Robot cleaner, station, and cleaning apparatus

Abstract

This cleaning apparatus includes: a robot cleaner including a main body having a lower portion on which a wet mop can be detachably mounted; and a station in which the robot cleaner can be placed, wherein the station includes: a water supply container provided to store water; a washing chamber configured so that the wet mop can be washed in the washing chamber while the robot cleaner is mounted on the station and the wet mop is mounted on the lower portion of the main body; a steam generating device for generating steam by using the water stored in the water supply container; a pump provided to pump the water stored in the water supply container to the outside of the water supply container; a first pipe provided to guide the water pumped to the outside of the water supply container by the pump to the washing chamber; and a second pipe provided to guide the water pumped to the outside of the water supply container by the pump to the steam generating device.

Description

Robot vacuum cleaners, stations, and cleaning devices

[0001] The present disclosure relates to a robot vacuum cleaner, a station, and a cleaning device.

[0002] Typically, a robot vacuum cleaner is a device that automatically cleans a space by moving around it and sucking up dust and other debris accumulated on the floor without user intervention. A robot vacuum cleaner moves around the cleaning area and cleans it.

[0003] The robot vacuum cleaner uses a distance sensor to determine the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area, and selectively drives the left and right wheel motors of the robot vacuum cleaner to change direction on its own and clean the cleaning area.

[0004] Recently, robot vacuums have emerged not only to suck up dust and other foreign substances from the floor, but also to wipe them away. Robot vacuums can also perform wet cleaning using a mop.

[0005] One aspect of the present disclosure provides a cleaning device with improved ease of use.

[0006] One aspect of the present disclosure provides a cleaning device with improved cleaning efficiency.

[0007] One aspect of the present disclosure provides a cleaning device that is easy to manage with a mop.

[0008] One aspect of the present disclosure provides a cleaning device comprising a robot vacuum cleaner and a station capable of supplying steam toward a mop of the robot vacuum cleaner.

[0009] The technical problems to be achieved in this document are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0010] According to one embodiment of the present disclosure, a cleaning device includes a robot cleaner including a main body having a lower portion on which a mop is detachably mounted; and a station on which the robot cleaner can be mounted, wherein the station includes a water tank configured to store water; a washing chamber configured so that the mop can be washed in the washing chamber while the robot cleaner is mounted on the station and the mop is mounted on the lower portion of the main body; a steam generating device that generates steam using water stored in the water tank; a pump configured to pump water stored in the water tank to the outside of the water tank; a first pipe configured to guide water pumped to the outside of the water tank by the pump to the washing chamber; and a second pipe configured to guide water pumped to the outside of the water tank by the pump to the steam generating device.

[0011] According to one embodiment of the present disclosure, the station may include: a valve connected to the first pipe and the second pipe; and a third pipe between the pump and the valve, the third pipe being configured to guide water pumped out of the water tank by the pump to the valve. The valve may be configured to send water pumped out of the water tank by the pump from the third pipe to the first pipe, or to send water pumped out of the water tank by the pump from the third pipe to the second pipe.

[0012] According to one embodiment of the present disclosure, the valve may be a first valve. The station may include a fourth pipe configured to guide water pumped out of the water tank by the pump to the robot cleaner when the robot cleaner is placed on the station; a second valve connected to the third pipe and the fourth pipe; and a fifth pipe connecting the pump and the second valve. The second valve may be configured to send water pumped out of the water tank by the pump from the fifth pipe to the third pipe, or to send water pumped out of the water tank by the pump from the fifth pipe to the fourth pipe.

[0013] According to one embodiment of the present disclosure, the station may include a third pipe configured to guide steam generated from the steam generating device to the washing chamber, the third pipe including a first end communicating with the steam generating device and a second end communicating with the washing chamber.

[0014] According to one embodiment of the present disclosure, the station may include a washing frame detachably mountable to the washing chamber and including a steam nozzle. While the washing frame is mounted to the washing chamber, the robot cleaner is mounted on the station, and the mop is mounted to the lower portion of the main body, the washing frame may be positioned to rub against the mop, and the steam nozzle may be positioned to spray steam guided to the washing chamber through the third pipe toward the mop.

[0015] According to one embodiment of the present disclosure, the second pipe may be connected to the lower portion of the steam generating device. The third pipe may be connected to the upper portion of the steam generating device.

[0016] According to one embodiment of the present disclosure, the steam generating device may be positioned below the water tank. The third pipe may include a bending portion located at a height between the steam generating device and the water tank.

[0017] According to one embodiment of the present disclosure, while the robot cleaner is mounted on the station and the mop is mounted on the lower part of the main body, at least a portion of the steam nozzles may be positioned below the lower surface of the mop.

[0018] According to one embodiment of the present disclosure, the size of the second end of the third pipe may be set to be larger than the size of the steam injection port.

[0019] According to one embodiment of the present disclosure, the floor of the washing chamber may be arranged to slope downward along the direction in which the robot cleaner enters the station.

[0020] According to one embodiment of the present disclosure, the station may include: a steam tank capable of receiving water guided through the second pipe; a heater configured to heat water received in the steam tank; a water level sensor configured to detect a water level within the steam tank; and a control unit configured to operate the heater based on a predetermined water level detected by the water level sensor.

[0021] According to one embodiment of the present disclosure, the station may include: a steam tank capable of receiving water guided through the second pipe; a heater configured to heat the water received in the steam tank; a temperature sensor configured to detect a temperature within the steam tank; and a control unit configured to stop the heater based on the temperature detected by the temperature sensor reaching a predetermined temperature.

[0022] According to one embodiment of the present disclosure, while the robot cleaner is mounted on the station and the mop is mounted on the lower part of the main body, the station may be configured to control the steam generating device to perform a steam generating operation based on the completion of a washing operation of washing the mop in the washing chamber or the receipt of a steam operation signal from at least one of the robot cleaner or a user device.

[0023] According to one embodiment of the present disclosure, the station may be configured to transmit a steam start signal to the robot cleaner based on the initiation of the steam generating operation.

[0024] According to one embodiment of the present disclosure, the robot cleaner may be configured to rotate the mop based on receiving the steam start signal from the station.

[0025] A method for controlling a robot vacuum cleaner according to the invention may include returning to a station in response to a station return condition being satisfied; and rotating a mop in response to receiving a steam start signal from the station.

[0026] These and / or other aspects of the present disclosure will become apparent and more readily understood from the following description of embodiments taken in conjunction with the accompanying drawings.

[0027] FIG. 1 is a drawing illustrating a state in which a robot cleaner is away from a station in a cleaning device according to one embodiment.

[0028] FIG. 2 is a drawing showing a state in which a robot cleaner is installed on a station in a cleaning device according to one embodiment.

[0029] Figure 3 is a drawing showing the rear of the cleaning device illustrated in Figure 2.

[0030] FIG. 4 is a drawing illustrating a robot vacuum cleaner according to one embodiment.

[0031] Figure 5 is a drawing showing the rear of the robot vacuum cleaner illustrated in Figure 4.

[0032] Fig. 6 is a drawing showing the lower part of the robot vacuum cleaner illustrated in Fig. 4.

[0033] FIG. 7 is a diagram illustrating a station according to one embodiment.

[0034] Figure 8 is a drawing showing the rear of the station illustrated in Figure 7.

[0035] Figure 9 is a drawing showing the rear of the station illustrated in Figure 7.

[0036] FIG. 10 is a drawing illustrating a portion of a station according to one embodiment.

[0037] FIG. 11 is a drawing showing a state in which a washing frame is separated from a washing chamber at a station according to one embodiment.

[0038] FIG. 12 is a cross-sectional view of a station according to one embodiment.

[0039] FIG. 13 is a schematic diagram illustrating a configuration of a station according to one embodiment.

[0040] Figure 14 illustrates the waste collection operation of a station according to one embodiment.

[0041] FIG. 15 illustrates a water supply operation of a robot cleaner of a station according to one embodiment.

[0042] FIG. 16 is a diagram illustrating a water supply operation of a washing chamber of a station according to one embodiment.

[0043] Figure 17 illustrates the wastewater collection operation of a station according to one embodiment.

[0044] Figure 18 illustrates the steam supply operation of a station according to one embodiment.

[0045] Figure 19 illustrates the water recovery operation of a station according to one embodiment.

[0046] Figure 20 illustrates the drying operation of a station according to one embodiment.

[0047] Figure 21 shows a cross-section along line A-A' shown in Figure 3.

[0048] Figure 22 shows a cross-section along line B-B' shown in Figure 3.

[0049] Fig. 23 illustrates a control block diagram of a robot vacuum cleaner according to one embodiment.

[0050] Figure 24 illustrates a control block diagram of a station according to one embodiment.

[0051] FIG. 25 is a flowchart illustrating an example of a method for washing a mop of a robot vacuum cleaner according to one embodiment.

[0052] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0053] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0054] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0055] In this document, each of the phrases "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 any one of the items listed together in that phrase, or all possible combinations thereof.

[0056] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0057] The terms "part," "module," and "member" may be implemented in hardware or software. Depending on the embodiments, multiple "parts," "modules," or "members" may be implemented as a single component, or a single "part," "module," or "member" may include multiple components.

[0058] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0059] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0060] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0061] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0062] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0063] Meanwhile, the terms "front", "back", "left", "right", "up", "down", etc. used in the following description are defined based on the drawing, and the shape and position of each component are not limited by these terms. For example, as illustrated in FIG. 1, the direction in which the robot cleaner (10) enters the station (20) can be defined as rearward (-X direction), and the opposite direction can be defined as forward (+X direction).

[0064] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0065] FIG. 1 is a drawing illustrating a state in which a robot cleaner is removed from a station in a cleaning device according to one embodiment. FIG. 2 is a drawing illustrating a state in which a robot cleaner is installed in a station in a cleaning device according to one embodiment. FIG. 3 is a drawing illustrating the rear of the cleaning device illustrated in FIG. 2.

[0066] Referring to FIGS. 1 to 3, the cleaning device (1) may include a robot cleaner (10) and a station (20). The cleaning device (1) may be referred to as a cleaning system (1).

[0067] A robot cleaner (10) can clean a floor by moving along the floor. The floor cleaned by the robot cleaner (10) can be referred to as a cleaning surface. The robot cleaner (10) can perform dry cleaning and / or wet cleaning. The robot cleaner (10) can suck up or wipe away dirt from the cleaning surface. Here, dirt can be a general term for foreign substances such as dust, hair, and food crumbs.

[0068] The robot cleaner (10) can be mounted on the station (20). The robot cleaner (10) can be mounted on the station (20). The robot cleaner (10) can be docked on the station (20). At least a portion of the robot cleaner (10) can be placed in the receiving space (210a) of the station (20).

[0069] The robot vacuum cleaner (10) can move to the station (20) during cleaning and / or after cleaning is completed.

[0070] For example, the robot vacuum cleaner (10) may move to the station (20) when charging is required, when the dust bin (141, see FIGS. 21 and 22) needs to be emptied, when the water in the water tank (114, see FIG. 21) is low, when the moisture content of the mop (160) is low, when the mop (160) needs to be washed, when the mop (160) needs to be sterilized, and / or when the mop (160) needs to be dried.

[0071] The station (20) may be provided to hold the robot cleaner (10). The station (20) may be provided to allow the robot cleaner (10) to be installed. The station (20) may be provided to store the robot cleaner (10).

[0072] For example, while the robot cleaner (10) is seated at the station (20), the station (20) can charge the battery (150, see FIG. 23) of the robot cleaner (10). For example, while the robot cleaner (10) is seated at the station (20), the station (20) can collect the waste collected in the dust bin (141) of the robot cleaner (10). For example, while the robot cleaner (10) is seated at the station (20), the station (20) can supply water to the water tank (114) of the robot cleaner (10). For example, while the robot cleaner (10) is seated at the station (20), the station (20) can wet the mop (160) with water and / or steam. For example, while the robot cleaner (10) is mounted on the station (20), the station (20) can wash the mop (160). For example, while the robot cleaner (10) is mounted on the station (20), the station (20) can sterilize the mop (160). For example, while the robot cleaner (10) is mounted on the station (20), the station (20) can dry the mop (160).

[0073] FIG. 4 is a drawing illustrating a robot vacuum cleaner according to one embodiment. FIG. 5 is a drawing illustrating the rear of the robot vacuum cleaner illustrated in FIG. 4. FIG. 6 is a drawing illustrating the lower part of the robot vacuum cleaner illustrated in FIG. 4.

[0074] A robot cleaner (10) may include a main body (110). The main body (110) may form the overall appearance of the robot cleaner (10). Components of the robot cleaner (10) may be accommodated inside the main body (110). Electrical components may be arranged inside the main body (110). The main body (110) may be referred to as a cleaner body (110).

[0075] The robot cleaner (10) may include a suction port (111). The suction port (111) may be formed to face a surface to be cleaned. The suction port (111) may be open toward 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 by penetrating the lower surface (110b) of the main body (110). Dirt on the surface to be cleaned may be sucked into the main body (110) through the suction port (111) together with air. The suction port (111) may be referred to as a vacuum cleaner suction port (111).

[0076] A robot vacuum cleaner (10) may include a brush (130). The brush (130) may strike a surface to be cleaned to scatter dirt. Dirt scattered by the brush (130) may be drawn into the suction port (111) together with air.

[0077] For example, the robot cleaner (10) may include a first brush (131) disposed in the suction port (111). The first brush (131) may be rotatably mounted relative to the main body (110). The rotation axis of the first brush (131) may be an axis extending approximately along the horizontal direction (Y direction). The first brush (131) may be referred to as a main brush (131).

[0078] For example, the robot cleaner (10) may include a second brush (132) positioned 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 sweep to the suction port (111). The second brush (132) may be rotatably mounted with respect to the main body (110). The rotation axis of the second brush (132) may be an axis extending approximately along a vertical direction (Z direction). The second brush (132) may be referred to as a side brush (132).

[0079] The robot vacuum cleaner (10) may include a dust collector (141, see FIGS. 21 and 22). Dirt and / or air sucked in through the suction port (111) may move to the dust collector (141). Dirt sucked in through the suction port (111) may be collected in the dust collector (141). The air sucked in through the suction port (111) may be filtered as it passes through the dust collector (141). Dirt and air sucked in through the suction port (111) may be separated in the dust collector (141).

[0080] The robot cleaner (10) may include an exhaust port (112). The exhaust port (112) may be formed in the main body (110). The exhaust port (112) may be formed on the rear side of the main body (110). Air sucked in through the suction port (111) may be filtered and discharged to the outside of the robot cleaner (10) through the exhaust port (112). For example, a plurality of exhaust ports (112) may be provided, and the plurality of exhaust ports may be configured with a plurality of holes. The exhaust port (112) may be referred to as a cleaner exhaust port (112).

[0081] The robot cleaner (10) may include a suction motor (142, see FIG. 23). The suction motor (142) may generate suction force. By the suction force generated by the suction motor (142), the suction port (111) may suck in dirt and / or air. By the suction force generated by the suction motor (142), the exhaust port (112) may suck in the inside of the robot cleaner (10) and discharge the filtered air to the outside. The suction motor (142) may be disposed on an air path formed between the suction port (111) and the exhaust port (112). The suction motor (142) may be referred to as a vacuum cleaner suction motor (142).

[0082] The robot cleaner (10) may include a driving unit (120) for driving the robot cleaner (10). The driving unit (120) may be mounted on the main body (110) and may move the main body (110). For example, the driving unit (120) may include a pair of main wheels (121). For example, the driving unit (120) may further include at least one auxiliary wheel (122) for stable driving of the robot cleaner (10).

[0083] The robot vacuum cleaner (10) may include a battery (150, see FIG. 23). The battery (150) may be configured to be rechargeable. The battery (150) may provide the power required to operate the robot vacuum cleaner (10).

[0084] The robot cleaner (10) may include a charging terminal (151). The charging terminal (151) may be electrically connected to a battery (150). While the robot cleaner (10) is docked on the station (20), the charging terminal (151) of the robot cleaner (10) may be electrically connected to the charging terminal (218) of the station (20). As the charging terminal (151) of the robot cleaner (10) is electrically connected to the charging terminal (218) of the station (20), the battery (150) of the robot cleaner (10) may be charged. That is, while the robot cleaner (10) is docked on the station (20), the battery (150) may be charged. The charging terminal (151) may be referred to as a cleaner charging terminal (151).

[0085] The robot cleaner (10) may include a mop (160). The mop (160) is detachably mountable to the lower part of the main body (110). The mop (160) may be rotatably mounted with respect to the main body (110). The mop (160) may be provided to come into contact with a surface to be cleaned and clean the surface to be cleaned. The mop (160) may wipe off dirt from the surface to be cleaned while it is wet. In the drawing, two mops (160) are illustrated, but there is no limitation on the number of mops (160). The mop (160) may be referred to as a cleaning pad (160). The mop (160) may be referred to as a wet pad (160).

[0086] The mop (160) can be supplied with moisture from the water tank (114) of the robot cleaner (10). The mop (160) can be supplied with moisture from the station (20). For example, when the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, water stored in the water tank (114) can be supplied to the mop (160). For example, when the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, the robot cleaner (10) can return to the station (20) and be settled on the station (20). At this time, the station (20) can supply water to the water tank (114) or spray water and / or steam toward the mop (160). The robot cleaner (10) being placed on the station (20) may include the robot cleaner (10) being docked on the station (20).

[0087] The robot cleaner (10) may include a water charging unit (113). The water charging unit (113) may be formed in the main body (110). The water charging unit (113) may be formed on the rear side of the main body (110). While the robot cleaner (10) is mounted on the station (20), the water charging unit (113) may receive water provided from the station (20). The water supplied to the robot cleaner (10) through the water charging unit (113) may be stored in a water tank (114). While the robot cleaner (10) is mounted on the station (20), the water charging unit (113) of the robot cleaner (10) may be docked with a first water supply unit (217, see FIG. 12) of the station (20) to be described later.

[0088] The robot cleaner (10) may include a rotation drive unit (161, see FIG. 23) that rotates the mop (160). The rotation drive unit (161) may include a motor. The rotation drive unit (161) may be referred to as a motor (161). For example, when the robot cleaner (10) is mounted on a station (20) and the mop (160) is being washed and / or sterilized, the motor (161) may rotate the mop (160). As will be described later, the control unit (190, see FIG. 23) of the robot cleaner (10) may control the motor (161) to rotate the mop (160).

[0089] The robot cleaner (10) may include a lifting drive unit (162, FIG. 23) that moves the mop (160) up and down. While the robot cleaner (10) is cleaning, the lifting drive unit (162) may move the mop (160) downward. As a result, the mop (160) may come into contact with the surface to be cleaned. While the robot cleaner (10) completes cleaning and returns to the station (20), the lifting drive unit (162) may move the mop (160) upward. As a result, the mop (160) may be separated from the surface to be cleaned. While the robot cleaner (10) is moving to the station (20), the mop (160) may be prevented from colliding with an obstacle on the surface to be cleaned or from leaving unnecessary moisture on the surface to be cleaned. As will be described later, the control unit (190, see FIG. 23) of the robot cleaner (10) can control the lifting drive unit (162) to move the mop (160) up and down.

[0090] The robot vacuum cleaner (10) may include an obstacle detection sensor (170). The obstacle detection sensor (170) may be configured to detect the location of an obstacle or the distance to the obstacle. The obstacle detection sensor (170) may be mounted on the main body (110). For example, the obstacle detection sensor (170) may protrude from the upper surface (110a) of the main body (110).

[0091] FIG. 7 is a drawing illustrating a station according to one embodiment. FIG. 8 is a drawing illustrating the rear of the station illustrated in FIG. 7. FIG. 9 is a drawing illustrating the rear of the station illustrated in FIG. 7.

[0092] The station (20) may include a main body (210). The main body (210) may form the overall appearance of the station (20). The main body (210) may form a receiving space (210a) for receiving at least a portion of the robot cleaner (10). The main body (210) may be referred to as a station main body (210).

[0093] The main body (210) may include a base (211) and a housing (212) that can be detachably coupled to the base (211).

[0094] The base (211) may include a cleaner mounting portion (211a) on which the robot cleaner (10) is mounted. The cleaner mounting portion (211a) may have a shape inclined from the surface to be cleaned so that the robot cleaner (10) may enter. For example, the cleaner mounting portion (211a) may include a shape inclined upward along the direction in which the robot cleaner (10) enters the station (20). For example, an anti-slip portion (216) may be formed on the cleaner mounting portion (211a) so that the robot cleaner (10) can easily climb the inclined surface of the cleaner mounting portion (211a). For example, an anti-slip protrusion (215) may be formed on the cleaner mounting portion (211a) to prevent the robot cleaner (10) mounted on the station (20) from slipping along the inclined surface of the cleaner mounting portion (211a). The robot cleaner (10) installed on the station (20) can be prevented from leaving the station (20) by the anti-slip barrier (215).

[0095] The base (211) may include a side wall portion (211b) extending upward from the cleaner mounting portion (211a). The side wall portion (211b) may be provided to surround at least a portion of the cleaner mounting portion (211a).

[0096] The housing (212) may be provided to cover the side wall portion (211b) of the base (211). The housing (212) may accommodate components of the station (20). Electrical components may be arranged inside the housing (212). The housing (212) may form an opening (212a), and the robot cleaner (10) may enter the receiving space (210a) of the station (20) through the opening (212a).

[0097] The station (20) may include a water tank (221). The water tank (221) may be configured to store water. Relatively clean water may be accommodated in the water tank (221). The water stored in the water tank (221) may be provided to the water tank (114) of the robot cleaner (10) or to the washing chamber (230) of the station (20) described below. That is, the water stored in the water tank (221) may be used to provide moisture to the mop (160) or to wash the mop (160). The water tank (221) may be detachably mounted on the main body (210). For example, a user may 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).

[0098] The station (20) may include a waste tank (222). The waste tank (222) may be configured to store water. The waste tank (222) may accommodate relatively dirty water. Dirty water (waste water) obtained by washing the mop (160) may be stored in the waste tank (222). The waste tank (222) may be detachably mounted on the main body (210). For example, a user may grasp the handle (222a) of the waste tank (222) to detach the waste tank (222) from the main body (210) or attach the waste tank (222) to the main body (210).

[0099] The station (20) may include a waste collection bin (223). The waste collection bin (223) may be provided to store waste collected from the dust collection bin (141) of the robot cleaner (10). The waste collection bin (223) may be detachably mounted on the main body (210). For example, a user may hold the handle (223a) of the waste collection bin (223) to detach the waste collection bin (223) from the main body (210) or attach the waste collection bin (223) to the main body (210).

[0100] In the drawing, the sewage tank (222), the water supply tank (221), and the sewage collection tank (223) are shown as being arranged side by side along a roughly horizontal direction (Y direction), but there is no limitation on the positions of each of the sewage tank (222), the water supply tank (221), and the sewage collection tank (223).

[0101] The station (20) may include a suction port (213). The suction port (213) may be formed in the cleaner mounting portion (211a). While the robot cleaner (10) is mounted on the station (20), the suction port (213) may be communicated with the dust collector (141) of the robot cleaner (10). The suction port (213) may be provided to suction the waste collected in the dust collector (141). The suction port (213) may be referred to as a cleaner suction port (213).

[0102] The station (20) may include a waste collection duct (225). The waste collection duct (225) may be provided to guide waste sucked through the suction port (213) to a waste collection bin (223). The waste collection duct (225) may be positioned between the suction port (213) and the waste collection bin (223). One end of the waste collection duct (225) may be in communication with the suction port (213). The other end of the waste collection duct (225) may be in communication with the waste collection bin (223).

[0103] The station (20) may include an outlet (214, see FIG. 3). The outlet (214) may be formed on the rear side of the main body (210). The outlet (214) may be formed on the rear side of the housing (212). The outlet (214) may draw air into the interior of the station (20) and discharge the filtered air to the outside. For example, the outlets (214) may be provided in multiple numbers, and the multiple outlets (214) may be configured with multiple holes. The outlet (214) may be referred to as a station outlet (214).

[0104] The station (20) may include a suction motor (224). When the robot cleaner (10) is installed on the station (20), the suction motor (224) may generate a suction force to suck up the waste in the dust bin (141). By the suction force of the suction motor (224), the waste in the dust bin (141) may flow along the suction port (113) and the waste collection duct (225) and be collected in the waste collection bin (223). By the suction force generated by the suction motor (224), the discharge port (214) may suck in the air into the station (20) and discharge the air that has passed through the discharge filter (226) to the outside. The suction motor (224) may be referred to as a station suction motor (224).

[0105] The station (20) may include a steam generating device (250). The steam generating device (250) may generate steam. The steam generating device (250) may generate steam using water stored in a water tank (221). The steam generating device (250) may receive water stored in the water tank (221) to generate steam.

[0106] The steam generator (250) may be placed below the water tank (221). When supplying water from the water tank (221) to the steam generator (250), the first pump (21, see FIG. 13) can pump the water from the water tank (221) with relatively low power with the help of gravity.

[0107] The steam generator (250) may include a steam tank (251) capable of receiving water delivered from a water tank (221).

[0108] The steam generating device (250) may include a heater (252) configured to heat water contained in a steam tank (251). Steam may be generated as the water in the steam tank (251) is heated by the heater (252). As will be described later, the control unit (290, see FIG. 24) of the station (20) may control the heater (252).

[0109] For example, the heater (252) can heat water using vibration and / or electrical resistance. However, the present disclosure is not limited to the above-described examples, and the type of the heater (252) is not limited as long as it can heat water and generate steam.

[0110] The steam generator (250) may include a water level sensor (253, see FIG. 24) configured to detect a water level within the steam tank (251). As will be described later, the control unit (290, see FIG. 24) of the station (20) may operate the heater (252) based on the detection of a predetermined water level by the water level sensor (253). The detection of a predetermined water level by the water level sensor (253) may include the detection of the water level within the steam tank (251) reaching a predetermined water level by the water level sensor (253).

[0111] Accordingly, the heater (252) can operate only when a certain amount of water is filled in the steam tank (251), thereby preventing accidents such as fire in advance.

[0112] The steam generator (250) may include a temperature sensor (254, FIG. 24) configured to detect the temperature within the steam tank (251). As will be described later, the control unit (290, see FIG. 24) of the station (20) may stop the operation of the heater (252) based on the temperature detected by the temperature sensor (254) being higher than a predetermined temperature. Accordingly, the operation of the heater (242) may be stopped when the temperature of the steam is excessively high, thereby preventing accidents such as fire in advance and preventing damage to the cleaning device (e.g., a mop).

[0113] The station (20) may include a drying device (260). The drying device (260) may be configured to generate air (hereinafter, referred to as dry air) for drying the mop (160). The drying device (260) may be configured to provide the dry air to a cleaning chamber (230) to be described later. While the robot cleaner (10) is positioned at the station (20), the dry air discharged from the drying device (260) may be directed toward the mop (160). The air (dry air) generated and provided by the drying device (260) may have a relatively low humidity or a high temperature. The dry air may also be referred to as hot air or dry wind.

[0114] For example, after washing and / or sterilizing the mop (160), the station (20) can provide dry air to the mop (160). For example, if the moisture content of the mop (160) increases while the robot cleaner (10) is cleaning the surface to be cleaned, the robot cleaner (10) can return to the station (20), and the station (20) can discharge dry air toward the mop (160).

[0115] The drying device (260) may include a fan (262) that generates a blowing force. The drying device (260) may include a drying duct (261) that is provided to guide air blown by the fan (262). The drying duct (261) may be provided to connect the fan (262) and a washing chamber (230) to be described later. The drying device (260) may include a heater (263) that is provided to heat the air blown by the fan (262). The heater (263) may be provided to heat the air guided by the drying duct (261). At least a portion of the heater (263) may be disposed inside the drying duct (261).

[0116] FIG. 10 is a drawing illustrating a portion of a station according to one embodiment. FIG. 11 is a drawing illustrating a state in which a washing frame is separated from a washing chamber in a station according to one embodiment. FIG. 12 is a cross-sectional drawing illustrating a side view of a station according to one embodiment.

[0117] The station (20) may include a washing chamber (230). While the robot cleaner (10) is mounted on the station (20), the washing chamber (230) may be provided to correspond to the mop (160). The washing chamber (230) may be defined as a space where the mop (160) is washed. The washing chamber (230) may be provided to receive water delivered from a water tank (221). The washing chamber (230) may have a shape for containing water. While the robot cleaner (10) is mounted on the station (20), the mop (160) can be washed by the water received in the washing chamber (230).

[0118] A cleaning chamber (230) may be formed in the base (211) of the main body (210). The cleaning chamber (230) may be provided to be recessed from the cleaner mounting portion (211a). The cleaning chamber (230) may be defined by a chamber bottom (230a) and a chamber side wall (230b) extending upward from the chamber bottom (230a). The chamber side wall (230b) may be provided to have a predetermined height.

[0119] The chamber floor (230a) may be provided to slope downward along the direction in which the robot cleaner (10) enters the station (20). For example, the chamber floor (230a) may be provided to slope downward toward the rear. Accordingly, after the mop (160) is washed, water (wastewater) within the washing chamber (230) can easily flow along the slope of the chamber floor (230a) toward the wastewater collection unit (234) located at the rear of the washing chamber (230). However, the present disclosure is not limited to the above, and the slope direction of the chamber floor (230a) may, of course, vary depending on the position of the wastewater collection unit (234).

[0120] For example, the station (20) may include a tray (2301). The tray (2301) may be provided to be detachably mounted on the base (211) of the main body (210) to form at least a portion of the washing chamber (230). For example, the tray (2301) may be provided to form at least a portion of the chamber bottom (230a) and the chamber side wall (230b). The tray (2301) may include at least one tray hole (2302). Wastewater within the washing chamber (230) may flow through the tray hole (2302) to the wastewater collection unit (234). Since the tray (2301) includes the tray hole (2302), foreign substances larger than the tray hole (2302) may be filtered by the tray (2301). That is, the tray (2301) may primarily filter wastewater after washing the mop (160).

[0121] The station (20) may include a washing frame (240). The washing frame (240) may be provided to correspond to the washing chamber (230). The washing frame (240) may be detachably mounted on the washing chamber (230). While the robot cleaner (10) is mounted on the station (20), the washing frame (240) may be provided to come into contact with the mop (160). While the robot cleaner (10) is mounted on the station (20), the washing frame (240) may be provided to rub against the mop (160). The mop (160) may be washed while being rubbed against the washing frame (240). At this time, the mop (160) may be provided to be rotatable.

[0122] For example, the washing frame (240) may include a frame body (240a), a frame protrusion (240b), and a frame opening (240c). The frame body (240a) may be detachably coupled to the chamber side wall (230b). The frame opening (240c) may be formed to penetrate the frame body (240a). The frame protrusion (240b) may be formed on the frame body (240a) to interfere with the mop (160).

[0123] The station (20) may include a charging terminal (218). While the robot cleaner (10) is docked on the station (20), the charging terminal (218) of the station (20) may be electrically connected to the charging terminal (151) of the robot cleaner (10). As the charging terminal (218) of the station (20) and the charging terminal (151) of the robot cleaner (10) are electrically connected, the battery (150) of the robot cleaner (10) may be charged. That is, the robot cleaner (10) may be charged while docked on the station (20). The charging terminal (218) may be referred to as a station charging terminal (218).

[0124] The station (20) may include a first water supply unit (217). The first water supply unit (217) may receive water stored in a water tank (221) and supply it to the robot cleaner (10). While the robot cleaner (10) is mounted on the station (20), the first water supply unit (217) of the station (20) may be connected to the water charging unit (113) of the robot cleaner (10). Water flowing out from the first water supply unit (217) may flow into the water charging unit (113). Water flowing in through the water charging unit (113) may be stored in the water tank (114). When the moisture content of the mop (160) decreases during cleaning of the robot cleaner (1), the water stored in the water tank (114) may be provided to the mop (160). For example, the first water supply unit (217) may be formed on the side wall (211b) of the base (211) of the main body (210).

[0125] The station (20) may include a second water supply unit (231). The second water supply unit (231) may be connected to the washing chamber (230). The second water supply unit (231) may receive water stored in the water tank (221) and supply it to the washing chamber (230). Water flowing out from the second water supply unit (231) may be accommodated in the washing chamber (230). Water flowing out from the second water supply unit (231) may be used to wash the mop (160). In the drawing, two second water supply units (231) are illustrated, but there is no limitation on the number of second water supply units (231). For example, the number of second water supply units (231) may correspond to the number of mops (160).

[0126] The station (20) may include a water jet (241). The water jet (241) may be formed in the washing frame (240). While the washing frame (240) is mounted in the washing chamber (230), the water jet (241) may correspond to the second water supply unit (231). The water jet (241) may be communicated with the second water supply unit (231). The water jet (241) may be communicated with the washing chamber (230). The water jet (241) may receive water from the second water supply unit (231) and spray it toward the washing chamber (230). While the robot cleaner (10) is mounted in the station (20), the water jet (241) may spray water toward the mop (160). In the drawing, two water nozzles (241) are depicted, but there is no limitation on the number of water nozzles (241). For example, the number of water nozzles (241) may correspond to the number of mops (160).

[0127] The station (20) may include a dry air supply unit (232). The dry air supply unit (232) may be connected to the washing chamber (230). The dry air supply unit (232) may receive dry air from the drying device (260) and supply it to the washing chamber (230). Dry air discharged from the drying device (260) may be supplied to the washing chamber (230) through the dry air supply unit (232). In the drawing, two dry air supply units (232) are illustrated, but there is no limitation on the number of dry air supply units (232). For example, the number of dry air supply units (232) may correspond to the number of mops (160).

[0128] The station (20) may include a dry air nozzle (242). The dry air nozzle (242) may be formed in the cleaning frame (240). While the cleaning frame (240) is mounted in the cleaning chamber (230), the dry air nozzle (242) may correspond to the dry air supply unit (232). The dry air nozzle (242) may be in communication with the dry air supply unit (232). The dry air nozzle (242) may be in communication with the cleaning chamber (230). The dry air nozzle (242) may receive dry air from the dry air supply unit (232) and spray it toward the cleaning chamber (230). While the robot cleaner (10) is mounted in the station (20), the dry air nozzle (242) may spray dry air toward the mop (160). In the drawing, two dry air nozzles (242) arranged vertically are depicted as corresponding to one dry air supply unit (232), but the present disclosure is not limited thereto. There is no limitation on the shape and / or position of the dry air nozzles (242).

[0129] The station (20) may include a steam supply unit (233). The steam supply unit (233) may be connected to the washing chamber (230). The steam supply unit (233) may receive steam from the steam generating device (250) and supply it to the washing chamber (230). The steam generated in the steam generating device (250) may flow toward the washing chamber (230) through the steam supply unit (233). In the drawing, one steam supply unit (233) is illustrated, but there is no limitation on the number of steam supply units (233). For example, a plurality of steam supply units (233) may be provided.

[0130] The station (20) may include a steam nozzle (243). The steam nozzle (243) may be formed in the washing frame (240). While the washing frame (240) is mounted in the washing chamber (230), the steam nozzle (243) may correspond to the steam supply unit (233). The steam nozzle (243) may be in communication with the steam supply unit (233). The steam nozzle (243) may be in communication with the washing chamber (230). The steam nozzle (243) may receive steam from the steam supply unit (233) and spray it toward the washing chamber (230). While the robot cleaner (10) is mounted on the station (20), the steam nozzle (243) may spray steam toward the mop (160). In the drawing, two steam nozzles (243) are depicted, but there is no limitation on the number of steam nozzles (243). For example, the number of steam nozzles (243) may correspond to the number of mops (160).

[0131] The station (20) may include a sewage collection unit (234, see FIG. 21). The sewage collection unit (234) may be in communication with the washing chamber (230). The sewage collection unit (234) may be provided to collect sewage within the washing chamber (230). The sewage collection unit (234) may be provided to guide sewage within the washing chamber (230).

[0132] FIG. 13 is a schematic diagram illustrating a configuration of a station according to one embodiment.

[0133] Referring to FIG. 13, the station (20) may include at least one pipe (201, 202, 2023, 204, 205, 206, 207, 208, 209, and / or 2010). The station (20) may include at least one pump (21 and / or 22). The station (20) may include at least one valve (23 and / or 24).

[0134] The station (20) may include a first pipe (201). The first pipe (201) may be provided to connect a water supply tank (221) and a first pump (21). One end of the first pipe (201) may be in communication with the water supply tank (221). The other end of the first pipe (201) may be in communication with the first pump (21). The first pipe (201) may be provided to guide water flowing out from the water supply tank (221) or water flowing out from the first pump (21). Water may flow along a first flow path formed inside the first pipe (201).

[0135] The station (20) may include a second pipe (202). The second pipe (202) may be provided to connect the first pump (21) and the first valve (23). One end of the second pipe (202) may be in communication with the first pump (21). The other end of the second pipe (202) may be in communication with the first valve (23). The second pipe (202) may be provided to allow water pumped by the first pump (21) to flow. The second pipe (202) may be provided to guide water flowing out from the first pump (21) or water flowing out from the first valve (23). The water may flow along a second flow path formed inside the second pipe (202).

[0136] The station (20) may include a third pipe (203). The third pipe (203) may be provided to connect the first valve (23) and the second valve (24). The third pipe (203) may be arranged between the first pump (21) and the second valve (24). The third pipe (203) may be provided between the first valve (23) and the second valve (24). One end of the third pipe (203) may be in communication with the first valve (23). The other end of the third pipe (203) may be in communication with the second valve (24). The third pipe (203) may be provided to allow water pumped by the first pump (21) to flow. The third pipe (203) may be provided to guide water flowing out from the first valve (23) or water flowing out from the second valve (24). Water can flow along the third flow path formed inside the third pipe (203).

[0137] The station (20) may include a fourth pipe (204). The fourth pipe (204) may be provided to connect the second valve (24) and the base (211). The fourth pipe (204) may be provided to connect the second valve (24) and the second water supply unit (231). One end of the fourth pipe (204) may be in communication with the second valve (24). The other end of the fourth pipe (204) may be in communication with the second water supply unit (231). The other end of the fourth pipe (204) may be in communication with the washing chamber (230). The fourth pipe (204) may be provided to guide water flowing out from the second valve (24). The fourth pipe (204) may be provided to guide water pumped by the first pump (21) to the washing chamber (230). Water can flow along the fourth flow path formed inside the fourth pipe (204).

[0138] The station (20) may include a fifth pipe (205). The fifth pipe (205) may be provided to connect the second valve (24) and the steam generator (250). One end of the fifth pipe (205) may be in communication with the second valve (24). The other end of the fifth pipe (205) may be in communication with the steam generator (250). The fifth pipe (205) may be provided to guide water flowing out from the second valve (24) or water flowing out from the steam generator (250). The fifth pipe (205) may be provided to guide water pumped by the first pump (21) to the steam generator (250). Thus, water stored in the water supply tank (221) may be guided by the fifth pipe (205) to flow to the steam generator (250). Alternatively, the fifth pipe (205) may be configured to guide water pumped by the first pump (21) to the second valve (24). Thus, water stored in the steam generator (250) may be guided by the fifth pipe (205) to flow to the second valve (24). Water may flow along the fifth flow path formed inside the fifth pipe (205).

[0139] For example, the fifth pipe (205) can be connected to the lower part of the steam generator (250). Water can be filled from the bottom of the steam tank (251) of the steam generator (250).

[0140] The station (20) may include a sixth pipe (206). The sixth pipe (206) may be provided to connect the steam generating device (250) and the base (211). The sixth pipe (206) may be provided to connect the steam generating device (250) and the steam supply unit (233). One end (206a, see FIG. 9) of the sixth pipe (206) may be in communication with the steam generating device (250). The other end (206b, see FIG. 9) of the sixth pipe (206) may be in communication with the steam supply unit (233). The other end (206b) of the sixth pipe (206) may be in communication with the washing chamber (230). The sixth pipe (206) may be provided to guide steam generated in the steam generating device (250). The sixth pipe (206) may be provided to guide steam generated from the steam generator (250) to the cleaning chamber (230). The steam may flow along the sixth flow path formed inside the sixth pipe (206).

[0141] For example, the sixth pipe (206) may be connected to the upper part of the steam generating device (250). Generally, considering that the density of steam is lower than that of air and thus moves upward, the sixth pipe (206) may be connected to the upper part of the steam generating device (250).

[0142] For example, the sixth pipe (206) may include a bending portion (2061, see FIG. 9) that is arranged to be bent at a height between the steam generator (250) and the water tank (221). This can prevent water and / or waste within the washing chamber (230) from flowing back into the steam generator (250).

[0143] The station (20) may include a seventh pipe (207). The seventh pipe (207) may be provided to connect the first valve (23) and the base (211). The seventh pipe (207) may be provided to connect the first valve (23) and the first water supply unit (217). One end of the seventh pipe (207) may be communicated with the first valve (23). The other end of the seventh pipe (207) may be communicated with the first water supply unit (217). The seventh pipe (207) may be provided to guide water flowing from the first valve (23). The seventh pipe (207) may be provided to guide water flowing from the second pipe (202) to the robot cleaner (10) mounted on the station (20). Water may flow along the seventh flow path formed inside the seventh pipe (207).

[0144] The station (20) may include an eighth pipe (208). The eighth pipe (208) may be provided to connect a sewage tank (222) and a second pump (22). One end of the eighth pipe (208) may be in communication with the sewage tank (222). The other end of the eighth pipe (208) may be in communication with the second pump (22). The eighth pipe (208) may be provided to guide air flowing out of the sewage tank (222). The air may flow along an eighth flow path formed inside the eighth pipe (208).

[0145] The station (20) may include a ninth pipe (209). The ninth pipe (209) may be provided to connect the second pump (22) and the base (211). The ninth pipe (209) may be provided to connect the second pump (22) and an air discharge hole (219, see FIGS. 10 to 12). One end of the ninth pipe (209) may be communicated with the second pump (22). The other end of the ninth pipe (209) may be communicated with the outside through the air discharge hole (219). The ninth pipe (209) may be provided to guide air pumped by the second pump (22). The air may flow along a ninth flow path formed inside the ninth pipe (209).

[0146] The station (20) may include a tenth pipe (2010). The tenth pipe (2010) may be provided to connect a sewage tank (222) and a base (211). The tenth pipe (2010) may be provided to connect the sewage tank (222) and a sewage collection unit (234). One end of the tenth pipe (2010) may be in communication with the sewage tank (222). The other end of the tenth pipe (2010) may be in communication with the sewage collection unit (234). The other end of the tenth pipe (2010) may be in communication with a washing chamber (230). The tenth pipe (2010) may be provided to guide sewage within the washing chamber (230). The sewage may flow along a tenth flow path formed within the tenth pipe (2010).

[0147] The station (20) may include a waste collection duct (225). The waste collection duct (225) may be provided to connect a waste collection bin (223) and a base (211). The waste collection duct (225) may be provided to connect the waste collection bin (223) and an intake port (213). One end of the waste collection duct (225) may be in communication with the waste collection bin (223). The other end of the waste collection duct (225) may be in communication with the intake port (213). The waste collection duct (225) may be provided to guide waste and / or air. The waste collection duct (225) may be referred to as an eleventh pipe (225). Waste and / or air may flow along an eleventh flow path formed inside the eleventh pipe (225).

[0148] The station (20) may include a drying duct (261). The drying duct (261) may be provided to guide dry air. The drying duct (261) may be provided to guide air blown by a fan (262) and heated by a heater (263) to the base (211). The drying duct (261) may be communicated with the base (211). The drying duct (261) may be communicated with a dry air supply unit (232). The drying duct (261) may be communicated with a washing chamber (230) through the dry air supply unit (232). The drying duct (261) may be referred to as a twelfth pipe (261). Dry air may flow along a twelfth path formed inside the twelfth pipe (261).

[0149] Meanwhile, the first pipe (201), the second pipe (202), the third pipe (203), the fourth pipe (204), the fifth pipe (205), the sixth pipe (206), the seventh pipe (207), the eighth pipe (208), the ninth pipe (209), the tenth pipe (2010), the eleventh pipe (2011), and the twelfth pipe (2012) are not limited by the ordinal numbers of “first,” “second,” “third,” “fourth,” “fifth,” “sixth,” “seventh,” “eighth,” “ninth,” “tenth,” “eleventh,” and “twelfth.” For example, the fourth pipe (204) may be referred to as the first pipe (204), and the fifth pipe (205) may be referred to as the second pipe (205).

[0150] The station (20) may include a first pump (21). The first pump (21) may be connected to a water tank (221). The first pump (21) may be connected to the water tank (221) via a first pipe (201). The first pump (21) may be connected to a first valve (23). The first pump (21) may be connected to the first valve (23) via a second pipe (202). The first pump (21) may be positioned between the water tank (221) and the first valve (23).

[0151] The first pump (21) may be provided to pump water stored in a water tank (221). The first pump (21) may be provided to pump water contained in a steam generator (250). For example, power for flowing water may be generated when the internal components (e.g., piston, rotor, or impeller) of the first pump (21) rotate. For example, when the internal components of the first pump (21) rotate in a first direction, water stored in the water tank (221) may be pumped (see FIG. 18), and when the internal components of the first pump (21) rotate in a second direction opposite to the first direction, water contained in the steam generator (250) may be pumped (see FIG. 19).

[0152] The station (20) may include a second pump (22). The second pump (22) may be connected to a sewage tank (222). The second pump (22) may be connected to the sewage tank (222) via an eighth pipe (208). The second pump (22) may be connected to an air discharge hole (219). The second pump (22) may be connected to the air discharge hole (219) via a ninth pipe (209). The second pump (22) may be placed between the sewage tank (222) and the base (211).

[0153] The second pump (22) may be arranged to pump air in the sewage tank (222). The air in the sewage tank (222) may be discharged from the sewage tank (222) by the second pump (22).

[0154] Meanwhile, the ordinal numbers "first" and "second" of the first pump (21) and the second pump (22) do not limit their configuration. For example, the first pump (21) may be referred to as the second pump (21), and the second pump (22) may be referred to as the first pump (22).

[0155] The station (20) may include a first valve (23). The first valve (23) may be connected to a second pipe (202). The first valve (23) may be connected to a seventh pipe (207). The first valve (23) may be connected to a third pipe (203).

[0156] The first valve (23) may be provided to connect the second pipe (202) and the seventh pipe (207) or to connect the second pipe (202) and the third pipe (203). The first valve (23) may be provided to control the flow of water pumped by the first pump (21). The first valve (23) may allow the water pumped by the first pump (21) to flow to the first water supply (217) or the second valve (24). For example, the first valve (23) may selectively open the seventh pipe (207) and the third pipe (203).

[0157] The station (20) may include a second valve (24). The second valve (24) may be connected to a third pipe (203). The second valve (24) may be connected to a fourth pipe (204). The second valve (24) may be connected to a fifth pipe (205).

[0158] The second valve (24) may be provided to connect the third pipe (203) and the fourth pipe (204) or to connect the third pipe (203) and the fifth pipe (205). The second valve (24) may be provided to control the flow of water guided by the third pipe (203). The second valve (24) may allow the water guided by the third pipe (203) to flow to the second water supply unit (231) or the steam generator (250). For example, the second valve (24) may selectively open the fourth pipe (204) and the fifth pipe (205).

[0159] Meanwhile, the first valve (23) and the second valve (24) are not limited by the ordinal numbers "first" and "second." For example, the first valve (23) may be referred to as the second valve (23), and the second valve (24) may be referred to as the first valve (24).

[0160] Figure 14 illustrates the waste collection operation of a station according to one embodiment.

[0161] The station (20) can perform an operation of collecting waste in the dust collection container (14) to empty the dust collection container (141) of the robot cleaner (10). When the robot cleaner (10) is installed in the station (20), the dust collection container (141) of the robot cleaner (10) can be connected to the suction port (213) of the station (20). By the suction force of the suction motor (142) of the station (20), waste in the dust collection container (141) can be sucked into the inside of the station (20) through the suction port (213). The waste collection duct (225) can transfer the waste sucked through the suction port (213) to the waste collection container (223). As a result, waste in the dust collection container (141) of the robot cleaner (10) can be collected in the waste collection container (223) of the station (20).

[0162] FIG. 15 illustrates a water supply operation of a robot cleaner of a station according to one embodiment.

[0163] The station (20) can perform an operation of supplying water to the robot cleaner (10) to charge the robot cleaner (10) with water. The robot cleaner (10) can be mounted on the station (20). The water charging unit (113) of the robot cleaner (10) can be docked to the first water supply unit (217) of the station (20). The first valve (23) can connect the second pipe (202) and the seventh pipe (207). The first pump (21) can pump water stored in the water tank (221). The water stored in the water tank (221) can flow to the first water supply unit (217) through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), and the seventh pipe (207). Water flowing out through the first water supply unit (217) can be supplied to the water charging unit (113). The seventh pipe (207) can be provided to guide water pumped by the first pump (21) to the robot cleaner (10).

[0164] FIG. 16 is a diagram illustrating a water supply operation of a washing chamber of a station according to one embodiment.

[0165] The station (20) can perform an operation of supplying water to the washing chamber (230) to wash the mop (160). The first valve (23) can connect the second pipe (202) and the third pipe (203). The second valve (24) can connect the third pipe (203) and the fourth pipe (204). The first pump (21) can pump water stored in the water tank (221). The water stored in the water tank (221) can flow through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fourth pipe (204) to the second water supply unit (231). The water flowing out through the second water supply unit (231) can flow to the washing chamber (230). The second pipe (204) may be provided to guide water pumped by the first pump (21) to the washing chamber (230).

[0166] For example, while the robot cleaner (10) is stationed at the station (20), water flowing out through the second water supply unit (231) can flow toward the mop (160). For example, while the robot cleaner (10) is stationed at the station (20), water flowing out through the second water supply unit (231) can be sprayed onto the mop (160) through the water nozzle (241). Water flowing out through the second water supply unit (231) can be used to wash the mop (160).

[0167] Figure 17 illustrates the wastewater collection operation of a station according to one embodiment.

[0168] The washing chamber (230) may be filled with dirty water (wastewater) after washing the mop (160). The station (20) may perform an operation of collecting the wastewater of the washing chamber (230). The second pump (22) may pump air inside the wastewater tank (222). The air inside the wastewater tank (222) may pass through the eighth pipe (208), the second pump (22), and the ninth pipe (209) and flow to the air discharge hole (219). The air inside the wastewater tank (222) may be discharged to the outside through the air discharge hole (219). The wastewater tank (222) is kept airtight except for the portion connected to the eighth pipe (208) and the portion connected to the tenth pipe (2010). Accordingly, as the second pump (22) operates to remove air from the sewage tank (222), the inside of the sewage tank (222) becomes negative pressure, and the sewage contained in the washing chamber (230) can flow into the sewage tank (222) along the 10th pipe (2010). The sewage can be filled into the sewage tank (222).

[0169] When the sewage in the sewage tank (222) reaches a predetermined level, the operation of the second pump (22) may be stopped. For example, a water level sensor (not shown) may be placed in the sewage tank (222), and the water level sensor may detect the water level in the sewage tank (222). As will be described later, the control unit (290, see FIG. 24) may control the operation of the second pump (22) based on information obtained through the water level sensor. The control unit (290) may stop the operation of the second pump (22) based on the water level in the sewage tank (222) reaching a predetermined level.

[0170] For example, the water level sensor can prevent wastewater from flowing into the sewage tank (222). The water level sensor can be arranged to float on wastewater flowing into the sewage tank (222). When the wastewater in the sewage tank (222) reaches a predetermined level, at least a portion of the water level sensor can be arranged to float on the wastewater and cover a portion (e.g., a connection port, a hole, etc.) where the sewage tank (222) and the tenth pipe (2010) are connected. The wastewater flowing along the tenth pipe (2010) can be blocked by the water level sensor and restricted from flowing into the sewage tank (222).

[0171] Figure 18 illustrates the steam supply operation of a station according to one embodiment.

[0172] The station (20) can perform an operation of supplying steam to the washing chamber (230) to sterilize the mop (160). The first valve (23) can connect the second pipe (202) and the third pipe (203). The second valve (24) can connect the third pipe (203) and the fifth pipe (205). The first pump (21) can pump water stored in the water tank (221). The water stored in the water tank (221) can flow through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fifth pipe (205) to the steam generator (250). The steam generator (250) can receive the water stored in the water tank (221) and generate steam. The steam generated in the steam generator (250) can be guided by the sixth pipe (206). The steam guided by the sixth pipe (206) can flow to the steam supply unit (233). The steam discharged through the steam supply unit (233) can flow to the washing chamber (230). For example, while the robot cleaner (10) is seated on the station (20), the steam discharged through the steam supply unit (233) can flow toward the mop (160). For example, while the robot cleaner (10) is stationed on the station (20), the steam discharged through the steam supply unit (233) can be sprayed to the mop (160) through the steam nozzle (243).

[0173] Figure 19 illustrates the water recovery operation of a station according to one embodiment.

[0174] The station (20) can perform an operation of recovering water remaining inside the steam generator (250) after the operation of the steam generator (250). The first valve (23) can connect the second pipe (202) and the third pipe (203). The second valve (24) can connect the third pipe (203) and the fifth pipe (205). The first pump (21) can pump water remaining in the steam generator (250). The water contained in the steam generator (250) can flow into the water supply tank (221) through the fifth pipe (205), the second valve (24), the third pipe (203), the first valve (23), the second pipe (202), the first pump (21), and the first pipe (201).

[0175] Figure 20 illustrates the drying operation of a station according to one embodiment.

[0176] The station (20) may perform an operation of supplying dry air to the washing chamber (230) to dry the mop (160). A drying duct (261) may be provided to guide the dry air to the washing chamber (230). The dry air may be guided by the drying duct (261) to flow to the dry air supply unit (232). The dry air discharged through the dry air supply unit (232) may flow to the washing chamber (233). For example, while the robot cleaner (10) is mounted on the station (20), the dry air discharged through the dry air supply unit (232) may flow toward the mop (160). For example, while the robot cleaner (10) is mounted on the station (20), the dry air discharged through the dry air supply unit (232) may be sprayed toward the mop (160) through the dry air injection port (242).

[0177] Fig. 21 shows a cross-section along line A-A' shown in Fig. 3. Fig. 22 shows a cross-section along line B-B' shown in Fig. 3.

[0178] Referring to FIGS. 21 and 22, the robot cleaner (10) can be mounted on a station (20). While the robot cleaner (10) is mounted on the station (20), the mop (160) can be provided to correspond to the washing chamber (230) of the station (20). While the robot cleaner (10) is mounted on the station (20), the mop (160) can be sterilized by steam discharged from the station (20). The mop (160) can be provided to rotate with respect to the main body (110) while being sterilized by steam. As a result, the steam can be provided to reach the entire mop (160).

[0179] The sixth pipe (206) may be provided to guide steam generated from the steam generator (250) to the cleaning chamber (230). One end (206a) of the sixth pipe (206) may be connected to the steam generator (250) (see FIG. 9), and the other end (206b) of the sixth pipe (206) may be connected to a steam supply unit (233). The sixth pipe (206) may be in communication with the steam chamber (230).

[0180] The washing frame (240) can be detachably mounted on the steam chamber (230). The steam nozzle (243) of the washing frame (240) can be positioned to correspond to the steam supply unit (233). The steam nozzle (243) can be arranged to spray steam guided to the washing chamber (230) through the sixth pipe (206) toward the mop (160).

[0181] For example, while the robot cleaner (10) is mounted on the station (20), at least a portion of the steam nozzles (243) may be positioned below the lower surface of the mop (160). Steam sprayed from the steam nozzles (243) may reach the lower surface of the mop (160). At least a portion of the steam sprayed from the steam nozzles (253) may move upward and reach the lower surface of the mop (160). As a result, steam may be intensively sprayed to the lower surface of the mop (160) that is in direct contact with the surface to be cleaned. In other words, steam may be intensively supplied to the lower surface of the mop (160) that most requires sterilization.

[0182] For example, the size of the other end (206b) of the sixth pipe (206) may be set to be larger than the size of the steam nozzle (243). For example, the width of the other end (206b) of the sixth pipe (206) in the vertical direction (Z direction) may be set to be larger than the width of the steam nozzle (243) in the vertical direction. Accordingly, as the steam flows from the sixth pipe (206) to the steam nozzle (243) having a relatively smaller size than the sixth pipe (206), the speed of the steam may increase. Accordingly, the steam may be discharged through the steam nozzle (243) at a relatively fast speed and may be sprayed further. The steam sprayed through the steam nozzle (243) may easily reach the mop (160).

[0183] Typically, the mop of a robot vacuum cleaner retains moisture, making it a breeding ground for bacteria and other microorganisms. If bacteria proliferate on the mop while it's contaminated, it can emit an unpleasant odor and cause secondary contamination of the surface being cleaned. Furthermore, bacteria growing on the mop can affect the user's respiratory health and cause discomfort. This can reduce the cleaning efficiency and usability of the cleaning device.

[0184] In contrast, according to the present disclosure, the station (20) can spray steam to sterilize the mop (160) of the robot cleaner (10). Steam can prevent bacteria and the like from growing on the mop (160). This can prevent the occurrence of an unpleasant odor in the mop (160) and secondary contamination of the surface to be cleaned. Since the mop (160) can be kept clean, management of the mop (160) becomes easier. In addition, when the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, the robot cleaner (10) can return to the station (20), and the station (20) can spray steam toward the mop (160) of the robot cleaner (10). That is, steam can be used not only to sterilize the mop (160) but also to supply moisture to the mop (160). For example, if the area to be cleaned is small, the station (20) can spray steam onto the mop (160). This allows the mop (160) to be quickly and easily supplied with moisture. Consequently, the cleaning efficiency and usability of the cleaning device (1) can be improved.

[0185] Fig. 23 illustrates a control block diagram of a robot vacuum cleaner according to one embodiment.

[0186] Referring to FIG. 23, a robot cleaner (10) according to one embodiment may include an obstacle detection sensor (170), a humidity sensor (171), a battery (150), a user interface (181), a driving unit (120), a brush motor (133), a suction motor (142), a driving unit (163), a communication unit (182), and / or a control unit (190).

[0187] The obstacle detection sensor (170) detects obstacles that impede the movement of the robot cleaner (10). An obstacle may refer to any object protruding from the floor of the cleaning area and impeding the movement of the robot cleaner (10). For example, not only tables, sofas, etc. located in the cleaning area, but also walls dividing the space may be considered obstacles, and objects that the robot cleaner (10) can climb up and down, such as thresholds or round bars, may also be considered obstacles.

[0188] Specifically, the obstacle detection sensor (170) can detect obstacles in a non-contact manner using electromagnetic waves such as infrared rays, visible light, or ultrasonic waves. For example, the obstacle detection sensor (170) can detect infrared rays reflected from an obstacle after irradiating infrared rays, and output the intensity of the detected infrared rays or the time interval (Time Of Flight: TOF) between irradiating infrared rays and detecting the reflected infrared rays to the control unit (190).

[0189] The control unit (190) can calculate the presence or absence of an obstacle or the distance between the obstacle and the robot cleaner (10) based on the output value of the obstacle detection sensor (170).

[0190] As another example, an obstacle detection sensor (170) may include a transmitter that irradiates electromagnetic waves and a receiver that receives electromagnetic waves reflected from an obstacle.

[0191] The transmitter is provided at the front of the main body (110) and can transmit electromagnetic waves toward the front of the main body (110). In addition, depending on the embodiment, the transmitter may include an LED that generates electromagnetic waves and a wide-angle lens that refracts the transmitted electromagnetic waves to spread the electromagnetic waves in all directions.

[0192] As another example, the obstacle detection sensor (170) may include a camera that acquires images of the vicinity (e.g., front, rear, and / or side) of the robot cleaner (10).

[0193] The control unit (190) can calculate the presence or absence of an obstacle or the distance between the obstacle and the robot cleaner (10) based on the image acquired by the obstacle detection sensor (170).

[0194] The humidity sensor (171) may include at least one sensor for measuring the humidity (or moisture content) of the mop (160).

[0195] In one embodiment, the humidity sensor (171) can measure changes in moisture in the air. The humidity sensor (171) is provided around the mop (160) to measure the humidity (or moisture content) of the mop (160). In this case, the output humidity of the humidity sensor (171) can be proportional to the moisture content of the mop (160).

[0196] The control unit (190) can determine the humidity (or moisture content) of the mop (160) based on the humidity measured from the humidity sensor (171).

[0197] In one embodiment, the humidity sensor (171) can irradiate the mop (160) with light such as infrared or visible light or electromagnetic waves such as ultrasonic waves and then measure the intensity of the electromagnetic waves reflected from the mop (160) and / or the time interval from the irradiation of the electromagnetic waves until the reflected electromagnetic waves are detected.

[0198] For example, the humidity sensor (171) may include a light emitting portion that irradiates light to the mop (160) and a light receiving portion that receives light reflected from the mop (160).

[0199] The control unit (190) can determine the humidity (or moisture content) of the mop (160) based on the output value of the humidity sensor (171).

[0200] The control unit (190) can perform various operations depending on the humidity (or moisture content) of the mop (160). For example, the control unit (190) can control the driving unit (120) to return the robot cleaner (10) to the station (20) based on the humidity of the mop (160) being measured to be higher than a predetermined maximum humidity. As another example, the control unit (190) can control the driving unit (120) to return the robot cleaner (10) to the station (20) based on the humidity of the mop (160) being measured to be lower than a predetermined minimum humidity.

[0201] The battery (150) can supply power to various electrical components of the robot cleaner (10). The battery (150) can be charged while the robot cleaner (10) is placed on the station (20).

[0202] The robot vacuum cleaner (10) may include a battery sensor that detects the charge level of the battery (150).

[0203] The control unit (190) can control the driving unit (120) to cause the robot cleaner (10) to return to the station (20) when the charge level of the battery (150) falls below a predetermined charge level.

[0204] The user interface (181) may include an output interface and an input interface.

[0205] At least one output interface can transmit various information related to the operation of the robot cleaner (10) to the user by generating sensory information.

[0206] For example, at least one output interface may transmit information related to the settings of the robot cleaner (10) and the operating time of the robot cleaner (10) to the user. Information related to the operation of the robot cleaner (10) may be output via a display, an indicator, and / or a voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, etc.

[0207] If the display includes a touch screen display, the touch screen display may be an example of both an output interface and an input interface.

[0208] In one embodiment, at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to the control of the robot cleaner (10).

[0209] At least one input interface can convert sensory information received from a user into an electrical signal.

[0210] At least one input interface may include a power button for turning on the robot vacuum cleaner (10).

[0211] Each button may include a visual indicator (e.g., text, an icon, etc.) that indicates its function.

[0212] At least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0213] In the present disclosure, 'button' may be replaced with a UI element (User Interface Element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0214] The robot cleaner (10) can process user input received through the user interface (181) and output information related to the robot cleaner (10) through the user interface (181).

[0215] In one embodiment, the user interface (181) may include an input interface for receiving a mop wash command and / or a mop steam command.

[0216] If the user determines that washing or sterilizing the mop (160) of the robot cleaner (10) is necessary, the user can input a mop washing command and / or a mop steam command through the input interface.

[0217] The robot cleaner (10) can return to the station (20) when a mop cleaning command and / or a mop steam command is input through the input interface.

[0218] When a mop cleaning command and / or a mop steam command is input through the input interface, the robot cleaner (10) can transmit a mop cleaning request signal and / or a mop steam request signal to the station (20).

[0219] Accordingly, when the robot cleaner (10) returns to the station (20) and docks at the station (20), the station (20) can perform a washing process and / or a steam process.

[0220] The driving unit (120) may include driving wheels (121, 122) provided on the main body (110) and a wheel motor that provides power to the driving wheels (121, 122).

[0221] The driving wheels (121, 122) can move the main body (110) by rotation. The main body (110) can move forward, backward, or rotate by rotation of the driving wheels (122). For example, when both the left and right driving wheels (121, 122) rotate forward, the main body (110) moves in a straight line forward, and when both the left and right driving wheels (121, 122) rotate backward, the main body (110) can move in a straight line backward.

[0222] In addition, when the left and right driving wheels (121, 122) rotate in the same direction but at different speeds, the main body (110) curves to the right or left. When the left and right driving wheels (121, 122) rotate in different directions, the main body (110) can rotate to the left or right in place.

[0223] The wheel motor generates rotational force to rotate the driving wheels (121, 122). A DC motor or a BLDC motor may be employed as the wheel motor, but the embodiment of the robot cleaner (10) does not place any restrictions on the type of wheel motor. This applies not only to the wheel motor but also to other motors included in the robot cleaner (10).

[0224] The wheel motor may include a left wheel motor that rotates the left driving wheel and a right wheel motor that rotates the right driving wheel.

[0225] Each of the left and right wheel motors can operate independently according to a control signal from the control unit (190), and the main body (110) can move forward, backward, or rotate according to the operation of the left and right wheel motors.

[0226] The control unit (190) can control the movement of the robot cleaner (10) by controlling the driving unit (120) (e.g., wheel motor).

[0227] The brush motor (133) can rotate the brush (130).

[0228] The control unit (190) can control the brush motor (133) to rotate the brush (130) during dry cleaning, thereby causing foreign substances on the floor to be blown away by the brush (130).

[0229] The suction motor (142) can suck foreign substances scattered by the brush (130) into the dust collector (141) and rotate the suction fan that generates suction force to suck the foreign substances into the dust collector (141).

[0230] The control unit (190) can control the suction motor (142) to rotate the suction fan during dry cleaning, thereby allowing foreign substances scattered by the brush (130) to be drawn into the dust collector (141) through the suction port (111).

[0231] The driving unit (163) may include a rotation driving unit (161) that rotates the mop (160) and / or a lifting driving unit (162) that raises or lowers the mop (160).

[0232] The control unit (190) can rotate the mop (160) by controlling the rotation drive unit (161). The rotation drive unit (161) can include a motor for rotating the mop (160) and a driving circuit for driving the motor.

[0233] The control unit (190) can raise or lower the mop (160) by controlling the lifting drive unit (162). That is, the control unit (190) can move the mop (160) by controlling the lifting drive unit (162). The lifting drive unit (162) can include an actuator that can move the mop (160).

[0234] The communication unit (182) can communicate with an external device (e.g., a server, a user device, a station (20)) via wires and / or wirelessly.

[0235] The communication unit (182) can transmit data to an external device (e.g., a server, a user device, a station (20)) or receive data from an external device. To this end, the communication unit (182) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication unit (182) can 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). Any of these communication modules may communicate with an external device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network or a wide area network)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0236] The short-range wireless communication module may include, but is not limited to, a Bluetooth communication module, a BLE (Bluetooth Low Energy) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, a Zigbee communication module, an infrared (IrDA, infrared Data Association) communication module, a WFD (Wi-Fi Direct) communication module, an UWB (ultrawideband) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc.

[0237] The remote communication module may include a communication module that performs various types of remote 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.

[0238] In one embodiment, the communication unit (182) can communicate with external devices via a surrounding access point (AP). The access point (AP) can connect the local area network (LAN) to which the robot cleaner (10) is connected to a wide area network (WAN) to which the server is connected. The robot cleaner (10) can be connected to the server via the wide area network (WAN).

[0239] In one embodiment, the communication unit (182) can communicate wirelessly with the station (20).

[0240] The control unit (190) can control the overall operation of the robot vacuum cleaner (10).

[0241] The control unit (190) may include at least one processor (191) that controls the operation of the robot cleaner (10) and at least one memory (192) that stores a program and data for controlling the operation of the robot cleaner (10).

[0242] At least one processor (191) controls the overall operation of the robot cleaner (10). Specifically, at least one processor (191) is connected to each component of the robot cleaner (10) and can control the overall operation of the robot cleaner (10). For example, at least one processor (191) is electrically connected to a memory (192) and can control the overall operation of the robot cleaner (10). The processor (191) may be composed of one or more processors.

[0243] At least one processor (191) can perform operations of the robot cleaner (10) according to various embodiments by executing at least one instruction stored in the memory (192).

[0244] At least one memory (192) can store data required for various embodiments. The memory (192) may be implemented in the form of a memory embedded in the robot cleaner (10) or in the form of a memory that can be attached or detached to the robot cleaner (10) depending on the purpose of data storage. For example, data for operating the robot cleaner (10) may be stored in a memory embedded in the robot cleaner (10), and data for expanding functions of the robot cleaner (10) may be stored in a memory that can be attached or detached to the robot cleaner (10). Meanwhile, in the case of the memory embedded in the robot cleaner (10), it may be implemented as at least one of volatile memory (e.g., DRAM (dynamic RAM), SRAM (static RAM), or SDRAM (synchronous dynamic RAM)), non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)). In addition, in the case of the memory that can be attached or detached to the robot cleaner (10), it may be implemented as at least one of memory cards (e.g., CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card)), external memory that can be connected to a USB port (e.g., USB memory), etc. It can be implemented.

[0245] At least one processor (191) may include one or more of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), a MIC (Many Integrated Core), a DSP (Digital Signal Processor), an NPU (Neural Processing Unit), a hardware accelerator, or a machine learning accelerator. At least one processor (191) may control one or any combination of other components of the robot cleaner (10), and may perform operations or data processing related to communication. At least one processor (191) may execute at least one program or instruction stored in the memory (192). For example, at least one processor (191) may execute at least one instruction stored in the memory (192), thereby performing a method according to at least one embodiment of the present disclosure.

[0246] In one embodiment, the control unit can control the drive unit (163) according to predetermined conditions. Controlling the drive unit (163) may include rotating or moving the mop (160).

[0247] In one embodiment, the control unit can control the driving unit (120) according to predetermined conditions. Controlling the driving unit (120) may include moving the robot cleaner (10).

[0248] In one embodiment, the control unit can control the brush motor (133) and / or the suction motor (142) according to predetermined conditions.

[0249] Figure 24 illustrates a control block diagram of a station according to one embodiment.

[0250] Referring to FIG. 24, the station (20) may include a docking detection sensor (270), a suction motor (224), a user interface (281), a communication unit (282), a first pump (21), a second pump (22), a first valve (23), a second valve (24), a steam generator (250), a drying unit (260), and / or a control unit (290).

[0251] The docking detection sensor (270) can detect whether the robot cleaner (10) is docked to the station (20). The docking detection sensor (270) can include at least one sensor that detects mechanical and / or electrical changes when the robot cleaner (10) is docked to the station (20).

[0252] For example, the docking detection sensor (270) may include a sensor that detects whether the charging terminal (151) of the robot cleaner (10) is electrically connected to the charging terminal (218) of the station (20). As another example, the docking detection sensor (270) may include a sensor (e.g., an elasticity sensor) that detects mechanical deformation when the robot cleaner (10) is docked.

[0253] The control unit (290) can determine whether the robot cleaner is docked to the station based on the output value of the docking detection sensor (270).

[0254] The suction motor (224) can generate suction force to suck up the waste in the dust collector (141).

[0255] The control unit (290) can suck up waste from the dust collector (141) into the waste collection bin (223) by operating the suction motor (224).

[0256] The operation of the control unit (290) operating the suction motor (224) to suck the waste from the dust collector (141) into the waste collection bin (223) may be referred to as a suction stroke.

[0257] The user interface (281) may include an output interface and an input interface.

[0258] At least one output interface can convey various information related to the operation of the station to the user by generating sensory information.

[0259] For example, at least one output interface may convey information related to the station's settings and the station's operating time to the user. Information related to the station's operation may be output via a display, an indicator, and / or a voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, or the like.

[0260] If the display includes a touch screen display, the touch screen display may be an example of both an output interface and an input interface.

[0261] In one embodiment, at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to control of the station.

[0262] At least one input interface can convert sensory information received from a user into an electrical signal.

[0263] At least one input interface may include a power button for turning on the station.

[0264] Each button may include a visual indicator (e.g., text, an icon, etc.) that indicates its function.

[0265] At least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0266] In the present disclosure, 'button' may be replaced with a UI element (User Interface Element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0267] The station (20) can process user input received through the user interface (281) and output information related to the station through the user interface (281).

[0268] In one embodiment, the user interface (281) may include an input interface for receiving a mop wash command and / or a mop steam command.

[0269] If the user determines that washing or sterilizing the mop (160) of the robot cleaner (10) is necessary, the user can input a mop washing command and / or a mop steam command through the input interface.

[0270] The station (20) can perform a washing process, a steam process, and / or a drying process in response to a mop washing command and / or a mop steam command being input through the user interface (281).

[0271] The communication unit (282) can communicate with an external device (e.g., a server, a user device, a robot vacuum cleaner (10)) via wires and / or wirelessly.

[0272] The communication unit (282) can transmit data to an external device (e.g., a server, a user device, a robot cleaner (10)) or receive data from the external device. To this end, the communication unit (282) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication unit (282) can 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). Any of these communication modules may communicate with an external device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network or a wide area network)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0273] The short-range wireless communication module may include, but is not limited to, a Bluetooth communication module, a BLE (Bluetooth Low Energy) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, a Zigbee communication module, an infrared (IrDA, infrared Data Association) communication module, a WFD (Wi-Fi Direct) communication module, an UWB (ultrawideband) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc.

[0274] The remote communication module may include a communication module that performs various types of remote 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.

[0275] In one embodiment, the communication unit (282) can communicate with external devices via a surrounding access point (AP). The access point (AP) can connect the local area network (LAN) to which the robot cleaner (10) is connected to a wide area network (WAN) to which the server is connected. The station (20) can be connected to the server via the wide area network (WAN).

[0276] In one embodiment, the communication unit (282) can communicate wirelessly with the robot cleaner (10).

[0277] Various examples can be adopted as a method for communicating between the robot cleaner (10) and the station (20).

[0278] In one embodiment, the robot cleaner (10) and the station (20) can communicate directly via a short-range communication module.

[0279] In one embodiment, the robot cleaner (10) and the station (20) can communicate directly via wired communication while the robot cleaner (10) is docked to the station (20).

[0280] In one embodiment, the robot cleaner (10) and the station (20) can communicate indirectly via an external server through a remote communication module.

[0281] Indirect communication via an external server may include the robot cleaner (10) transmitting a predetermined signal to the external server, and the external server transmitting the predetermined signal received from the robot cleaner (10) to the station (20), and / or the station (20) transmitting a predetermined signal to the external server, and the external server transmitting the predetermined signal received from the station (20) to the robot cleaner (10).

[0282] The first pump (21) may be provided to pump water stored in a water tank (221) or to pump water contained in a steam generator (250).

[0283] The internal configuration of the first pump (21) can pump water stored in the water tank (221) when rotating in the first direction, and can pump water contained in the steam generator (250) when rotating in the second direction opposite to the first direction.

[0284] The control unit (290) can control the pumping direction of the first pump (21) and operate the first pump (21).

[0285] The second pump (22) may be provided to pump air from the sewage tank (222).

[0286] The control unit (290) can operate the second pump (22).

[0287] A water level sensor (not shown) provided in the sewage tank (222) can transmit information about the water level of the sewage tank (222) to the control unit (290).

[0288] The control unit (290) can control the second pump (22) based on information obtained through the water level sensor. The control unit (290) can stop the second pump (22) based on the water level of the sewage tank (222) reaching a predetermined level.

[0289] The first valve (23) may be provided to control the flow of water pumped by the first pump (21) and may operate based on a control signal from the control unit (290).

[0290] The second valve (24) may be provided to control the flow of water guided by the third pipe (203) and may operate based on a control signal from the control unit (290).

[0291] The steam generator (250) may include a heater (252), a water level sensor (253) and / or a temperature sensor (254).

[0292] The heater (252) may be provided to heat water contained in the steam tank (251) and may operate based on a control signal from the control unit (290).

[0293] The water level sensor (253) may be provided to detect the water level in the steam tank (251).

[0294] For example, the water level sensor (253) can be implemented as a pressure sensor, light sensor, ultrasonic sensor, etc. that can measure the water level of the steam tank (251).

[0295] As another example, the water level sensor (253) may be implemented as an electrode sensor that can detect when the water level of the steam tank (251) reaches a predetermined level.

[0296] The water level sensor (253) can transmit information about the water level of the steam tank (251) to the control unit (290).

[0297] In one embodiment, the water level sensor (253) can detect that the water level of the steam tank (251) has reached a predetermined level, and can be configured to transmit an electrical signal to the control unit (290) in response to the water level of the steam tank (251) reaching the predetermined level.

[0298] The control unit (290) can operate the heater (252) based on a predetermined water level detected by the water level sensor (253).

[0299] The temperature sensor (254) may be provided to detect the temperature inside the steam tank (251) and transmit information related to the temperature inside the steam tank (251) to the control unit (290).

[0300] In one embodiment, the control unit (290) can control the heater (252) based on temperature information received from the temperature sensor (254). For example, the control unit (290) can stop the operation of the heater (252) based on the temperature detected by the temperature sensor (254) reaching a predetermined temperature.

[0301] The control unit (290) can perform a steam operation by controlling at least one pump (21, 22), at least one valve (23, 24) and a steam generating device (250) described above.

[0302] In one embodiment, the control unit (290) may initiate a steam stroke in response to a steam stroke initiation condition being satisfied.

[0303] In response to the start of the steam operation, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water supply tank (221). Accordingly, the water stored in the water supply tank (221) can flow to the steam generator (250) through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fifth pipe (205).

[0304] Thereafter, the control unit (290) can operate the heater (252) based on the detection of a predetermined water level by the water level sensor (253), thereby causing steam to be sprayed from the steam generator (253) to the washing chamber (230). The control unit (290) can stop the operation of the first pump (21) based on the detection of a predetermined water level by the water level sensor (253).

[0305] The control unit (290) operates the heater (252) until the steam stroke is completed based on the detection of a predetermined water level by the water level sensor (253), but temporarily stops the operation of the heater (252) based on the detection of a temperature by the temperature sensor (254) during the steam stroke reaching a predetermined temperature, thereby preventing the heater (252) from overheating.

[0306] The control unit (290) can terminate the steam administration based on the satisfaction of the steam administration termination condition.

[0307] In one embodiment, the control unit (290) may terminate the steam stroke in response to a predetermined water level (minimum water level) being detected by the water level sensor (253).

[0308] In one embodiment, the control unit (290) may terminate the steam administration in response to the steam administration execution time having elapsed a predetermined period of time.

[0309] The control unit (290) can perform a water recovery operation in response to the completion of the steam administration.

[0310] In one embodiment, the control unit (290) may perform a water recovery operation based on a predetermined amount of time elapsed after the steam administration is terminated.

[0311] In one embodiment, the control unit (290) may perform a water recovery operation based on a predetermined time elapsed after the heater (252) is turned off in response to the steam stroke being terminated.

[0312] The predetermined time can be preset as a time for the water heated by the steam generator (253) to sufficiently cool down.

[0313] In one embodiment, the control unit (290) may perform a water recovery operation based on the temperature detected by the temperature sensor (254) dropping below a predetermined temperature after the heater (252) is turned off in response to the steam stroke being terminated.

[0314] According to the present disclosure, hot water is recovered into the water tank (221) to prevent microorganisms from multiplying in the water tank (221).

[0315] In response to the completion of the steam stroke, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump the water remaining in the steam generator (250). Accordingly, the water contained in the steam generator (250) can flow into the water supply tank (221) through the fifth pipe (205), the second valve (24), the third pipe (203), the first valve (23), the second pipe (202), the first pump (21), and the first pipe (201).

[0316] The control unit (290) can turn off the heater (252) in response to the end of the steam administration.

[0317] The control unit (290) can terminate the water recovery operation according to various conditions.

[0318] In one embodiment, the control unit (290) may terminate the water recovery operation in response to the water recovery operation being performed for a predetermined period of time.

[0319] In one embodiment, the control unit (290) may initiate a drying process when the water recovery operation is completed.

[0320] The drying device (260) may include a heater (263) for heating air and a fan (262) for blowing the heated air. The air heated by the heater (263) may be blown into the washing chamber (230) according to the operation of the fan (262).

[0321] The control unit (290) can perform a drying process by controlling the drying device (260) to blow heated air into the washing chamber (230).

[0322] The control unit (290) can perform a drying process by operating the heater (263) and the fan (262).

[0323] The control unit (290) can terminate the drying process according to the drying process termination conditions.

[0324] In one embodiment, the control unit (290) may terminate the drying process in response to the drying process execution time having elapsed a predetermined period of time.

[0325] In one embodiment, the control unit (290) may terminate the drying process in response to receiving a drying termination request signal from the robot cleaner (10). To this end, the robot cleaner (10) may be configured to transmit a drying termination request signal to the station (20) in response to the humidity measured by the humidity sensor (171) falling below a predetermined humidity level during the drying process.

[0326] The control unit (290) can control the overall operation of the station (20).

[0327] The control unit (290) may include at least one processor (291) that controls the operation of the station (20) and at least one memory (292) that stores a program and data for controlling the operation of the station (20).

[0328] At least one processor (291) controls the overall operation of the station (20). Specifically, at least one processor (291) is connected to each component of the station (20) and can control the overall operation of the station (20). For example, at least one processor (291) is electrically connected to a memory (292) and can control the overall operation of the station (20). The processor (291) may be composed of one or more processors.

[0329] At least one processor (291) can perform operations of the station (20) according to various embodiments by executing at least one instruction stored in the memory (292).

[0330] At least one memory (292) can store data required for various embodiments. The memory (292) may be implemented in the form of memory embedded in the station (20) or in the form of memory that can be attached or detached to the station (20) depending on the purpose of data storage. For example, data for operating the station (20) may be stored in a memory embedded in the station (20), and data for expanding the function of the station (20) may be stored in a memory that can be attached or detached to the station (20). Meanwhile, the memory embedded in the station (20) may be implemented as at least one of volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)). In addition, the memory that can be detachably attached to the station (20) may 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.), external memory that can be connected to a USB port (e.g., USB memory), etc.

[0331] At least one processor (291) may include one or more of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), a MIC (Many Integrated Core), a DSP (Digital Signal Processor), an NPU (Neural Processing Unit), a hardware accelerator, or a machine learning accelerator. At least one processor (291) may control one or any combination of other components of the station (20), and may perform operations related to communication or data processing. At least one processor (291) may execute at least one program or instruction stored in the memory (292). For example, at least one processor (291) may perform a method according to at least one embodiment of the present disclosure by executing at least one instruction stored in the memory (292).

[0332] FIG. 25 is a flowchart illustrating an example of a method for washing a mop of a robot vacuum cleaner according to one embodiment.

[0333] Referring to FIG. 25, a robot cleaner (10) according to one embodiment can return to a station (20) in response to a station return condition being satisfied.

[0334] For example, the robot vacuum cleaner (10) may return to the station (20) in response to the charge level of the battery (150) falling below a predetermined charge level.

[0335] As another example, the robot cleaner (10) may return to the station (20) in response to the humidity of the mop (160) measured by the humidity sensor (171) being greater than a predetermined maximum humidity.

[0336] As another example, the robot cleaner (10) may return to the station (20) in response to the humidity of the mop (160) measured by the humidity sensor (171) being below a predetermined minimum humidity.

[0337] As another example, the robot cleaner (10) may return to the station (20) in response to receiving a station return command from an external device (e.g., a server, a user device, a station (20)).

[0338] As another example, the robot vacuum cleaner (10) may return to the station (20) in response to completion of cleaning according to the cleaning plan.

[0339] As another example, the robot cleaner (10) may return to the station (20) in response to the contamination level of the mop (160) being higher than a predetermined contamination level. To this end, the robot cleaner (10) may further be equipped with a separate sensor for measuring the contamination level of the mop (160), and may estimate the contamination level of the mop (160) based on the output value of the humidity sensor (171).

[0340] As another example, the robot vacuum cleaner (10) may return to the station (20) in response to the dust collection box (141) being full. The dust collection box (141) being full may include a sensor for measuring the amount of foreign matter stored in the dust collection box (141) detecting that the amount of foreign matter is greater than a predetermined amount.

[0341] As another example, the robot cleaner (10) may return to the station (20) in response to a lack of water in the water tank (114). A lack of water in the water tank (114) may include a sensor for measuring the amount of water stored in the water tank (114) detecting that the amount of water is below a predetermined amount.

[0342] The station (20) can start a washing process in response to the robot cleaner (10) being docked to the station (20) and the washing conditions being satisfied (S1).

[0343] In one embodiment, the station (20) may start a cleaning process in response to receiving a mop cleaning request signal from the robot cleaner (10) while the robot cleaner (10) is docked to the station (20), or in response to the robot cleaner (10) being docked to the station (20) after receiving a mop cleaning request signal from the robot cleaner (10).

[0344] To this end, the robot cleaner (10) can transmit a mop cleaning request signal to the station (20) when it is determined that cleaning of the mop (160) is necessary.

[0345] For example, the robot vacuum cleaner (10) may determine that the mop (160) needs to be washed when cleaning is completed according to the cleaning plan.

[0346] As another example, the robot vacuum cleaner (10) may determine that cleaning of the mop (160) is necessary in response to receiving a mop cleaning command from an external device (e.g., server, user device).

[0347] As another example, the robot vacuum cleaner (10) may determine that the mop (160) needs to be washed in response to the humidity of the mop (160) measured by the humidity sensor (171) being below a predetermined minimum humidity.

[0348] As another example, the robot vacuum cleaner (10) may determine that the mop (160) needs to be cleaned in response to the contamination level of the mop (160) being higher than a predetermined contamination level.

[0349] As another example, the robot vacuum cleaner (10) may determine that the mop (160) needs to be washed in response to a lack of water in the water tank (114).

[0350] The station (20) can perform an operation of supplying water to the washing chamber (230) for the washing process.

[0351] For example, the control unit (290) can perform a washing process by controlling the first valve (23) to connect the second pipe (202) and the third pipe (203), controlling the second valve (24) to connect the third pipe (203) and the fourth pipe (204), and controlling the first pump (21) to pump water stored in the water tank (221).

[0352] During the washing process, water stored in the water tank (221) can flow into the second water supply unit (231) through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fourth pipe (204). The water flowing out through the second water supply unit (231) can flow into the washing chamber (230), thereby washing the mop (160) in the washing chamber (230).

[0353] In response to the start of the washing process, the station (20) can transmit a washing start signal to the robot cleaner (10) (S2).

[0354] The washing start signal is a signal to indicate that the washing process has started and can be transmitted from the station (20) to the robot cleaner (10) in various ways.

[0355] In one embodiment, the station (20) may transmit a cleaning start signal to the robot cleaner (10) before or after operating the first pump (21).

[0356] The robot cleaner (10) can rotate the mop (160) in response to receiving a cleaning start signal from the station (20) (S3).

[0357] In one embodiment, the control unit (190) may control the rotation drive unit (161) to rotate the mop (160) in response to receiving a washing start signal from the station (20) via the communication unit (182).

[0358] According to various embodiments, the control unit (190) may control the lifting drive unit (162) to move (raise or lower) the mop (160) to a predetermined height suitable for washing in response to receiving a washing start signal from the station (20) via the communication unit (182). Data regarding the predetermined height suitable for washing may be stored in advance in the memory (192). According to the present disclosure, efficient washing of the mop (160) can be achieved by rotating the mop (160) during the washing process.

[0359] Station (20) can terminate the washing process in response to the washing process termination condition being satisfied (S4). Station (20) can perform a wastewater collection operation in response to the washing process being terminated.

[0360] For example, the control unit (290) can control the first valve (23) to block the second pipe (202) and the third pipe (203), control the second valve (24) to block the third pipe (203) and the fourth pipe (204), and end the washing process by stopping the operation of the first pump (21).

[0361] The control unit (290) can perform a sewage collection operation by operating the second pump (22) to pump air inside the sewage tank (222) to the outside.

[0362] When the air inside the sewage tank (222) is pumped out, the inside of the sewage tank (222) becomes negative pressure, and the sewage contained in the washing chamber (230) can flow into the sewage tank (222) along the 10th pipe (2010).

[0363] The conditions for ending the washing process may include various conditions, such as the washing process execution time having elapsed a predetermined time, the water level stored in the water tank (221) having fallen below a predetermined level, etc.

[0364] In response to the end of the washing process, the station (20) can transmit a washing end signal to the robot cleaner (10) (S5).

[0365] The washing end signal is a signal to indicate that the washing process has ended and can be transmitted from the station (20) to the robot cleaner (10) in various ways.

[0366] In one embodiment, the station (20) may transmit a cleaning end signal to the robot cleaner (10) before or after stopping the first pump (21).

[0367] The robot cleaner (10) can stop the rotation of the mop (160) in response to receiving a cleaning end signal from the station (20) (S6).

[0368] In one embodiment, the control unit (190) may control the rotation drive unit (161) to stop the rotation of the mop (160) in response to receiving a cleaning end signal from the station (20) via the communication unit (182).

[0369] According to the present disclosure, while the station (20) performs a sewage collection operation, the mop (160) can be rotated to prevent sewage from continuously being generated.

[0370] Meanwhile, the station (20) can start the steam operation in response to the completion of the sewage collection operation (S7). That is, the station (20) can start the steam operation based on the completion of the washing operation.

[0371] The conditions for ending sewage collection may include various conditions, such as the time for performing the sewage collection operation has passed a predetermined time, the water level stored in the sewage tank (222) has reached a predetermined level, and no change in the flow rate is detected by a flow sensor that detects the flow rate flowing into the sewage tank (222).

[0372] It should be noted that, depending on various embodiments, the station (20) may skip the washing process and initiate the steam process. For example, the station (20) may initiate the steam process in response to receiving a mop steam request signal from an external device (e.g., a server, a user device, a robot cleaner (10)) (S7). The term "mop steam request signal" may also be replaced with the term "steam operation signal" from the perspective of inducing the steam process of the station (20).

[0373] In one embodiment, the robot cleaner (10) may transmit a steam operation signal to the station (20) in response to receiving a mop steam command via the user interface (181).

[0374] In one embodiment, the robot cleaner (10) can transmit a steam operation signal to the station (20) when the humidity of the mop (160) is detected to be below a predetermined minimum humidity or above a predetermined maximum humidity, and the contamination level of the mop (160) is detected to be below a predetermined contamination level.

[0375] In one embodiment, the user device may transmit a steam operation signal to the station (20) in response to receiving a mop steam command via an application for controlling the robot cleaner (10).

[0376] As previously described, the station (20) can perform steam administration by controlling at least one pump (21, 22), at least one valve (23, 24) and a steam generating device (250).

[0377] The station (20) can transmit a steam start signal to the robot cleaner (10) based on the start of the steam administration (S8).

[0378] The robot cleaner (10) can rotate the mop (160) in response to receiving a steam start signal from the station (20) (S9).

[0379] In one embodiment, the control unit (190) can control the rotation drive unit (161) to rotate the mop (160) based on receiving a steam start signal from the station (20) via the communication unit (182).

[0380] For example, the control unit (190) can control the rotation drive unit (161) to rotate the mop (160) based on the passage of a predetermined time after receiving a steam start signal from the station (20) through the communication unit (182).

[0381] As another example, the control unit (190) may control the rotation drive unit (161) to rotate the mop (160) based on the temperature detected by the temperature sensor (254) reaching a predetermined temperature after receiving a steam start signal from the station (20) through the communication unit (182).

[0382] According to the present disclosure, by rotating the mop (160) at the time when steam is generated in the steam generating device (253), it is possible to prevent the mop (160) from rotating unnecessarily before steam is generated in the steam generating device (253).

[0383] According to various embodiments, the control unit (190) may control the lifting drive unit (162) to move (raise or lower) the mop (160) to a predetermined height suitable for sterilization in response to receiving a steam start signal from the station (20) via the communication unit (182). Data regarding the predetermined height suitable for sterilization may be stored in advance in the memory (192).

[0384] In one embodiment, the predetermined height suitable for sterilization may be higher than the predetermined height suitable for washing. That is, the height of the mop (160) during the steam cycle may be higher than the height of the mop (160) during the washing cycle. Accordingly, the steam sprayed through the steam nozzle (243) can sterilize the mop (160) entirely.

[0385] Additionally, according to various embodiments, the control unit (190) may control the lifting drive unit (162) to move (raise or lower) the mop (160) in advance to a predetermined height suitable for sterilization in response to receiving a cleaning end signal from the station (20) through the communication unit (182).

[0386] According to the present disclosure, efficient sterilization of the mop (160) can be achieved by rotating the mop (160) during steam administration.

[0387] The station (20) can terminate the steam administration in response to the steam administration termination condition being satisfied (S10).

[0388] The station (20) can turn off the heater (252) when the steam administration is finished.

[0389] Station (20) can start water recovery operation when steam administration is completed.

[0390] The station (20) can transmit a steam administration end signal to the robot cleaner (10) in response to the completion of the steam administration (S11).

[0391] The robot cleaner (10) can stop the rotation of the mop (160) in response to receiving a steam termination signal from the station (20) (S12).

[0392] In one embodiment, the control unit (190) may control the rotation drive unit (161) to stop the rotation of the mop (160) in response to receiving a steam termination signal from the station (20) via the communication unit (182).

[0393] According to the present disclosure, while the station (20) performs a water recovery operation, the mop (160) can be rotated to prevent continuous generation of wastewater.

[0394] Meanwhile, the station (20) can start the drying process in response to the completion of the water recovery operation (S13). That is, the station (20) can start the drying process based on the completion of the steam process.

[0395] It should be noted that, depending on various embodiments, the station (20) may skip the washing process and / or the steam process and instead initiate the drying process. For example, the station (20) may initiate the drying process in response to receiving a mop drying request signal from an external device (e.g., a server, a user device, a robot cleaner (10)) (S13). The term "mop drying request signal" may also be replaced with the term "drying operation signal" in the sense that it induces the steam process of the station (20).

[0396] In one embodiment, the robot cleaner (10) may transmit a drying operation signal to the station (20) in response to receiving a mop drying command through the user interface (181).

[0397] In one embodiment, the robot cleaner (10) can transmit a drying operation signal to the station (20) when the humidity of the mop (160) is detected to be higher than a predetermined maximum humidity, but the contamination level of the mop (160) is detected to be lower than a predetermined contamination level.

[0398] For example, when the robot vacuum cleaner (10) wipes the clean liquid on the floor with a mop (160), and only the humidity increases without increasing the contamination of the mop (160), it can transmit a drying operation signal to the station (20).

[0399] In one embodiment, the user device may transmit a drying operation signal to the station (20) in response to receiving a mop drying command through an application for controlling the robot cleaner (10).

[0400] As described above, the station (20) can perform a drying process by controlling the drying device (260).

[0401] The station (20) can transmit a drying start signal to the robot cleaner (10) based on the start of the drying process (S14).

[0402] The robot cleaner (10) can rotate the mop (160) in response to receiving a drying start signal from the station (20) (S15).

[0403] In one embodiment, the control unit (190) may control the rotation drive unit (161) to rotate the mop (160) in response to receiving a drying start signal from the station (20) via the communication unit (182).

[0404] According to various embodiments, the control unit (190) may control the lifting drive unit (162) to move (raise or lower) the mop (160) to a predetermined height suitable for drying in response to receiving a drying start signal from the station (20) via the communication unit (182). Data regarding the predetermined height suitable for drying may be stored in advance in the memory (192).

[0405] According to the present disclosure, efficient drying of the mop (160) can be achieved by rotating the mop (160) during the drying process.

[0406] The station (20) can terminate the drying process in response to the drying process termination condition being satisfied (S16).

[0407] The station (20) can turn off the drying device (260) when the steam administration is finished.

[0408] The station (20) can transmit a drying cycle end signal to the robot cleaner (10) in response to the drying cycle being completed (S17).

[0409] The robot cleaner (10) can stop the rotation of the mop (160) in response to receiving a drying end signal from the station (20) (S18).

[0410] In one embodiment, the control unit (190) may control the rotation drive unit (161) to stop the rotation of the mop (160) in response to receiving a drying end signal from the station (20) via the communication unit (182).

[0411] According to the present disclosure, the mop (160) is changed to a low-contamination and sterilized state through a washing process, a steam process, and a drying process, so that the robot cleaner (10) can perform wet cleaning using the clean mop.

[0412] A cleaning device according to one embodiment may include a robot cleaner (10) including a main body (110) and a mop (160) detachably mountable to a lower portion of the main body; and a station (20) on which the robot cleaner (10) is mounted. The station (20) includes a water tank (221) configured to store water; a washing chamber (230) corresponding to the mop (160) while the robot cleaner (10) is mounted on the station (20); a steam generator (250) configured to generate steam using water stored in the water tank (221); a pump (21) configured to pump water stored in the water tank (221); a first pipe (204) configured to guide water pumped by the pump (21) to the washing chamber (230); And it may include a second pipe (205) which is separated from the first pipe (204) and is provided to guide water pumped by the pump (21) to the steam generating device (250).

[0413] The above station (20) may further include a valve (24) connected to the first pipe (204) and the second pipe (205); and a third pipe (203) arranged between the pump (21) and the valve (24) and configured to allow water pumped by the pump (21) to flow. The valve (24) may be configured to connect the third pipe (203) and the first pipe (204) or to connect the third pipe (203) and the second pipe (205).

[0414] The above valve may be a first valve (24). The station (20) may further include a second valve (23) connected to the third pipe (203), the second valve (23) arranged so that the third pipe (203) is provided between the first valve (24) and the second valve (23); a fourth pipe (202) connecting the pump (21) and the second valve (23) and allowing water pumped by the pump (21) to flow; and a fifth pipe (207) arranged to guide water flowing in the fourth pipe (202) to a robot cleaner (10) mounted on the station (20). The second valve (23) may be arranged to connect the fourth pipe (202) to the third pipe (203) or to connect the fourth pipe (202) to the fifth pipe (207).

[0415] The above station (20) may further include a third pipe (206) provided to guide steam generated from the steam generating device (250) to the washing chamber (230). The third pipe (206) may include a first end (206a) communicating with the steam generating device (250) and a second end (206b) communicating with the washing chamber (230).

[0416] The above station (20) may further include a washing frame (240) that is detachably mountable to the washing chamber (230) and is arranged to rub against the mop (160) while the robot cleaner (10) is placed on the station (20). The washing frame (240) may include a steam injection port (243) that is arranged to spray steam guided to the washing chamber (230) through the third pipe (206) toward the mop (160).

[0417] The second pipe (205) may be connected to the lower part of the steam generating device (250). The third pipe (206) may be connected to the upper part of the steam generating device (250).

[0418] The steam generating device (250) may be positioned lower than the water tank (221). The third pipe (206) may include a bending portion (2061) that is provided to be bent at a height between the steam generating device (250) and the water tank (221).

[0419] While the robot cleaner (10) is mounted on the station (20), at least a portion of the steam nozzle (243) may be positioned below the lower surface of the mop (160).

[0420] The size of the second end (206b) of the third pipe (206) may be set to be larger than the size of the steam injection port (243).

[0421] The floor (230a) of the above washing chamber (230) may be arranged to slope downward along the direction in which the robot cleaner (10) enters the station (20).

[0422] The above station (20) may further include a steam tank (251) capable of receiving water guided through the second pipe; a heater (252) configured to heat water received in the steam tank; a water level sensor (253) configured to detect a water level within the steam tank; and a control unit (290) configured to operate the heater (252) based on a predetermined water level detected by the water level sensor (253).

[0423] The above station (20) may include a steam tank (251) capable of receiving water guided through the second pipe; a heater (252) configured to heat the water received in the steam tank; a temperature sensor (254) configured to detect a temperature within the steam tank; and a control unit (290) configured to stop the operation of the heater (252) based on the temperature detected by the temperature sensor (254) reaching a predetermined temperature.

[0424] The station (20) can control the steam generating device (250) to perform a steam generating operation based on the completion of the washing operation of washing the mop (160) in the washing chamber (230) or the receipt of a steam operation signal from at least one of the robot cleaner or the user device.

[0425] The above station (20) can transmit a steam start signal to the robot cleaner (10) based on the start of the steam generation operation.

[0426] The robot cleaner (10) can rotate the mop (160) based on receiving the steam start signal from the station (20).

[0427] The robot cleaner (10) can move the mop (160) to a predetermined height based on receiving the steam start signal from the station (20).

[0428] A method of controlling a robot vacuum cleaner according to one embodiment may include returning to a station in response to a station return condition being satisfied; and rotating a mop (160) in response to receiving a steam start signal from the station (20).

[0429] The control method of the robot cleaner may further include, in response to receiving the steam start signal from the station (20), moving the mop (160) to a predetermined position before rotating the mop (160).

[0430] The control method of the robot cleaner may further include stopping the rotation of the mop (160) in response to receiving a steam termination signal from the station (20) while the mop (160) is rotating.

[0431] The control method of the robot cleaner may further include rotating the mop (160) in response to receiving a drying start signal from the station (20) after stopping the rotation of the mop (160).

[0432] According to one embodiment of the present disclosure, a cleaning device comprises: a robot cleaner (10) including a main body (110) having a lower portion on which a mop (160) can be detachably mounted; and a station (20) on which the robot cleaner (10) can be mounted, wherein the station comprises: a water tank (221) provided to store water; a washing chamber (230) configured so that the mop can be washed in a washing chamber while the robot cleaner is mounted on the station and the mop is mounted on the lower portion of the main body; a steam generator (250) that generates steam using water stored in the water tank; a pump (21) provided to pump water stored in the water tank to the outside of the water tank; a first pipe (204) provided to guide water pumped to the outside of the water tank by the pump to the washing chamber (230); and a second pipe (205) provided to guide water pumped out of the water tank by the pump to the steam generating device (250).

[0433] According to one embodiment of the present disclosure, the station (20) may include a valve (24) connected to the first pipe (204) and the second pipe (205); and a third pipe (203) located between the pump (21) and the valve (24) and configured to guide water pumped out of the water tank by the pump to the valve. The valve (24) may be configured to send water pumped out of the water tank by the pump from the third pipe (203) to the first pipe (204), or to send water pumped out of the water tank by the pump from the third pipe (203) to the second pipe (205).

[0434] According to one embodiment of the present disclosure, the valve may be a first valve (24). The station may include a fourth pipe (207) configured to guide water pumped out of the water tank by the pump to the robot cleaner when the robot cleaner is placed on the station; a second valve (23) connected to the third pipe (203) and the fourth pipe (207); and a fifth pipe (202) connecting the pump (21) and the second valve (23). The second valve (23) may be configured to send water pumped out of the water tank by the pump from the fifth pipe (202) to the third pipe (203), or to send water pumped out of the water tank by the pump from the fifth pipe (202) to the fourth pipe (207).

[0435] According to one embodiment of the present disclosure, the station may include a third pipe (206) configured to guide steam generated from the steam generating device (250) to the washing chamber (230), the third pipe including a first end (206a) communicating with the steam generating device and a second end (206b) communicating with the washing chamber.

[0436] According to one embodiment of the present disclosure, the station may include a washing frame (240) that is detachably mountable to the washing chamber and includes a steam nozzle (243). While the washing frame is mounted to the washing chamber, the robot cleaner is mounted on the station, and the mop is mounted to the lower portion of the main body, the washing frame (240) may be positioned to rub against the mop, and the steam nozzle (243) may be positioned to spray steam guided to the washing chamber through the third pipe (206) toward the mop.

[0437] According to one embodiment of the present disclosure, the second pipe (205) may be connected to the lower portion of the steam generating device (250). The third pipe (206) may be connected to the upper portion of the steam generating device (250).

[0438] According to one embodiment of the present disclosure, the steam generating device (250) may be positioned below the water tank (221). The third pipe (206) may include a bending portion (2061) at a height between the steam generating device and the water tank.

[0439] According to one embodiment of the present disclosure, while the robot cleaner is mounted on the station and the mop is mounted on the lower part of the main body, at least a portion of the steam nozzle (243) may be positioned below the lower surface of the mop (160).

[0440] According to one embodiment of the present disclosure, the size of the second end (206b) of the third pipe (206) may be set to be larger than the size of the steam injection port (243).

[0441] According to one embodiment of the present disclosure, the floor (230a) of the washing chamber (230) may be arranged to slope downward along the direction in which the robot cleaner enters the station.

[0442] According to one embodiment of the present disclosure, the station may include a steam tank (251) capable of receiving water guided through the second pipe; a heater (252) configured to heat water received in the steam tank; a water level sensor (253) configured to detect a water level within the steam tank; and a control unit (290) configured to operate the heater based on a predetermined water level detected by the water level sensor.

[0443] According to one embodiment of the present disclosure, the station may include a steam tank (251) capable of receiving water guided through the second pipe; a heater (252) configured to heat water received in the steam tank; a temperature sensor (254) configured to detect a temperature within the steam tank; and a control unit (290) configured to stop the heater based on the temperature detected by the temperature sensor reaching a predetermined temperature.

[0444] According to one embodiment of the present disclosure, while the robot cleaner is mounted on the station and the mop is mounted on the lower part of the main body, the station (20) may be configured to control the steam generating device (250) to perform a steam generating operation based on the completion of a washing operation of washing the mop in the washing chamber or the receipt of a steam operation signal from at least one of the robot cleaner or a user device.

[0445] According to one embodiment of the present disclosure, the station (20) may be configured to transmit a steam start signal to the robot cleaner (10) based on the start of the steam generation operation.

[0446] According to one embodiment of the present disclosure, the robot cleaner (10) may be configured to rotate the mop (160) based on receiving the steam start signal from the station.

[0447] According to the invention, the usability of a cleaning device can be improved.

[0448] According to the invention, the cleaning efficiency of a cleaning device can be improved.

[0449] According to the present disclosure, the station can spray steam toward the mop of a robot vacuum cleaner mounted on the station. As a result, the mop can be sterilized by the steam and maintained in a clean state.

[0450] The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects that are not mentioned will be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains.

[0451] The above illustrates and describes specific embodiments. However, the invention is not limited to the above-described embodiments, and those skilled in the art will readily appreciate that various modifications and implementations can be made without departing from the spirit and scope of the invention as set forth in the claims below.

Claims

1. A robot vacuum cleaner including a main body having a lower part on which a mop can be detachably mounted; and A station capable of mounting the above robot vacuum cleaner is included; The above station is, A water tank designed to store water; A washing chamber configured so that the mop can be washed in the washing chamber while the robot cleaner is mounted on the station and the mop is mounted on the lower part of the main body; A steam generating device that generates steam using water stored in the above water tank; A pump provided to pump water stored in the water tank to the outside of the water tank; A first pipe provided to guide water pumped out of the water tank by the pump to the washing chamber; and A cleaning device including a second pipe configured to guide water pumped out of the water tank by the pump to the steam generating device.

2. In paragraph 1, The above station is, a valve connected to the first pipe and the second pipe; and A third pipe is provided between the pump and the valve, and is configured to guide water pumped out of the water tank by the pump to the valve; The above valve, Sending water pumped out of the water tank by the above pump from the third pipe to the first pipe, or A cleaning device configured to send water pumped out of the water tank by the pump from the third pipe to the second pipe.

3. In paragraph 2, The above valve is the first valve, The above station is, A fourth pipe configured to guide water pumped out of the water tank by the pump to the robot cleaner when the robot cleaner is placed on the station; a second valve connected to the third pipe and the fourth pipe; and Including a fifth pipe connecting the above pump and the second valve; The above second valve, Sending water pumped out of the water tank by the above pump from the fifth pipe to the third pipe, or A cleaning device configured to send water pumped out of the water tank by the pump from the fifth pipe to the fourth pipe.

4. In paragraph 1, The above station is, A cleaning device comprising: a third pipe configured to guide steam generated from the steam generating device to the cleaning chamber, the third pipe including a first end communicating with the steam generating device and a second end communicating with the cleaning chamber.

5. In paragraph 4, The above station is, A washing frame, which is detachably mountable in the washing chamber and includes a steam nozzle; While the above washing frame is mounted in the above washing chamber, the above robot cleaner is mounted in the above station, and the above mop is mounted in the lower part of the above main body, The above washing frame is positioned to rub against the above mop, A cleaning device wherein the steam nozzle is positioned to spray steam guided to the washing chamber through the third pipe toward the mop.

6. In paragraph 4, The above second pipe is connected to the lower part of the steam generating device, The third pipe is a cleaning device connected to the upper part of the steam generating device.

7. In paragraph 4, The above steam generating device is placed below the above water tank, The third pipe is a cleaning device including a bending portion at a height between the steam generating device and the water tank.

8. In paragraph 5, A cleaning device wherein at least a portion of the steam nozzle is positioned below the lower surface of the mop while the robot cleaner is mounted on the station and the mop is mounted on the lower portion of the main body.

9. In paragraph 5, A cleaning device in which the size of the second end of the third pipe is provided to be larger than the size of the steam injection port.

10. In paragraph 1, A cleaning device in which the floor of the above cleaning chamber is arranged to slope downward along the direction in which the robot cleaner enters the station.

11. In paragraph 1, The above station is, A steam tank capable of accommodating water guided through the second pipe; A heater provided to heat water contained in the above steam tank; A water level sensor provided to detect the water level within the steam tank; and A cleaning device including a control unit that operates the heater based on a predetermined water level detected by the water level sensor.

12. In paragraph 1, The above station is, A steam tank capable of accommodating water guided through the second pipe; A heater provided to heat water contained in the above steam tank; a temperature sensor provided to detect the temperature within the steam tank; and A cleaning device including a control unit that stops the heater based on the temperature detected by the temperature sensor reaching a predetermined temperature.

13. In paragraph 1, While the above robot cleaner is mounted on the above station and the above mop is mounted on the lower part of the main body, The above station is, A cleaning device that controls the steam generating device to perform a steam generating operation based on the completion of a cleaning operation of washing the mop in the cleaning chamber or receiving a steam operation signal from at least one of the robot cleaner and the user device.

14. In paragraph 13, The above station is, A cleaning device that transmits a steam start signal to the robot cleaner based on the start of the steam generating operation.

15. In paragraph 14, The above robot vacuum cleaner, A cleaning device that rotates the mop based on receiving the steam start signal from the station.

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