Robot cleaner, docking station, and cleaning apparatus comprising same

Abstract

A cleaning apparatus according to an embodiment of the present disclosure may comprise a robot cleaner which carries out cleaning while moving along the floor surface and comprises: a cleaner body; a pair of wheels arranged on the lower surface of the cleaner body and used to travel; and a guide wheel of which the diameter at the center is less than the diameter at the edge in the lengthwise direction. The cleaning apparatus may comprise a docking station comprising a base portion and a guide rail formed on the upper side of the base portion to guide the movement of the guide wheel.

Description

Robot vacuum cleaners, docking stations and cleaning devices including them

[0001] Various embodiments of the present disclosure relate to a robot vacuum cleaner, a docking station, and a cleaning device including the same.

[0002] A robot vacuum cleaner is a device that moves around a cleaning area without user intervention and automatically cleans the area. Typically, a robot vacuum cleaner can either suck up foreign substances like dust accumulated on a surface (e.g., a floor) or wipe away foreign substances like dirt adhered to the surface with a cleaning cloth. Among these robot vacuum cleaners, there are those that attach a cleaning cloth (or a mop) to one side and rotate the mop to wipe away foreign substances adhered to the surface.

[0003] After completing its indoor cleaning, the robot vacuum cleaner must automatically dock back into its docking station (or charging station). When the robot vacuum cleaner with the cleaning cloth attached enters the docking station, the cleaning cloth must be able to enter the docking station without getting caught on the entry ramp.

[0004] The above information may be provided as background art to aid in understanding the present disclosure. No claim or determination is made as to whether any of the above-described matters constitute prior art related to the present disclosure.

[0005] Various embodiments of the present disclosure disclose a structure in which a robot cleaner can enter a docking station without a cleaning cloth getting caught on the entry ramp of the docking station when the robot cleaner enters the docking station.

[0006] A cleaning device according to one embodiment of the present disclosure may include a robot cleaner that moves along a floor surface to perform cleaning, and includes a cleaner body, a pair of wheels arranged on a lower surface of the cleaner body and used for moving, and a guide wheel configured such that a diameter of a center portion is smaller than a diameter of a longitudinal edge portion. The cleaning device may include a docking station that includes a base portion and a guide rail positioned centrally on the base portion and configured to guide movement of the guide wheel.

[0007] According to various embodiments proposed in the present disclosure, the cleaning device can be configured to allow the robot cleaner to enter the docking station without the cleaning cloth getting caught by using a guide rail to separate the cleaning cloth from the floor surface.

[0008] The effects that can be obtained from the exemplary embodiments of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly derived and understood by those skilled in the art to which the exemplary embodiments of the present disclosure pertain from the following description. In other words, unintended effects resulting from implementing the exemplary embodiments of the present disclosure can also be derived by those skilled in the art from the exemplary embodiments of the present disclosure.

[0009] Figure 1 is a perspective view of a cleaning device according to one embodiment.

[0010] FIG. 2 is a perspective view of a robot vacuum cleaner according to one embodiment.

[0011] FIG. 3 is a bottom view of a robot vacuum cleaner according to one embodiment.

[0012] FIG. 4A is an enlarged bottom view of a portion of a robot vacuum cleaner according to one embodiment.

[0013] FIG. 4b is an enlarged bottom perspective view of a portion of a robot vacuum cleaner according to one embodiment.

[0014] FIG. 5 is an enlarged bottom view of a portion of a robot vacuum cleaner according to one embodiment.

[0015] Figure 6 is a control block diagram of a robot vacuum cleaner according to one embodiment.

[0016] FIG. 7 is a plan view of a docking station according to one embodiment.

[0017] Figure 8 is a front view of a docking station according to one embodiment.

[0018] FIG. 9 is a perspective view of a docking station according to one embodiment.

[0019] Figures 10a, 10b and 10c are drawings illustrating a process in which a robot cleaner is docked to a docking station.

[0020] FIG. 11 is a drawing for explaining the positional relationship of components of a robot cleaner when the robot cleaner is docked to a docking station according to one embodiment.

[0021] FIG. 12A is an enlarged side view of a portion of a docking station according to one embodiment.

[0022] FIG. 12b is an enlarged perspective view of a portion of a docking station according to one embodiment.

[0023] The accompanying drawings are referenced in the following description, and specific examples of implementations are illustrated within the drawings. Furthermore, other examples may be utilized and structural changes may be made without departing from the scope of the various examples.

[0024] The various embodiments used to illustrate the principles of the present disclosure, as illustrated in FIGS. 1 through 12b below and in this patent document, are for illustrative purposes only and should not be construed as limiting the scope of the present disclosure in any way. Those skilled in the art will appreciate that the principles of the present disclosure can be implemented in any appropriately arranged system or device.

[0025] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In connection with the description of the drawings, the same or similar reference numerals may be used for identical or similar components. Furthermore, in the drawings and related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and conciseness.

[0026] Figure 1 is a perspective view of a cleaning device according to one embodiment.

[0027] The embodiment of FIG. 1 can be optionally combined with the embodiments of FIGS. 2 to 12b.

[0028] Referring to FIG. 1, a cleaning device (1) according to one embodiment may include a robot cleaner (100) and a docking station (200).

[0029] A robot cleaner (100) may refer to a device that moves along a floor surface and cleans the floor surface. For example, a robot cleaner (100) may refer to any device that autonomously moves indoors and cleans the floor surface. While this document illustrates a robot cleaner (100) with a mop cleaning cloth (P) attached, the present disclosure is not limited thereto, and a robot cleaner (100) configured to perform vacuum cleaning may also be included in the present disclosure.

[0030] According to one embodiment, the docking station (200) may be positioned so that the robot cleaner (100) is docked thereto. While the robot cleaner (100) is docked to the docking station (200), the battery of the robot cleaner (100) may be charged. The docking station (200) may be referred to as a charging station, for example, as a place where the robot cleaner (100) is charged. Here, the docking station (200), although not shown, may be provided with a structure capable of washing or replacing the cleaning cloth (P).

[0031] A detailed description of the robot vacuum cleaner (100) and docking station (200) will be described below.

[0032] Fig. 2 is a perspective view of a robot vacuum cleaner according to one embodiment. Fig. 3 is a bottom view of a robot vacuum cleaner according to one embodiment.

[0033] The robot cleaner (100) illustrated in FIGS. 2 and 3 is merely an example for convenience of explanation, and the scope of the present disclosure is not limited to the illustrated configuration. The scope of the present disclosure may be applied not only to a robot cleaner (100) equipped with a cleaning cloth (P), but also to a robot cleaner that includes a vacuum cleaning method that uses a vacuum.

[0034] The embodiments of FIGS. 2 and 3 can be optionally combined with the embodiments of FIG. 1 and FIGS. 4a to 12b.

[0035] Referring to FIGS. 2 and 3, in one embodiment, the robot cleaner (100) may have a cleaning cloth (P) (e.g., a wet mop or a dry mop) that can come into contact with a surface to be cleaned (e.g., a floor) mounted on a cleaning cloth module (140) at the bottom. The robot cleaner (100) may perform cleaning (or mopping) to remove foreign substances attached to the surface to be cleaned using the cleaning cloth (P) mounted on the cleaning cloth module (140). The robot cleaner (100) may, for example, rotate the mounted cleaning cloth (P) and remove foreign substances attached to the floor using the frictional force between the cleaning cloth (P) and the floor generated by the rotation of the cleaning cloth (P). The robot cleaner (100) may replace a contaminated cleaning cloth (P) mounted on the cleaning cloth module (140) by itself. Below, the attachment / detachment structure and attachment / detachment operation of the cleaning cloth (P) of the robot vacuum cleaner (100) will be described later.

[0036] According to one embodiment, the robot vacuum cleaner (100) may include at least one of a main body (110), a control panel (120), a driving unit (130), or a cleaning cloth module (140).

[0037] According to one embodiment, the main body (110) may form the actual appearance of the robot cleaner (100). In one embodiment, the main body (110) may include a cleaner body (111) and a cleaner cover (112). In one embodiment, the cleaner body (111) may form the appearance of a lower portion that is positioned adjacent to the floor surface (or surface to be cleaned) while the robot cleaner (100) is driven for cleaning, and a side portion that extends upward from a corner of the lower portion to form a side surface of the robot cleaner (100). Although not specifically illustrated, according to one embodiment, the robot cleaner (100) may include a bumper that can alleviate impact from the outside on the side surface of the cleaner body (111).

[0038] According to one embodiment, the cleaner body (111) may be formed so that the upper side is open. In one embodiment, an internal space may be formed inside the cleaner body (111) in which various components for the operation of the robot cleaner (100) (e.g., the driving unit (360) of FIG. 6 or the liquid container) are arranged.

[0039] According to one embodiment, the cleaner cover (112) may form the upper exterior of the robot cleaner (100). In one embodiment, the cleaner cover (112) may be coupled to the upper side of the cleaner body (111). In one embodiment, the cleaner cover (112) may be arranged to cover an opening of the cleaner body (111). In one embodiment, the cleaner cover (112) may be detachably coupled to the cleaner body (111). After detaching the cleaner cover (112), the user may access components inside the main body (110) through the upper opening of the cleaner body (111). According to one embodiment, the cleaner body (111) and the cleaner cover (112) may be formed integrally.

[0040] According to one embodiment, the control panel (120) may be placed on the upper portion of the robot cleaner (100). The control panel (120) may be placed, for example, on the upper surface of the cleaner cover (112), but is not limited thereto.

[0041] According to one embodiment, the control panel (120) can receive various commands regarding the operation of the robot cleaner (100) from the user. In one embodiment, the control panel (120) can include an input device such as a button, a switch, or a touch panel. In this case, the robot cleaner (100) can receive commands regarding the operation of the robot cleaner (100) from the user through the control panel (120) (e.g., start / stop cleaning, or change cleaning mode). In one embodiment, the control panel (120) can include a signal input device that receives various commands input from the user through an external remote control in the form of an infrared signal, and the present disclosure is not limited to a specific form.

[0042] According to one embodiment, the control panel (120) can provide the user with the current status of the operation of the robot cleaner (100). In one embodiment, the control panel (120) can include a display device, such as a display. In this case, the robot cleaner (100) can visually convey information regarding the current status of the robot cleaner (100) (e.g., the current cleaning mode or battery status) to the user through the display device. In one embodiment, the control panel (120) may be integrally arranged with the above-described input device or display device, but is not limited thereto.

[0043] In one embodiment, the driving unit (130) may be arranged on the lower surface of the cleaner body (111). In one embodiment, the driving unit (130) may be configured to enable free movement of the robot cleaner (100). The robot cleaner (100) may freely move through the cleaning space through the driving unit (130).

[0044] According to one embodiment, the driving unit (130) may include one or more wheels that are connected to a driving unit (e.g., the driving driving unit (361) of FIG. 6) and rotate by receiving power. The driving unit (130) may include, for example, a pair of main wheels (e.g., a first wheel (131a) and a second wheel (131b)). In one embodiment, the first wheel (131a) and the second wheel (131b) may be arranged so that the balance of the robot cleaner (100) is maintained.

[0045] According to one embodiment, the robot cleaner (100) may include a sub-wheel (140). The sub-wheel (140) may be disposed on the lower surface of the cleaner body (111). The sub-wheel (140) may be disposed, for example, at the rear (e.g., in the -x direction) of the robot cleaner (100). The sub-wheel (140) may be disposed, for example, on the x-axis line at the center of an imaginary line connecting the first wheel (131a) and the second wheel (131b).

[0046] The direction of movement of the robot cleaner (100) can be determined depending on how the movement of each of the first wheel (131a) and the second wheel (131b) is controlled. For example, when each of the first wheel (131a) and the second wheel (131b) is controlled in the same direction and at the same speed, the robot cleaner (100) can move forward (e.g., in the +x direction) or backward (e.g., in the -x direction). When each of the first wheel (131a) and the second wheel (131b) is controlled in different directions and / or at different speeds, the robot cleaner (100) can move by changing the direction of movement in response to a preset direction.

[0047] In one embodiment, the sub-wheel (140) may be positioned so that the balance of the robot cleaner (100) is maintained when the robot cleaner (100) moves forward (e.g., moving in the +x direction) or backward (e.g., moving in the -x direction).

[0048] According to one embodiment, a battery (not shown) may be placed inside the robot cleaner (100). The battery may be placed, for example, inside the main body (110). The battery may be placed so as to be removable and mountable, but is not limited thereto. The battery is electrically connected to a driving unit (e.g., the driving unit (360) of FIG. 6) and may supply power to the driving unit (360). The battery may be a rechargeable secondary battery, but is not limited thereto.

[0049] According to one embodiment, a driving unit (e.g., a driving unit (360) of FIG. 6) may be disposed inside a main body (110) of a robot cleaner (100). The driving unit (360) may be disposed, for example, in an internal receiving space formed by the cleaner body (111). The driving unit (360) may include, for example, a motor and / or an actuator, and may include a plurality of components for supplying power to each of the aforementioned driving unit (130) or cleaning cloth module (140).

[0050] According to one embodiment, the robot cleaner (100) may include a liquid container (not shown) configured to store liquid for wet cleaning. The liquid stored in the liquid container may be, for example, water, but is not limited thereto, and may also be a liquid substance such as soap or a solvent used for cleaning. The liquid container may be detachably arranged within an internal storage space of the cleaner body (111). A user may detach the cleaner cover (112) from the cleaner body (11) to open the upper portion of the cleaner body (111) to access the liquid container.

[0051] According to one embodiment, the robot cleaner (100) may include a liquid dispenser (not shown). The liquid dispenser may have, for example, one end fluidly connected to a liquid container and the other end fluidly connected to a cleaning cloth module (140) disposed below the robot cleaner (100). The liquid dispenser may be, for example, a pipe or a hose. The robot cleaner (100) may supply liquid (e.g., water) to a cleaning cloth (P) mounted on the cleaning cloth module (140) through the liquid container and / or the liquid dispenser.

[0052] According to one embodiment, the robot cleaner (100) may include a charging terminal (150). The charging terminal (150) may be disposed on the lower surface of the cleaner body (111). The charging terminal (150) may be disposed, for example, to face the lower side (e.g., in the -z direction) of the cleaner body (111). The charging terminal (150) may be configured to charge the battery by contacting a charging unit (e.g., a charging unit (240) of FIG. 7) of a docking station (200) to be described later.

[0053] According to one embodiment, the charging terminal (150) may include a first charging terminal (150a) and a second charging terminal (150b). The first charging terminal (150a) and the second charging terminal (150b) may be arranged symmetrically with respect to the x-axis center line of the robot cleaner (100).

[0054] According to one embodiment, the robot cleaner (100) may include a stopper groove (190). The stopper groove (190) is a portion into which a stopper (e.g., a stopper (230) of FIG. 7) of the docking station (200) is inserted during the process of docking the robot cleaner (100) to the docking station (200). The robot cleaner (100) can be docked to the docking station (200) by the stopper (230) being caught in the stopper groove (190).

[0055] According to one embodiment, the stopper groove (190) may include a first stopper groove (190a) and a second stopper groove (190b). The first stopper groove (190a) and the second stopper groove (190b) may be arranged symmetrically with respect to the x-axis direction center line of the robot cleaner (100). The first stopper groove (190a) may be arranged, for example, around the first charging terminal (150a). The first stopper groove (190a) may be arranged, for example, further away from the edge of the lower surface of the cleaner body (111) than the first charging terminal (150a), but is not limited thereto. The second stopper groove (190b) may be arranged, for example, around the second charging terminal (150b). The second stopper home (190b) may be positioned, for example, further away from the edge of the lower surface of the cleaner body (111) than the second charging terminal (150b), but is not limited thereto.

[0056] According to one embodiment, the robot cleaner (100) may include a guide wheel (160). The guide wheel (160) may be disposed on the lower surface of the cleaner body (111). The guide wheel (160) may be disposed at the front (e.g., in the +x direction) of the robot cleaner (100). The guide wheel (160) may be configured to contact a guide rail (e.g., the guide rail (260) of FIG. 7) of a docking station (e.g., the docking station (200) of FIG. 7) to be described later, and to rotate along the extension direction of the guide rail (260). The guide wheel (160) may be disposed such that at least a portion of the guide wheel (160) protrudes downward from the lower surface of the cleaner body (111). The guide wheel (160) may be, for example, a keel roller. The guide wheel (160) may be, for example, made of, but is not limited to, rubber or plastic.

[0057] According to one embodiment, the edge width of the guide wheel (160) may be configured to be wider than the width of the center portion. For example, the diameter of the center portion of the guide wheel (160) may be configured to be smaller than the diameter of the longitudinal edge of the guide wheel (160). By using the difference in width (or diameter) according to the position of the guide wheel (160), the guide wheel (160) can be prevented from being separated from the guide rail (260) when the guide wheel (160) moves along the guide rail (260).

[0058] According to one embodiment, the robot cleaner (100) may include a guide rib (170). The guide rib (170) may serve to guide the guide wheel (160) to be placed on a guide rail (e.g., a guide rail (260) of FIG. 7) of the docking station (200) when the robot cleaner (100) enters the docking station (e.g., a docking station (200) of FIG. 7).

[0059] The guide rib (170) may be formed to protrude downward from the lower surface of the cleaner body (111). The guide rib (170) may be arranged in front of the guide wheel (160) (e.g., in the +x direction). The guide ribs (170) may be arranged symmetrically in pairs on both sides based on an imaginary line in the x-axis direction that divides the lower surface of the robot cleaner (100) in half. The gap between the pair of guide ribs (170) may be formed to become narrower as it goes toward the guide wheel (160) (e.g., in the -x direction). The pair of guide ribs (170) may have a shape in which the width becomes narrower as it goes from the outer circumferential surface of the cleaner body (111) toward the guide wheel (160). The shape of the guide rib (170) may guide the guide rail (260) of the docking station (200) to come into contact with the central portion of the guide wheel (160).

[0060] According to one embodiment, the robot cleaner (100) may include an alignment groove (180). The alignment groove (180) may be positioned at the rear (e.g., in the -x direction) of the guide wheel (160). The alignment groove (180) may be formed to extend in a direction perpendicular to the longitudinal direction of the guide wheel (160). The longitudinal direction of the guide wheel (160) may refer to the y-axis direction.

[0061] The alignment groove (180) may be formed by extending along a center line that divides the guide wheel (160) in half. The center line may refer to a line extending in the x-axis direction. The center line may refer to a direction perpendicular to the longitudinal direction of the guide wheel (160).

[0062] The alignment groove (180) may be formed to prevent the guide wheel (160) from being separated from the guide rail (260) by an external force or the like while the guide wheel (160) moves along the guide rail (260) during the process of docking the robot cleaner (100) to the docking station (200). The alignment groove (180) may prevent the direction of travel of the robot cleaner (100) from being distorted while the guide wheel (160) moves along the guide rail (260).

[0063] Although not illustrated in FIGS. 2 and 3, the robot cleaner (100) may be equipped with a control unit (e.g., the control unit (350) of FIG. 6) that generates control commands for controlling the operation of each part of the robot cleaner (100). In one embodiment, the control and operation of the robot cleaner (100) centered around the control unit (350) will be specifically described in FIG. 6.

[0064] FIG. 4A is an enlarged bottom view of a portion of a robot vacuum cleaner according to one embodiment. FIG. 4B is an enlarged bottom perspective view of a portion of a robot vacuum cleaner according to one embodiment.

[0065] The drawings shown in FIGS. 4a and 4b are enlarged views of a portion of the lower surface of the robot cleaner (100) shown in FIG. 3.

[0066] The embodiments of FIGS. 4a and 4b can be optionally combined with the embodiments of FIGS. 1 to 3 and FIGS. 5 to 12b.

[0067] Referring to FIGS. 4A and 4B, the robot cleaner (100) may include a guide wheel (160). The guide wheel (160) may include a center portion (161) and a side portion (162). The side portion (162) may be a portion formed to extend from the center portion (161) along the longitudinal direction of the guide wheel (160). The average thickness of the side portion (162) may be greater than the average thickness of the center portion (161). The side portion (162) may be formed to become thicker as it extends from the center portion (161). The surface of the side portion (162) may be formed to slope upward in a direction away from the center portion (161).

[0068] According to one embodiment, the alignment groove (180) may include a first side wall (180a) and a second side wall (180b). The first side wall (180a) and the second side wall (180b) may refer to a portion extending approximately vertically downward (e.g., in the -z direction) from the lower surface of the cleaner body (111), but is not limited thereto. The first side wall (180a) and the second side wall (180b) may prevent the guide wheel (160) from derailing from the guide rail (e.g., the guide rail (260) of FIG. 7) during the process of the robot cleaner (100) docking to the docking station (200).

[0069] According to one embodiment, the guide wheel (160) can be rotated about a rotation axis in a direction parallel to the longitudinal direction. The longitudinal direction of the guide wheel (160) may refer to the y-axis direction.

[0070] For example, the guide rib (170) may be configured such that the angle (D1) formed by the center line passing through the center of the guide wheel (160) and the guide rib (170) forms an acute angle. Accordingly, even if the entry angle of the robot cleaner (100) is slightly off when the robot cleaner (100) enters the docking station (e.g., the docking station (200) of FIG. 7), the guide wheel (160) can be seated on the guide rail (e.g., the guide rail (260) of FIG. 7) of the docking station (200) through the guide rib (170). For example, even if the entry angle of the robot cleaner (100) into the docking station (200) is slightly off, the guide wheel (160) can be adjusted in the direction toward the guide rail (260) when the guide rib (170) and the guide rail (260) come into contact with each other. The above center line may refer to a line perpendicular to the longitudinal direction of the guide wheel (160).

[0071] FIG. 5 is an enlarged bottom view of a portion of a robot vacuum cleaner according to one embodiment.

[0072] FIG. 5 illustrates a guide wheel (160-1) that is formed to be longer in the longitudinal direction compared to the guide wheel illustrated in FIGS. 4A and 4B (e.g., the guide wheel (160) of FIG. 4A). The guide wheel (160-1) of FIG. 5 may be included in the robot cleaner (100) illustrated in FIGS. 2 and 3. The guide wheel (160-1) of FIG. 5 may be included in the robot cleaner (100), for example, as a replacement for the guide wheel (160) of FIG. 4A.

[0073] When the length of the guide wheel (160-1) is formed long, even if the direction is relatively changed when the robot cleaner (100) enters a docking station (e.g., docking station (200) of FIG. 1), the center (161-1) of the guide wheel (160-1) can be placed on the guide rail (e.g., guide rail (260) of FIG. 7) by the side (162-1) of the guide wheel (160-1) that is relatively long in the length direction.

[0074] According to one embodiment, the guide wheel (160-1) may be positioned closer to the rim or edge of the robot cleaner (100) than the guide wheel of FIG. 4A (e.g., the guide wheel (160) of FIG. 4A). Since the guide wheel (160-1) of FIG. 5 is formed longer than the guide wheel (160) of FIG. 4A, it may also perform the role of the guide rib of FIG. 4A (e.g., the guide rib (170) of FIG. 4A). Therefore, when the guide wheel (160-1) of FIG. 5 is provided in the robot cleaner (100),

[0075] Figure 6 is a control block diagram of a robot vacuum cleaner according to one embodiment.

[0076] The configuration of the control block diagram illustrated in FIG. 6 may be included in the robot cleaner (100) illustrated in FIGS. 1 to 5. The robot cleaner (300) illustrated in FIG. 6 may be substantially identical or similar to the robot cleaner illustrated in FIGS. 1 to 5 (e.g., the robot cleaner (100) illustrated in FIG. 2).

[0077] The embodiment of FIG. 6 can be optionally combined with the embodiments of FIGS. 1 to 5 and FIGS. 7 to 12b.

[0078] Referring to FIG. 6, the robot cleaner (300) may include a detection unit (310). The detection unit (310) may include multiple sensors or cameras for detecting the surrounding environment of the robot cleaner (300). The detection unit (310) may include multiple cameras to capture images in various directions, for example. The distance sensor may include, but is not limited to, an ultrasonic sensor, a radar sensor, and / or a lidar sensor. The detection unit (310) may also include, for example, a microphone or an infrared sensor for detecting the surrounding environment. According to one embodiment, the detection unit (310) may be coupled to each cleaning cloth module (140) of the robot cleaner (300) to detect the contamination level of each cleaning cloth being used for cleaning, but the present disclosure is not limited thereto.

[0079] In one example, the robot cleaner (300) may include a communication unit (320) that supports signal transmission and reception with the outside. In one example, the communication unit (320) may receive and / or transmit wired and / or wireless signals between an external wired and / or wireless communication system, an external server, and / or other devices according to a predetermined wired and / or wireless communication protocol. In one example, the communication unit (320) may transmit and receive data according to a wireless Internet communication protocol, such as, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), or LTE-A (Long Term Evolution-Advanced). In one example, the communication unit (320) may transmit and receive data according to at least one short-range communication protocol, including, for example, Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wide Band), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, and Wireless USB (Universal Serial Bus) technology. In one example, the communication unit (320) may receive a setting data signal input by a user from the user's mobile device in the form of a wireless signal according to a predetermined wireless communication protocol.In one example, the communication unit (320) may receive information and / or commands for controlling the operation of the robot cleaner (300) from an external server in the form of signals according to a predetermined wired / wireless communication protocol. The communication unit (320) may transmit various received signals to the control unit (350) described below. In one example, the communication unit (320) may transmit various data generated or acquired on the robot cleaner (300) in the form of wired / wireless signals according to a predetermined wired / wireless communication protocol, for example, to a user's mobile device or an external server.

[0080] In one example, the communication unit (320) may include a module for obtaining the location of the robot cleaner (300), such as a Global Positioning System (GPS) module or a Wi-Fi module. When the robot cleaner (300) utilizes a GPS module, information regarding the location of the robot cleaner (300) may be received using signals transmitted from GPS satellites. When the robot cleaner (300) utilizes a Wi-Fi module, information regarding the location of the robot cleaner (300) may be received based on information from a wireless access point (AP) that transmits and receives wireless signals with the Wi-Fi module.

[0081] According to one embodiment, the robot cleaner (300) may include an input unit (330). The input unit (330) may receive, for example, information regarding the operation mode of the robot cleaner (300) from a user. The input unit (330) may be configured as a device such as a key pad, a dome switch, a touch pad (static or electrostatic), a jog wheel, a jog switch, or a remote control. In addition to the input unit (330) described above, the user may also input information regarding the operation mode of the robot cleaner (300) using a portable device such as a terminal.

[0082] According to one embodiment, the robot cleaner (300) may include a memory (340). According to one embodiment, the memory (340) may store data supporting various functions of the robot cleaner (300). The memory (340) may store, for example, a plurality of application programs (or applications) used in the robot cleaner (300), data for the operation of the robot cleaner (300), and / or commands. At least some of the application programs may be downloaded from an external server via wireless communication. At least some of the application programs may be stored in the memory (340) from the time of shipment for the basic functions of the robot cleaner (300). The application programs may be stored in the memory (340) and driven by the control unit (350) to perform operations (or functions) of the robot cleaner (300), for example. According to some embodiments, the memory (340) may be included as a part of the control unit (350). According to one embodiment, the memory (340) can store information for setting a driving path of the robot cleaner (300).

[0083] According to one embodiment, the robot cleaner (300) may include a control unit (350). According to one embodiment, the control unit (350) may control the operation of the robot cleaner (300) using, for example, a signal received from a detection unit (310), a communication unit (320), or an input unit (330). Although not specifically illustrated, the control unit (350) may include one or more processors.

[0084] According to one embodiment, the control unit (350) may include a command receiving unit (351). The command receiving unit (351) may receive a driving-related command input from the outside through, for example, the aforementioned sensing unit (310), communication unit (320), or input unit (330). The command receiving unit (351) may receive a command from a user received from the aforementioned power button (113) and / or control panel (120). The command receiving unit (351) may receive each user command including an operation on / off command, a cleaning start or pause command, or a cleaning mode setting command.

[0085] In one embodiment, the control unit (350) may include a cleaning cloth replacement determination unit (352) that determines whether the cleaning cloth attached to the cleaning cloth module (140) needs to be replaced while the robot cleaner (300) is cleaning. In one embodiment, the cleaning cloth replacement determination unit (352) may, for example, obtain a detection result of a contamination sensor (not shown) provided in the detection unit (310) and determine whether the cleaning cloth needs to be replaced based on the obtained information. In one embodiment, the cleaning cloth replacement determination unit (352) may determine whether the cleaning cloth needs to be replaced based on the cleaning time that has elapsed since the cleaning cloth was attached to the cleaning cloth module (140). In one embodiment, the cleaning cloth replacement determination unit (352) may determine whether the cleaning cloth needs to be replaced based on a command received from the command receiving unit (351).

[0086] In one embodiment, the control unit (350) may include a driving path calculation unit (353) that calculates a driving path of the robot cleaner (300). In one embodiment, the driving path calculation unit (353) may calculate the driving path of the robot cleaner (300) based on a predetermined algorithm, detection results detected by various sensors provided in the detection unit (310), and / or a user command received through the command reception unit (351). In one embodiment, the driving path calculation unit (353) may calculate the driving path by taking into account detection results from the sensors provided in the detection unit (310).

[0087] In one embodiment, when the cleaning cloth replacement determination unit (352) determines that the cleaning cloth needs to be replaced, the driving path calculation unit (353) can calculate a driving path that moves the robot cleaner (300) to a preset location. For example, when the cleaning cloth replacement determination unit (352) determines that the robot cleaner (300) needs to be replaced, the cleaning cloth replacement determination unit (352) can calculate a driving path that moves the robot cleaner (300) to a docking station (e.g., docking station (200) of 1).

[0088] In one embodiment, the control unit (350) may include a drive unit control command unit (354). In one embodiment, the drive unit control command unit (354) may generate a control command to control each component of the drive unit (360) of the robot cleaner (300), for example, each motor and / or actuator of each drive unit (360), according to various commands received from a user or the outside through the command receiving unit (351) described above, detection results detected by various sensors provided in the detection unit (310) of the robot cleaner (300), and / or a driving path determined by the driving path calculation unit (353).

[0089] In one embodiment, each component of the driving unit (360) may operate according to a command generated from the driving unit control command unit (354). According to one embodiment, the driving unit (360) may include a driving driving unit (361) and a cleaning driving unit (362).

[0090] In one embodiment, the driving / movement of the robot cleaner (300) can be controlled according to a command generated from the driving unit control command unit (354). In one embodiment, each component of the driving unit (e.g., the driving driving unit (361)) can operate to appropriately control the rotation direction and speed of the main wheel (e.g., the first or second wheel (131a, 131b) of FIG. 3) according to the command generated from the driving unit control command unit (354), thereby enabling the robot cleaner (300) to appropriately move in a required direction.

[0091] In one embodiment, the driving drive unit (161) may include a pair of driving drive units. Although not specifically illustrated, in one embodiment, each of the pair of driving drive units may include a motor and actuator configuration and may be connected to the aforementioned driving unit (130), for example, each of the first and second wheels (131a, 131b), to provide power necessary to move the robot cleaner (100).

[0092] In one embodiment, the drive unit control command unit (354) can generate a control command to control each component of the drive unit (e.g., cleaning drive unit (362)) such as a motor and / or actuator to move the cleaning module (140) based on a command received from a user through the command receiving unit (351) described above and / or a pre-stored algorithm.

[0093] In one embodiment, each component of the driving unit (e.g., cleaning driving unit (362)) may operate to appropriately adjust the rotation speed of the cleaning cloth according to a command generated from the driving unit control command unit (354). In this case, the floor cleaning intensity of the robot cleaner (300) may be adjusted.

[0094] In one embodiment, the cleaning drive unit (362) may include a pair of cleaning drives (362). Although not explicitly shown, in one embodiment, each of the pair of cleaning drives (362) may include a rotary motor and actuator configuration.

[0095] Fig. 7 is a plan view of a docking station according to one embodiment. Fig. 8 is a front view of a docking station according to one embodiment. Fig. 9 is a perspective view of a docking station according to one embodiment.

[0096] The embodiments of FIGS. 7 to 9 can be optionally combined with the embodiments of FIGS. 1 to 6 and FIGS. 10a to 12b.

[0097] Referring to FIGS. 7 to 9, the docking station (200) may include at least one of a base portion (210), a cleaning cloth mounting portion (220), a stopper (230), a charging portion (240), a docking groove (250), or a guide rail (260).

[0098] According to one embodiment, the base portion (210) may be configured to be supported by a floor surface when the docking station (200) is placed.

[0099] According to one embodiment, the docking station (200) may include a main body (211) coupled with a base (210). The base (210) and the main body (211) may be formed as a single unit, or may be coupled in a detachable manner. Various electronic components may be accommodated within the main body (211) for charging the robot cleaner (100), etc.

[0100] According to one embodiment, one side of the main body (211) may be formed as a curved surface. The curvature of the side formed as a curved surface may be substantially the same as or similar to the curvature formed on the front of the cleaner body (111) of the robot cleaner (100), for example. The main body (211) may be arranged to extend from one side of the base (210) in a direction approximately perpendicular to the base (210). The main body (211) may also function as a stopper to guide the stopping point of the robot cleaner (100) when docking the robot cleaner (100).

[0101] According to one embodiment, the cleaning cloth mounting portion (220) may be positioned or formed on the base portion (210). At least a portion of the cleaning cloth mounting portion (220) may correspond to the shape of the cleaning cloth (P).

[0102] According to one embodiment, the cleaning cloth mounting portion (220) may include a first cleaning cloth mounting portion (220a) and a second cleaning cloth mounting portion (220b). A cleaning cloth (P) mounted or attached to a robot cleaner (e.g., the robot cleaner (100) of FIG. 2) may be mounted on each of the first cleaning cloth mounting portion (220a) and the second cleaning cloth mounting portion (220b). When the robot cleaner (100) is docked to the docking station (200), the cleaning cloth (P) of the robot cleaner (100) may be mounted on the cleaning cloth mounting portion (220).

[0103] According to one embodiment, the docking station (200) may include an entry ramp (221). The entry ramp (221) may be the first part that comes into contact with the robot cleaner (100) when the robot cleaner (100) docks. The entry ramp (221) may be formed as a slope for docking entry of the robot cleaner (100).

[0104] When the robot cleaner (100) passes through the entry ramp (221), the cleaning cloth (P) that is in close contact with or close to the floor surface may get caught on the entry ramp (221). If the cleaning cloth (P) gets caught on the entry ramp (221), the cleaning cloth (P) may be folded or crumpled, and may not be settled in the unfolded shape on the cleaning cloth settling portion (220). This problem can be solved by the guide rail (260) described later.

[0105] According to one embodiment, the stopper (230) may be formed to protrude upward from the upper surface of the base portion (210). The stopper (230) may be configured to stop the robot cleaner (100) so that it is docked in the correct position during the process of docking the robot cleaner (100) to the docking station (200). The stopper (230) may be inserted into a stopper groove of the robot cleaner (100) (e.g., the stopper groove (190) of FIG. 3). The stopper (230) may be arranged around the charging unit (240). The stopper (230) may be arranged adjacent to the charging unit (240).

[0106] According to one embodiment, the stopper (230) may include a first stopper (230a) and a second stopper (230b). The first stopper (230a) may be brought into contact with a first stopper groove (e.g., the first stopper groove (191) of FIG. 3) of the robot cleaner (100). The second stopper (230b) may be brought into contact with a second stopper groove (e.g., the second stopper groove (192) of FIG. 3) of the robot cleaner (100).

[0107] According to one embodiment, the charging unit (240) may be disposed on the upper surface of the base unit (210). The charging unit (240) may be disposed to protrude upward from the upper surface of the base unit (210). The charging unit (240) may be brought into contact with a charging terminal of the robot cleaner (100) (e.g., the charging terminal (150) of FIG. 3). By bringing the charging unit (240) into contact with the charging terminal (150), the battery of the robot cleaner (100) may be charged.

[0108] According to one embodiment, when the robot cleaner (100) is completely docked to the docking station (200), the charging terminal (150) may be electrically connected to the charging unit (240). The cleaner body of the robot cleaner (100) (e.g., the cleaner body (111) of FIG. 3) may press the charging unit (240) downward (e.g., in the -z direction) by gravity. The charging terminal (150) and the charging unit (240) may be electrically connected more firmly by the weight of the robot cleaner (100). For example, even if an external force is applied while the robot cleaner (100) is docked to the docking station (200), the electrical connection between the charging terminal (150) and the charging unit (240) may not be easily broken by the weight of the robot cleaner (100).

[0109] According to one embodiment, the charging unit (240) may include a first charging unit (240a) and a second charging unit (240b). The first charging unit (240a) may be brought into contact with a first charging terminal of the robot cleaner (100) (e.g., the first charging terminal (150a) of FIG. 3). The second charging unit (240b) may be brought into contact with a second charging terminal of the robot cleaner (100) (e.g., the second charging terminal (150b) of FIG. 3).

[0110] According to one embodiment, a docking groove (250) may be formed on the base portion (210). The docking groove (250) may be formed to be stepped from the cleaning cloth mounting portion (220). The docking groove (250) may be formed steppedly on the upper side of the cleaning cloth mounting portion (220). The docking groove (250) may be a portion where a guide wheel (e.g., a guide wheel (160) of FIG. 3) of the robot cleaner (100) is positioned when docking of the robot cleaner (100) is completed. A portion of a guide rail (260) may be arranged on the docking groove (250).

[0111] According to one embodiment, the guide rail (260) may be disposed on the base portion (210). The guide rail (260) may be located at the center of the docking station (200). The first cleaning cloth mounting portion (220a) and the second cleaning cloth mounting portion (220b) may be symmetrically disposed with respect to the guide rail (260). The first stopper (230a) and the second stopper (230b) may be symmetrically disposed with respect to the guide rail (260). The first charging portion (240a) and the second charging portion (240b) may be symmetrically disposed with respect to the guide rail (260).

[0112] According to one embodiment, the guide rail (260) may include a first portion (261), a second portion (262), and a third portion (263). The first portion (261), the second portion (262), and the third portion (263) may be sequentially positioned along the docking direction of the robot cleaner (100). Here, the docking direction of the robot cleaner (100) may refer to the +x direction of the drawing or the direction from the entry ramp (221) toward the main body (211). Hereinafter, the docking direction of the robot cleaner (100) is referred to as a 'docking direction'.

[0113] According to one embodiment, the first portion (261) may have a first slope. The first portion (261) may be formed to slope upward along the docking direction. The first portion (262) may support the guide wheel (160) to lift a portion of the robot cleaner (100). As the guide wheel (160) moves along the first portion (262), the robot cleaner (100) is lifted upward (e.g., in the +z direction), thereby preventing the cleaning cloth (P) from getting caught on the entry ramp (221).

[0114] In one embodiment, the second portion (262) may have a second slope. The second portion (262) may extend upwardly from the first portion (261) along the docking direction. The second slope may be smaller than the first slope. As the guide wheel (160) of the robot cleaner (100) passes over the second portion (262), a portion of the robot cleaner (100) may be gradually lifted upward.

[0115] According to one embodiment, the third portion (263) may be formed such that at least a portion thereof is inclined downward from the second portion (262) along the docking direction. When the guide wheel (160) of the robot cleaner (100) reaches the third portion (263), the docking process may be terminated. The inclination of the third portion (263) may prevent the robot cleaner (100) from moving in the reverse direction even after docking is completed.

[0116] Figures 10a, 10b and 10c are drawings illustrating a process in which a robot cleaner is docked to a docking station.

[0117] FIG. 10a, FIG. 10b and FIG. 10c are schematic illustrations to explain the operation of the robot cleaner (100) illustrated in FIG. 1 to FIG. 9 docking to the docking station (200), but the present disclosure is not limited thereto.

[0118] The robot vacuum cleaner (100) can complete docking by sequentially performing the operations of FIG. 10a, FIG. 10b, and FIG. 10c.

[0119] The embodiments of FIGS. 10a, 10b and 10c can be optionally combined with the embodiments of FIGS. 1 to 9 and 11 to 12b.

[0120] Referring to FIG. 10A, the robot cleaner (100) can enter the docking station (200). At the beginning of docking, the guide wheel (160) is lifted by the first part (261) of the guide rail (260), so that the front part (e.g., +x side part) of the robot cleaner (100) can be lifted upward.

[0121] Referring to FIG. 10b, during the docking process of the robot cleaner (100), the guide wheel (160) can move along the second part (262) of the guide rail (260). While the guide wheel (160) moves along the second part (262) of the guide rail (260), the front part of the robot cleaner (100) can be lifted further upward. While the guide wheel (160) passes the first part (261) and the second part (262) of the guide rail (260) during the docking process of the robot cleaner (100), the cleaning cloth (P) is lifted upward away from the ground, thereby preventing the cleaning cloth (P) from being caught on the docking station (200) and being crumpled or folded.

[0122] Referring to FIG. 10c, docking can be completed when the guide wheel (160) reaches the third part (263) of the guide rail (260). When the guide rail (260) reaches the third part (263), the cleaning cloth (P) can also move downward and be properly seated on the cleaning cloth mounting portion (220).

[0123] FIG. 11 is a drawing for explaining the positional relationship of components of a robot cleaner when the robot cleaner is docked to a docking station according to one embodiment.

[0124] FIG. 11 is a schematic drawing for explaining the arrangement relationship between the robot cleaner (100) and the docking station (200) when the robot cleaner (100) is docked to the docking station (200), and the present disclosure is not limited by the drawing.

[0125] The embodiment of FIG. 11 can optionally be combined with the embodiments of FIGS. 1 to 10c, and FIGS. 12a and 12b.

[0126] Referring to FIG. 11, when the robot cleaner (100) is docked to the docking station (200), the guide wheel (160) can be positioned on the mounting groove (250). For example, when the robot cleaner (100) is docked to the docking station (200), the driving unit (130) can be positioned on the base unit (210). For example, when the robot cleaner (100) is docked to the docking station (200), the driving unit (130) can be positioned on the entry ramp (221). However, this is not limited thereto, and the driving unit (130) can also be positioned on the floor surface rather than the docking station (200).

[0127] FIG. 12a is an enlarged side view of a portion of a docking station according to one embodiment. FIG. 12b is an enlarged perspective view of a portion of a docking station according to one embodiment.

[0128] Figures 12a and 12b are enlarged views of the second charging unit (240b) and its surroundings among the docking station (200) of Figure 9. The following description of the second charging unit (240b) may also be applied to the first charging unit (240a).

[0129] The embodiments of FIGS. 12a and 12b can be optionally combined with the embodiments of FIGS. 1 to 11.

[0130] According to one embodiment, the second charging unit (240b) (or charging unit (240)) may be formed to protrude upward from the base unit (210) when the robot cleaner (100) is not docked. When the robot cleaner (100) is docked, the second charging unit (240b) may be moved downward by the second charging terminal (e.g., the second charging terminal (150a) of FIG. 3).

[0131] According to one embodiment, the second charging unit (240b) may include an elastic member (not shown) to which force is applied in an upward direction (e.g., +z direction). Accordingly, when the robot cleaner (100) is docked and pressed downward, the charging unit (240b) may be arranged to protrude upward again when the robot cleaner (100) is released.

[0132] A cleaning device according to one embodiment may include a robot cleaner (100) that moves along a floor surface to perform cleaning, including a cleaner body (111), a pair of wheels (131a and 131b) arranged on a lower surface of the cleaner body (111) and used for driving, and a guide wheel (160) configured such that a diameter of a center portion is smaller than a diameter of a longitudinal edge, and a docking station (200) that includes a base portion (210) and a guide rail (260) positioned centrally on the base portion (210) and configured to guide movement of the guide wheel (160).

[0133] According to one embodiment, the guide rail (260) may include a first portion (261) having a first slope, a second portion (262) extending from the first portion (261) and having a second slope smaller than the first slope, and a third portion (263) extending from the second portion (262) and having a downward slope.

[0134] According to one embodiment, docking can be terminated by positioning the guide wheel (160) of the robot cleaner (100) on the third part (263).

[0135] According to one embodiment, the robot cleaner (100) may include a charging terminal (150) configured to be positioned on the lower surface of the cleaner body (111). The docking station (200) may include a charging unit (240) configured to come into contact with the charging terminal (150) when the robot cleaner (100) is docked.

[0136] According to one embodiment, the robot cleaner (100) may further include a stopper groove (190) arranged around the charging terminal (150). The docking station (200) may further include a stopper (230) inserted into the stopper groove (190) to stop the robot cleaner (100) so that it is docked in a fixed position.

[0137] According to one embodiment, the charging unit (240) may protrude upward from the base unit (210) when the robot cleaner (100) is not docked. When the robot cleaner (100) is docked, the charging unit (240) may be configured to move downward by the pressure of the robot cleaner (100).

[0138] According to one embodiment, the guide wheel (160) may include a central portion (161) and a side portion (162) extending upwardly from the central portion (161) along the longitudinal direction of the guide wheel (160).

[0139] According to one embodiment, the robot cleaner (100) may further include a guide rib (170) configured to center the guide wheel (160) relative to the guide rail (260) when the robot cleaner (100) enters the docking station (200).

[0140] According to one embodiment, the guide rib (170) may be configured to have a width that becomes narrower as it moves from the outer circumferential surface of the cleaner body (111) toward the guide wheel (160).

[0141] According to one embodiment, the robot cleaner (100) may include an alignment groove (180) extending in a direction perpendicular to the length direction of the guide wheel (160) and configured to be aligned with the guide rail (260) during the docking process of the robot cleaner (100).

[0142] According to one embodiment, the docking station (200) may include a recessed mounting groove (250) in which the guide wheel (160) is mounted when docking of the robot cleaner (100) is completed.

[0143] According to one embodiment, when the robot cleaner (100) enters the docking station (200), the guide wheel (160) comes into contact with the guide rail (260), so that a part of the robot cleaner (100) can be lifted upward from the floor surface.

[0144] According to one embodiment, a docking station (200) configured to dock a robot cleaner (100) may include a base (210), and a guide rail (260) positioned or formed centrally on the base (210) so that the robot cleaner (100) is aligned and docked in a fixed position. The guide rail (260) may include a first portion (261) having a first slope, a second portion (262) extending from the first portion (261) and having a second slope smaller than the first slope, and a third portion (263) extending from the second portion (262) and having a downward slope.

[0145] According to one embodiment, the docking station (200) may include a charging unit (240) configured to charge the robot cleaner (100) while the robot cleaner (100) is docked.

[0146] According to one embodiment, the charging unit (240) may protrude upward from the base unit (210) when the robot cleaner (100) is not docked. When the robot cleaner (100) is docked, the charging unit (240) may be configured to move downward by the pressure of the robot cleaner (100).

[0147] According to one embodiment, the charging unit (240) includes a first charging unit (240a) and a second charging unit (240b), and the first charging unit (240a) and the second charging unit (240b) may be arranged symmetrically with respect to the guide rail (260).

[0148] According to one embodiment, the docking station (200) may further include a stopper (230) arranged around the charging unit (240) to dock the robot cleaner (100) in a fixed position.

[0149] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present disclosure. For example, a singular element should be understood to include plural elements unless the context clearly indicates only a singular element. As used herein, phrases such as "A or B," "at least one of A and B," "at least one of A or B," "A, B, or C," "at least one of A, B, and C," and "at least one of A, B, or C" can each include any one of the items listed together in that phrase, or all possible combinations thereof. It should be understood that the term "and / or" as used herein encompasses any and all possible combinations of one or more of the listed items. The terms "include," "have," "comprise," and the like used in this disclosure are intended to specify only the presence of a feature, component, part, or combination thereof described in this disclosure, and the use of these terms does not exclude the possibility of the presence or addition of one or more other features, components, parts, or combinations thereof. The expressions "first," "second," and the like used in this disclosure can modify various components regardless of order and / or importance, and are only used to distinguish one component from another, without limiting the components.

[0150] The expression "configured to" used in the present disclosure can be appropriately used interchangeably with, for example, "suitable for," "capable of," "designed to," "modified to," "made to," or "capable of." The term "configured to" may not necessarily mean only something "specially designed" in terms of hardware. Instead, in some situations, the expression "a device configured to" may mean that the device is "capable of" doing something together with other devices or components. For example, the phrase "a device configured (or set) to perform A, B, and C" may mean a dedicated device for performing the corresponding operations, or a general-purpose device that can perform various operations including the corresponding operations.

[0151] Meanwhile, the terms “upper side,” “lower side,” and “front-rear direction” used in the present disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0152] Although the foregoing description in this disclosure has focused on specific embodiments, it should be understood that this disclosure is not limited to such specific embodiments, but rather encompasses various modifications, equivalents, and / or alternatives of the various embodiments.

Claims

1. A robot cleaner (100) that moves along a floor surface to perform cleaning, and includes a cleaner body (111), a pair of wheels (131a and 131b) arranged on the lower surface of the cleaner body (111) and used for driving, and a guide wheel (160) configured such that the diameter of the center is smaller than the diameter of the longitudinal edge; and A cleaning device comprising a docking station (200) including a base portion (210) and a guide rail (260) formed on the upper side of the base portion (210) and configured to guide the movement of the guide wheel (160).

2. In paragraph 1, The above guide rail (260) is A first part (261) having a first slope, A second portion (262) extending from the first portion (261) and having a second slope smaller than the first slope, and A cleaning device comprising a third portion (263) extending from the second portion (262) and having a downward slope.

3. In paragraph 2, A cleaning device in which docking is completed when the guide wheel (160) of the robot cleaner (100) is positioned on the third part (263).

4. In one of paragraphs 1 to 3, The above robot cleaner (100) includes a charging terminal (150) configured to be located on the lower surface of the cleaner body (111), The above docking station (200) is a cleaning device including a charging unit (240) configured to come into contact with the charging terminal (150) while the robot cleaner (100) is docked.

5. In paragraph 4, The above robot vacuum cleaner (100) It further includes a stopper home (190) arranged around the charging terminal (150), The above docking station (200) is A cleaning device further comprising a stopper (230) configured to be inserted into the stopper home (190) and to stop the robot cleaner (100) so that it is docked in the correct position.

6. In paragraph 4 or 5, When the robot cleaner (100) is not docked, the charging unit (240) protrudes upward from the base unit (210), A cleaning device configured to move downward by the pressure of the robot cleaner (100) when the robot cleaner (100) is docked.

7. In one of paragraphs 1 to 6, The above guide wheel (160) is A cleaning device comprising a central portion (161) and a side portion (162) extending upwardly from the central portion (161) along the longitudinal direction of the guide wheel (160).

8. In one of paragraphs 1 to 7, The above robot vacuum cleaner (100) The robot cleaner (100) further includes a guide rib (170) configured to center-align the guide wheel (160) with respect to the guide rail (260) when entering the docking station (200). The above guide rib (170) is A cleaning device configured such that the width of the outer surface of the above-mentioned cleaner body (111) becomes narrower as it goes toward the guide wheel (160).

9. In one of paragraphs 1 to 8, The above robot vacuum cleaner (100) A cleaning device including an alignment groove (180) extending in a direction perpendicular to the longitudinal direction of the guide wheel (160) and configured to be aligned with the guide rail (260) during the docking process of the robot cleaner (100).

10. In one of the clauses 1 to 9, The above docking station (200) is A cleaning device including a concavely formed mounting groove (250) so that the guide wheel (160) is mounted when docking of the robot cleaner (100) is completed.

11. In a docking station (200) configured to dock a robot cleaner (100), Base section (210); and It includes a guide rail (260) formed on the upper side of the base part (210) and arranged so that the robot cleaner (100) is aligned and docked in the correct position. The above guide rail (260) is A first part (261) having a first slope, A second portion (262) extending from the first portion (261) and having a second slope smaller than the first slope, and Including a third portion (263) extending from the second portion (262) and having a downward slope, Docking station.

12. In paragraph 11, A docking station including a charging unit (240) configured to charge the robot cleaner (100) while the robot cleaner (100) is docked.

13. In paragraph 12, When the robot cleaner (100) is not docked, the charging unit (240) protrudes upward from the base unit (210), A docking station configured to move downward by the pressure of the robot cleaner (100) when the robot cleaner (100) is docked.

14. In paragraph 12 or 13, A docking station in which the charging unit (240) includes a first charging unit (240a) and a second charging unit (240b), and the first charging unit (240a) and the second charging unit (240b) are arranged symmetrically with respect to the guide rail (260).

15. In paragraph 14, A docking station further comprising a stopper (230) arranged around the charging unit (240) to dock the robot cleaner (100) in a fixed position.

Images