the ground, thus automatically cleaning the area.

[0129] According to an embodiment of the present invention, a robotic vacuum cleaner 200 is placed on the ground and moves along the ground to clean the ground. Therefore, the following description will be based on the state of the robotic vacuum cleaner 200 being placed on the ground, with the vertical direction set as a reference.

[0130] Furthermore, taking a pair of wheels 260 as a reference, the side equipped with the auxiliary wheels 270 (described later) is designated as the front, and the side equipped with the rotating cleaning unit 240 (described later) is designated as the rear, and will be explained accordingly. Additionally, the movement of the sweeping robot 200 along the direction where the auxiliary wheels 270 are located is referred to as forward movement, and the movement of the sweeping robot 200 along the direction where the rotating cleaning unit 240 is located is referred to as backward movement.

[0131] The “lowest part” of each component described in the embodiments of the present invention may be the part located at the lowest position in each component when the robot vacuum cleaner 200 according to the embodiments of the present invention is placed on the ground for use, or it may be the part closest to the ground.

[0132] According to an embodiment of the present invention, a sweeping robot 200 includes a main body 210, a dust bin 220, a water bin 230, a rotating sweeping unit 240, an agitator 211c, wheels 260, auxiliary wheels 270, and a charging terminal 280.

[0133] The main body 210 can form the overall shape of the robotic vacuum cleaner 200. Various components that make up the robotic vacuum cleaner 200 can be integrated into the main body 210, and some of the components that make up the robotic vacuum cleaner 200 can be housed inside the main body 210.

[0134] Specifically, the main body 210 may house the components of the robotic vacuum cleaner 200 within its internal space. For example, the main body 210 may house a battery and at least one motor within its internal space.

[0135] In embodiments of the present invention, the main body 210 may be formed such that its width (or diameter) in the horizontal direction is greater than its height in the vertical direction. This main body 210 can help the sweeping robot 200 form a stable structure and can provide a structure that facilitates the sweeping robot 200 in avoiding obstacles during movement (driving).

[0136] When viewed from above or below, the main body 210 can take various shapes such as circular, elliptical, or quadrilateral.

[0137] The main body 210 can be divided into a lower main body and an upper main body, and the lower main body and the upper main body can be combined to form a space inside.

[0138] The lower main body can be combined with the upper main body to form an internal space that can accommodate a battery, at least one sensor, and at least one motor.

[0139] The lower body may have an intake section 211 for air to flow in and a hole for accommodating a pair of wheels 260.

[0140] The suction section 211 can be a passage for dust from the ground to flow in. Furthermore, the suction section 211 can communicate with a suction flow path (not shown) formed inside the main body 210, and the suction flow path can communicate with the internal space of the dust bin 220.

[0141] On the other hand, an exhaust flow path can also be provided in the lower main body. One side of the exhaust flow path can communicate with the internal space of the dust bin 220, and the other side can communicate with the exhaust port. At this time, a filter can be installed at the exhaust port.

[0142] With the configuration described above, the air flowing in through the suction section 211 can flow into the dust bin 220 via the suction flow path, and then be discharged to the exhaust port via the exhaust flow path.

[0143] The agitator 211c, described later, can be rotatably housed in the suction section 211. With the configuration described above, dust around the suction section 211 can be guided into the suction section 211 by the rotation of the agitator 211c, and the efficiency of dust suction can be improved.

[0144] The upper body can form the upper appearance of the robotic vacuum cleaner 200. Although not shown, a display can be installed on the upper body.

[0145] The robotic vacuum cleaner 200 of the present invention may include a buffer. The buffer may be attached along the edge of the body 210 and configured to move relative to the body 210.

[0146] The buffer member can be attached to a portion of the edge of the body 210, or it can be attached to the entire edge of the body 210. At least one elastic member (not shown) can be provided between the buffer member and the body 210. With the configuration described above, if the buffer member comes into contact with an obstacle or the like and moves relative to the central side of the body 210, the buffer member can be reset to its original position by the restoring force of the elastic member (not shown), and can absorb or disperse the impact applied to the buffer member, thereby preventing and reducing the transmission of impact to the body 210.

[0147] The dust bin 220 can be configured to suck in external dust and air and store the dust.

[0148] The dust bin 220 can store dust that flows in through the suction flow path. The dust bin 220 can have a dust inlet communicating with the suction flow path, an internal space for storing dust, and an air outlet for discharging air.

[0149] The dust bin 220 can be disposed inside the main body 210. In this case, the dust bin 220 can be fixedly attached to the main body 210, or it can be configured to be detachable according to the embodiment.

[0150] On the other hand, in this invention, a dust discharge path can be formed in the dust bin 220. This dust discharge path allows the internal space of the dust bin 220 to communicate with the external space of the robotic vacuum cleaner 200. Using the configuration described above, when dust is collected by the robotic vacuum cleaner base station 100, the dust inside the dust bin 220 can be removed.

[0151] On the other hand, the dust bin 220 according to an embodiment of the present invention may have a dust outlet 221 communicating with the dust discharge flow path. As one example, the dust outlet 221 may be formed on the rear side of the outer side (or outer peripheral surface) of the main body 210. As another example, the dust outlet 221 may be formed on the outer side of the dust bin 220.

[0152] Furthermore, the robotic vacuum cleaner 200 according to an embodiment of the present invention may be provided with a dust bin door 222 capable of selectively opening and closing the aforementioned dust outlet 221. Specifically, the dust bin door 222 may be attached to the main body 210 and positioned to block the dust outlet 221. As an example, the dust bin door 222 may be formed of rubber or resin material, configured to be flip-up, and one side of which may be fixedly attached to the main body 210.

[0153] With the configuration described above, if the dust collection motor 153 of the robot vacuum base station 100 described later is operated, the dust bin door 222 can be elastically deformed by the driving force of the dust collection motor 153. As the dust discharge port 221 opens, the dust in the dust bin 220 can be collected into the dust collection section 150 of the robot vacuum base station 100.

[0154] The bucket 230 is formed as a container with an internal space to store liquids such as water inside. The bucket 230 can be disposed inside the body 210 and fixedly attached to the body 210, or it can be detachably attached to the body 210.

[0155] The water tank 230 includes a supply section 231 and a nozzle (not shown). The supply section 231 can be configured to receive liquids such as water from the outside. For example, the supply section 231 may have an inlet formed on the other side behind the outer side (or outer peripheral surface) of the main body 210, and be connected to the storage space inside the water tank 230 via a water supply hose.

[0156] At this time, the supply unit 231 can be configured on the opposite side of the sweeping robot 200 in the left-right direction in relation to the dust discharge port 221. For example, if the dust discharge port 221 is configured on the rear left side of the main body 210, the supply unit 231 can be configured on the rear right side of the main body 210.

[0157] With the configuration described above, when the robot vacuum cleaner 200 is combined with the robot vacuum cleaner base station 100, the robot vacuum cleaner base station 100 can perform dust collection and water injection.

[0158] On the other hand, the nozzle (not shown) is formed in the shape of a tube or pipe and is connected to the bucket 230, allowing the liquid inside the bucket 230 to flow through it. The nozzle (not shown) is configured such that one side is connected to the bucket 230, and the other end is located on the upper side of a pair of rotating plates 241 or on the rotating plates, thereby allowing the liquid inside the bucket 230 to be supplied to a pair of wiping cloths 242 respectively.

[0159] That is, the nozzle (not shown) can be formed into a tube that is branched into two. In this case, one end of the branch can be located on the upper side of the left rag, and the other end of the branch can be located on the upper side of the right rag.

[0160] On the other hand, although not shown, a pump may be provided in the water tank 230 to direct the water inside the water tank 230 to the nozzle (not shown). Therefore, if the pump in the water tank 230 is running, the liquid stored in the water tank 230 can be ejected through the nozzle (not shown) to the rotating cleaning unit 240.

[0161] The rotating cleaning unit 240 includes a rotating plate 241 and a cleaning cloth 242.

[0162] The rotating plate 241 can be configured as a pair including a left rotating plate and a right rotating plate, and the wiping cloth 242 can be configured as a pair including a left wiping cloth and a right wiping cloth.

[0163] The rotating plate 241 can be rotatably disposed on the bottom surface of the main body 210, and the rag 242 can be attached to the underside of the rotating plate 241.

[0164] The rotating plate 241 is formed with a specified area and is shaped as a flat plate or a flat frame. This rotating plate 241 is generally laid horizontally, thus forming a shape where the width (or diameter) in the horizontal direction is significantly greater than the height in the vertical direction. The rotating plate 241, combined with the main body 210, can be parallel to the ground or inclined to the ground. The rotating plate 241 can be formed into a circular plate shape, the bottom surface of the rotating plate 241 can be generally circular, and the rotating plate 241 as a whole can be rotationally symmetrical.

[0165] A pair of rotating plates 241 can be symmetrical to each other.

[0166] The rag 242 can be attached to the underside of the rotating plate 241 to face the ground.

[0167] The bottom surface of the rag 242 facing the ground has a defined area, and the rag 242 is flat. The width (or diameter) of the rag 242 in the horizontal direction is sufficiently greater than its height in the vertical direction. When the rag 242 is attached to the side of the main body 210, the bottom surface of the rag 242 can be parallel to the ground or inclined to the ground.

[0168] The bottom surface of the cleaning cloth 242 can be roughly circular, and the cleaning cloth 242 as a whole can be formed in a rotationally symmetrical shape. In addition, the cleaning cloth 242 can be detachably attached to the bottom surface of the rotating plate 241, combined with the rotating plate 241, and rotates together with the rotating plate 241.

[0169] On the other hand, although not shown, the rotary cleaning unit 240 may be provided with a drive unit that applies rotational force to the rotary plate 241. For example, the drive unit may be provided with a motor and at least one gear. Therefore, if the drive unit is activated, the rotary plate 241 and the mop 242 can rotate and wipe the floor to perform cleaning.

[0170] The agitator 211c is rotatably equipped with a plurality of brushes that can guide external dust and air into the dust bin 220. At this time, at least one gear may be provided in the agitator 211c.

[0171] On the other hand, the agitator 211c according to this embodiment can not only be provided with a separate agitator motor (not shown) to receive rotational power, but can also receive rotational power from a driving motor or from the drive unit of the rotating cleaning unit 240, depending on the embodiment.

[0172] Wheel 260 can be disposed on the bottom surface of main body 210 and can be connected to drive unit (not shown). At this time, drive unit (not shown) can be combined with main body 210.

[0173] Wheel 260 can be mounted on body 210 and roll on the ground.

[0174] Wheel 260 can be composed of a first driving wheel and a second driving wheel. In this case, the first driving wheel can be formed in the same way as the second driving wheel, or it can be formed symmetrically. As an example, if the first driving wheel is located on the left side of the sweeping robot 200, then the second driving wheel can be located on the right side of the sweeping robot 200. In this case, the first driving wheel and the second driving wheel can be left-right symmetrical to each other.

[0175] The drive unit (not shown) may include a travel motor and gears. In this case, the travel motor may be housed inside the main body 210, providing power to the wheel 260. The travel motor may include a first travel motor and a second travel motor.

[0176] The travel motor can be an electric motor. A plurality of gears mesh with each other and rotate, connecting the travel motor and the wheel 260, transmitting the rotational power of the travel motor to the wheel 260. Therefore, when the rotating shaft of the travel motor rotates, the wheel 260 can rotate.

[0177] With the configuration described above, if the driving motor is running, the wheel 260 can rotate, and the main body 210 can travel on the ground at a specified speed.

[0178] The auxiliary wheel 270 can be disposed on the underside of the main body 210 and roll on the ground (the surface to be cleaned). The auxiliary wheel 270, together with a pair of wheels 260, can support the main body 210 on the ground. With the configuration described above, the auxiliary wheel 270 can guide the movement of the robot vacuum cleaner 200 while minimizing friction between the robot vacuum cleaner 200 and the ground.

[0179] The suction motor (not shown) generates suction that draws in external dust and air through the suction section 211. For example, the suction motor (not shown) can be an electric motor. Under the suction generated by the suction motor (not shown), external dust and air flow into the suction section 211 and reach the dust bin 220 after passing through the suction flow path.

[0180] Although not shown, the battery is integrated with the main body 210 and supplies power to other components constituting the robotic vacuum cleaner 200. The battery can power at least one motor disposed in the robotic vacuum cleaner 200. For example, the battery can power the rotating cleaning unit 240, the agitator 211c, the wheels 260, and a motor disposed in the suction motor (not shown).

[0181] In addition, the battery can supply power to the sensor unit (not shown) and the control unit (not shown).

[0182] The battery can be charged by an external power source, and for this purpose, a charging terminal 280 for charging can be provided on one side of the main body 210. For example, the charging terminal 280 can be configured on the rear side of the outer surface of the main body 210. When the robot vacuum cleaner 200 is combined with the robot vacuum cleaner base station 100, the charging terminal 280 can contact the power supply terminal 123b of the robot vacuum cleaner base station 100 and receive power.

[0183] Reference Figures 6 to 10 The following describes the casters 250 of a sweeping robot 200 according to an embodiment of the present invention.

[0184] The caster 250 may include a caster wheel 251 formed in the shape of a wheel, which can assist the robot vacuum cleaner 200 in climbing the inclined surface smoothly.

[0185] The caster 250 can be configured on the bottom surface of the main body 210, and can be configured in the opposite direction to the suction unit 211 where the auxiliary wheel 270 is configured. That is, the caster 250 can be configured at the rear of the robot vacuum cleaner 200.

[0186] The caster 250 can be configured on the center line with reference to an imaginary center line connecting the front and rear directions of the robotic vacuum cleaner 200. More specifically, it can be located on an imaginary line connecting the midpoint of the line connecting the rotation centers of the pair of rotating plates 241 to the midpoint of the interval between the pair of wheels.

[0187] Additionally, caster 250 can be positioned on a straight line where auxiliary wheel 270 contacts the ground.

[0188] The caster 250 can be located at the rear end of the robot vacuum cleaner 200, and behind the rotation center of the rotating cleaning unit 240. More specifically, the caster 250 can be configured on the outer peripheral surface of the main body 210 formed further rearward than the point of contact between the pair of rotating plates 241, and in the space surrounded by the outer peripheral surfaces of the pair of rotating plates 241.

[0189] When the robotic vacuum cleaner 200 moves to clean the floor, a pair of wheels 260 can contact the floor. At this time, the casters 250 can be separated from the floor and not in contact with it.

[0190] Therefore, when the robot vacuum cleaner 200 is cleaning the floor, it does not need the assistance of the casters 250 for movement. However, when the robot vacuum cleaner 200 is climbing an inclined surface, the casters 250 can contact the inclined surface and assist in climbing. Thus, the robot vacuum cleaner 200 according to an embodiment of the present invention has the effect of being able to smoothly climb inclined surfaces.

[0191] Additionally, the caster 250 may also include a lifter 252 that moves the caster wheel 251 in the vertical direction.

[0192] For example, the lift 252 can be a servo motor lift, an electromagnetic lift, a cam-based lift, a pneumatic lift, or an electric screw lift. However, it is not limited to these.

[0193] By installing a lifter 252 on the caster 250, the robot vacuum cleaner 200 adjusts the height of the caster 250 according to the angle formed by the inclined surface, thereby achieving the effect of smoothly climbing the inclined surface.

[0194] On the other hand, when a pair of wheels 260 climb the inclined surface along the side of the caster 250, the caster and the auxiliary wheel 270 can roll in a straight line. That is, the path of the caster 250 in contact with the inclined surface can be the same as the path of the auxiliary wheel 270 in contact with the inclined surface.

[0195] Thus, the load of the sweeping robot 200 can be supported by the caster 250 before the pair of wheels 260 contact the inclined surface, and the load of the sweeping robot 200 can be supported by the auxiliary wheel 270 while the pair of wheels 260 are climbing the inclined surface.

[0196] Additionally, if a pair of wheels 260 are in contact with an inclined surface, the caster 250 can be configured to separate from the inclined surface.

[0197] In addition, when the robot vacuum cleaner 200 climbs the inclined surface along the side of the caster 250, the initial contact point between the inclined surface and the robot vacuum cleaner 200 is the outer peripheral surface of the caster wheel 251 of the caster 250, so that the mop 242 does not come into contact with the inclined surface.

[0198] The rotating cleaning unit 240 is equipped with a drive unit 243 that moves the mop 242 up and down. When the robot vacuum cleaner 200 climbs an inclined surface, the mop 242 can be lifted and separated from the ground.

[0199] In addition, the drive unit 243 can lift the rag 242 further away from the ground than the casters 250 when the pair of wheels 260 climb the inclined surface along the side of the casters 250.

[0200] For example, the drive unit 243 can lift the rag 242 so that the angle between the imaginary line passing through the last point of the rag 242 and tangent to the outer peripheral surface of the caster 250 and the ground is smaller than the angle between the inclined surface and the ground.

[0201] However, although the drive unit 243 can position the rag 242 higher than the caster 250, the rag may sag downwards due to moisture. Therefore, even if the drive unit 243 raises the rag 242 to a position higher than the caster 250, the rag 242, which sags due to water, may still be located below the caster 250.

[0202] Even if the rag 242 sags, the caster 250 can be configured such that the angle between the imaginary line passing through the point at the rear of the rag 242 and tangent to the outer peripheral surface of the caster 250 and the ground is smaller than the angle between the inclined surface and the ground.

[0203] Therefore, when the robot vacuum cleaner 200 moves backward to climb the inclined surface, it can prevent the mop 242 from contacting the inclined surface and prevent the inclined surface from being contaminated.

[0204] On the other hand, if the angle between the imaginary line on the outer peripheral surface of the lower contact wheel 260 and the outer peripheral surface of the caster 250 and the ground is greater than the angle between the ground and the inclined surface, the caster 250 may separate from the inclined surface before the caster 250 contacts the inclined surface or before the pair of wheels 260 contacts the inclined surface, thus reducing the climbing stability of the sweeping robot 200.

[0205] To solve the above problems, a sweeping robot 200 according to an embodiment of the present invention can be configured such that the angle formed by the imaginary line of the outer peripheral surface of the lower contact wheel 260 and the outer peripheral surface of the caster 250 with the ground is equal to or less than the angle formed by the ground and the inclined surface.

[0206] In addition, the rotating cleaning unit 240 may be provided with a shaft 244 for rotating the rag 242, and may be located above the imaginary line between the outer peripheral surface of the lower contact wheel 260 and the outer peripheral surface of the caster 250.

[0207] In order not to affect the aesthetic appearance of the robot vacuum cleaner 200, the casters 250 can be configured to be as close as possible to the bottom of the main body 210 so that they are not visible.

[0208] However, if the caster 250 is close to the bottom surface of the main body 210, the outer peripheral surface of the main body 210 may collide with the inclined surface when the robot vacuum cleaner 200 is moving backward to climb the inclined surface.

[0209] Therefore, according to an embodiment of the present invention, the sweeping robot 200 can be configured such that the angle between the imaginary line tangent to the outer peripheral surface of the caster 250 at the point at the rearmost point of the bottom surface of the main body 210 and the ground is greater than the angle between the inclined surface and the bottom surface.

[0210] That is, when the robot vacuum cleaner is climbing the inclined surface backward, if the caster 250 is configured to form the angle described above, the climbing stability of the robot vacuum cleaner can be improved because the inclined surface and the caster 250 make contact first, thus preventing the inclined surface from colliding with the robot vacuum cleaner 200, and the robot vacuum cleaner 200 can climb the inclined surface smoothly.

[0211] Figure 11a and Figure 11b A diagram is shown illustrating the process of a sweeping robot climbing an inclined surface according to an embodiment of the present invention.

[0212] Reference Figure 11a and Figure 11b The following describes the process of the robot vacuum cleaner 200 connecting to the robot vacuum cleaner base station 100.

[0213] First, the robot vacuum cleaner base station 100 will be described. If the robot vacuum cleaner 200 is aligned with the front of the robot vacuum cleaner base station 100, the rotation axis 131a of the door 131 of the robot vacuum cleaner base station 100 can rotate and open the door 131.

[0214] If door 131 is opened, the front end of door 131 can contact the ground, and door 131 can form an inclined surface that slopes upwards towards entrance / exit 127. The inclination angle of this inclined surface can be between 5 and 15 degrees. For example, the inclination angle can be 9.3 degrees, but it is not limited to this.

[0215] The inclined surface may also include a channel 131c for the sweeping robot 200 to climb and for the casters 250 to move.

[0216] The caster entry channel 131c can be formed into a groove for accommodating the wheel and extends in the direction of movement of the caster 250. In this case, the length of the caster entry channel 131c can be the same as or less than the length of the longitudinal width of the door 131.

[0217] As described above, if the door 131 is open and forms an inclined surface, the robot vacuum cleaner 200 can back up and climb the inclined surface along the side of the casters 250. At this time, the drive unit 243 of the rotating cleaning unit 240 can lift the mop 242 to the maximum distance from the ground.

[0218] If the robot vacuum cleaner 200 moves backward, the caster 250 can move along the caster into the channel 131c after contacting the front end of the door 131. When climbing, the caster 250 can support the robot vacuum cleaner 200 to improve its climbing stability and guide it to the correct position.

[0219] Therefore, during the process of the robot vacuum cleaner 200 climbing the inclined surface, the mop 242 can avoid contact with the inclined surface of the door 131, which can prevent the inclined surface of the door 131 from being contaminated, thereby improving hygiene.

[0220] During the climbing process, if a pair of wheels 260 come into contact with the front end of the door 131, the casters 250 can detach from the door 131. Afterward, the pair of wheels 260 can climb the inclined surface along the auxiliary access passage 131b.

[0221] The sweeping robot 200, which can climb inclined surfaces, can be placed in the placement section 120 through the entrance 127. At this time, a caster groove 123c for placing the caster 250 can be formed in the docking wall 123 of the sweeping robot base station 100.

[0222] The caster groove 123c can be formed to correspond to the outer peripheral surface of the caster 250. For example, the caster groove 123c can be an elliptical recessed groove.

[0223] Therefore, if the robot vacuum cleaner 200 is fully incorporated into the robot vacuum cleaner base station 100, the caster 250 can be placed in the caster groove 123c.

[0224] The present invention has been described in detail above through specific embodiments, but this is only for specific illustration of the present invention. The present invention is not limited thereto. Obviously, the present invention can be modified or improved by those skilled in the art within the technical concept of the present invention.

[0225] Simple variations or modifications of this invention are all within the scope of this invention, and the specific scope of protection of this invention will be clearly defined by the appended claims.

Claims

1. A robotic vacuum cleaner, characterized in that, include: The main body has a pair of wheels on its bottom surface; The suction section is disposed between the pair of wheels; An auxiliary wheel is disposed on one side of the suction section; Casters, configured relative to the suction unit in the opposite direction to the auxiliary wheels; and The rotating cleaning unit is equipped with at least one cloth, and the center of rotation is located between the caster and the suction unit. When the casters climb the inclined surface along the caster side, they are positioned closer to the ground than the rag.

2. The sweeping robot according to claim 1, characterized in that, When the pair of wheels climbs the inclined surface along the side direction of the caster, the direction of rolling of the caster and the auxiliary wheel is in a straight line.

3. The sweeping robot according to claim 1, characterized in that, The rotating cleaning unit includes a drive unit that moves the rag up and down; As the pair of wheels move toward the inclined surface along the caster side, the drive unit lifts the rag, separating it from the ground.

4. The sweeping robot according to claim 1, characterized in that, The angle formed by the imaginary line that contacts the outer circumferential surface of the wheel and the outer circumferential surface of the caster with the ground is equal to or less than the angle formed by the ground and the inclined surface.

5. The sweeping robot according to claim 1, characterized in that, The rotating cleaning unit includes a shaft that rotates the rag; The axle is located above an imaginary line that is tangent to the lower side of the outer circumferential surface of the wheel and the outer circumferential surface of the caster.

6. The sweeping robot according to claim 1, characterized in that, The caster separates from the inclined surface when the wheel contacts the inclined surface.

7. The sweeping robot according to claim 3, characterized in that, The drive unit lifts the rag so that the angle between the ground and the imaginary line passing through the last point of the rag and tangent to the outer peripheral surface of the caster is smaller than the angle between the inclined surface and the ground.

8. The sweeping robot according to claim 1, characterized in that, During travel along the inclined surface, the angle formed by the imaginary line tangent to the outer circumference of the caster at a point located at the rearmost point of the bottom surface of the main body and the ground is greater than the angle formed by the inclined surface and the ground.

9. A robotic vacuum cleaner system, comprising a robotic vacuum cleaner and a robotic vacuum cleaner base station docked with the robotic vacuum cleaner, characterized in that, The robotic vacuum cleaner includes: The main body has wheels on its bottom surface; At least one rotating cleaning part is disposed on the underside of the main body and is capable of engaging a cleaning cloth; and Casters are located on the underside of the main body and are positioned further rearward than the rotating cleaning unit; The robotic vacuum cleaner base station includes: The placement section accommodates the aforementioned sweeping robot; and The door is the entrance / exit for the sweeping robot to enter and exit the placement area; The door portion includes: The inclined surface allows the sweeping robot to climb when the entrance and exit are open; When the casters climb the inclined surface, they help prevent the rag from contacting the inclined surface.

10. The robotic vacuum cleaner system according to claim 9, wherein, The robot vacuum cleaner base station includes a caster entry channel, which is formed by a recess in the inclined surface to guide the movement of the casters.

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