Docking station, mobile robot, and apparatus comprising same

Abstract

Embodiments of the present invention provide a docking station, a mobile robot, and an apparatus comprising same which enable removal of dust inside the mobile robot by sucking in air by means of a dust-collecting motor of the docking station, with a dust-collecting flow path tube of the docking station connected to an air flow path tube of the mobile robot.

Description

Docking station, mobile robot and device including same

[0001] The present invention relates to a docking station, a mobile robot, and a device including the same for removing internal dust of a mobile robot while the mobile robot is docked to the docking station.

[0002] Robots have been developed for industrial use to fulfill a portion of factory automation. Recently, the scope of robotics applications has expanded, with developments not only of medical and aerospace robots but also of robots for everyday use.

[0003] Among industrial robots, robots that perform precise assembly work have been developed for automation because they perform the same movements repeatedly and repeat the same movements in a fixed location without any unexpected situations.

[0004] However, the transportation sector, including driving, which requires the ability to assess emergencies, has not yet seen widespread commercialization of robots. However, with the recent advancements in sensors capable of perceiving the surroundings and the advancements in computer power capable of quickly processing and responding to perceived information, the number of autonomous robots is increasing.

[0005] Industrially, robots that perform transportation functions are attracting attention, and competition is intensifying. In addition to robots that transport large or bulky items, there is a growing demand for robots that transport smaller items to their destinations.

[0006] Meanwhile, the robot contains a control box housing various electronic components, including a main board. Typically, the control box is equipped with a blower to cool the internal space against the heat generated by the various electronic components. A convection method is used to cool the internal space of the control box through the blower.

[0007] However, the aforementioned blower-based cooling method forces a large amount of air into the system from the outside. Therefore, in logistics environments where robots are heavily used, a significant amount of dust inevitably enters the robot's interior. Accumulation of dust inside the robot can ultimately lead to short circuits in electronic components. This can lead to errors in the robot's operation and even lead to robot damage.

[0008] Therefore, a means for efficiently removing dust is required to prevent dust from accumulating inside the robot.

[0009] The present invention provides a docking station, a mobile robot, and a device including the same, and more specifically, a docking station, a mobile robot, and a device including the same, which can remove internal dust of a mobile robot by sucking air through a dust collecting motor of the docking station in a state where a dust collecting pipe of the docking station and an air collecting pipe of the mobile robot are connected.

[0010] In addition, the purpose of the docking station is to provide a docking station capable of air purification, a mobile robot, and a device including the same by collecting dust from air sucked in through a dust collecting filter and discharging the dust-free air to the outside through a dust collecting motor.

[0011] The problems to be solved by the present invention 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.

[0012] A docking station for collecting dust inside a mobile robot while the mobile robot is docked is provided, comprising: a housing; a dust collection pipe formed on the front of the housing and coupled to an air flow pipe located in the mobile robot; a dust collection motor located inside the housing and sucking in internal air of the mobile robot through the air flow pipe and the dust collection pipe; and a dust collection filter surrounding the dust collection motor and collecting dust in the sucked air.

[0013] The housing includes an exhaust port formed on the upper surface thereof and through which air from which dust has been removed is discharged through the dust collecting filter, and the dust collecting motor can discharge the air from which dust has been removed through the exhaust port.

[0014] The above dust collecting filter may include a HEPA filter (High Efficiency Particulate Air filter) containing activated carbon.

[0015] A charging port formed on the front of the housing and coupled with a charging terminal formed on the front of the mobile robot; and a restraining plate formed on the lower part of the housing and preventing movement of the mobile robot when the charging terminal and the charging port are coupled may be included.

[0016] A mobile robot that is docked to a docking station to discharge internal dust, comprising: a body including a driving unit; a control box located inside the body, in which electronic components are mounted, and having a plurality of holes formed on the front; and an air passage pipe located between the front of the body and the front of the control box and capable of moving forward and backward, wherein one end of the air passage pipe moves backward when connected to a dust collection passage pipe located at the front of the docking station, and the other end comes into contact with the front of the control box.

[0017] A first guide pin formed by protruding from a front edge of the control box; and an elastic member positioned on the first guide pin; and the air flow pipe may include a first guide hole at the other end into which the first guide pin is inserted and which is in contact with the elastic member.

[0018] The above air passage pipe may include a rubber member formed along the circumference of the other end.

[0019] The above body may include a support bracket that supports the lower portion of the air passage pipe and prevents the air passage pipe from flowing in a left-right direction perpendicular to the front-back direction.

[0020] The above support bracket may include a second guide hole formed in the front-back direction, and the air flow pipe may include a second guide pin formed at the bottom and inserted into the second guide hole.

[0021] The above air flow pipe may have a width at one end that is greater than the width at the other end.

[0022] It may include at least one blower positioned at the front of the control box.

[0023] The above body includes a charging terminal formed on the front and coupled with a charging port located on the front of the docking station, and movement can be prevented by a restraining plate located on the lower part of the docking station while the charging port and the charging terminal are coupled.

[0024] A device for removing internal dust from a mobile robot while the mobile robot is docked to a docking station is provided, comprising: an air passage pipe located in the mobile robot; a dust collection pipe located in front of the docking station and coupled to the air passage pipe; a dust collection motor located inside the docking station and sucking internal air of the mobile robot through the air passage pipe and the dust collection pipe; and a dust collection filter surrounding the dust collection motor and collecting dust from the sucked air.

[0025] The above mobile robot comprises a body including a driving unit; and a control box located inside the body and having electronic components mounted thereon and having a plurality of holes formed on the front, wherein the air flow pipe is located between the front of the body and the front of the control box and is capable of moving forward and backward, and when one end is coupled with the dust collection pipe, the other end can move backward and come into close contact with the front of the control box.

[0026] A first guide pin formed by protruding from a front edge of the control box; and an elastic member positioned on the first guide pin; and the air flow pipe may include a first guide hole at the other end into which the first guide pin is inserted and which is in contact with the elastic member.

[0027] The above air passage pipe may include a rubber member formed along the circumference of the other end.

[0028] The above body may include a support bracket that supports the lower portion of the air passage pipe and prevents the air passage pipe from flowing in a left-right direction perpendicular to the front-back direction.

[0029] The above support bracket may include a second guide hole formed in the front-back direction, and the air flow pipe may include a second guide pin formed at the bottom and inserted into the second guide hole.

[0030] It may include at least one blower positioned at the front of the control box.

[0031] The above docking station is located on the upper surface and includes an exhaust port through which air from which dust has been removed is discharged through the dust collecting filter, and the dust collecting motor can discharge the air from which dust has been removed through the exhaust port.

[0032] The docking station, mobile robot and device including the same according to the present invention can remove internal dust of the mobile robot by sucking air through the dust collecting motor of the docking station in a state where the dust collecting pipe of the docking station and the air collecting pipe of the mobile robot are connected.

[0033] Additionally, the docking station can purify the air by collecting dust from the air sucked in through a dust collecting filter and discharging the dust-free air to the outside through a dust collecting motor.

[0034] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0035] FIG. 1 is a diagram illustrating a cloud system based on a 5G network according to one embodiment of the present invention.

[0036] FIG. 2 is a drawing for explaining the configuration of a mobile robot according to one embodiment of the present invention.

[0037] FIG. 3 is a diagram illustrating a robot control system according to one embodiment of the present invention.

[0038] FIG. 4 is a drawing illustrating a docking station and a body of a mobile robot according to one embodiment of the present invention.

[0039] FIG. 5 is a drawing showing the inside of a body of a mobile robot according to one embodiment of the present invention.

[0040] FIG. 6 is a drawing illustrating an air flow pipe in a mobile robot according to one embodiment of the present invention.

[0041] FIG. 7 is a cross-sectional view of a docking station and a mobile robot before docking according to one embodiment of the present invention.

[0042] FIG. 8 is a cross-sectional view of a docking station and a mobile robot docked according to one embodiment of the present invention.

[0043] FIGS. 9 and 10 are drawings for explaining a support bracket that supports the lower part of an air flow pipe in a mobile robot according to one embodiment of the present invention.

[0044] Fig. 11 is a perspective view illustrating an air flow pipe of a mobile robot according to one embodiment of the present invention.

[0045] FIG. 12 is a drawing for explaining how internal air is discharged through an air passage in a mobile robot according to one embodiment of the present invention.

[0046] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0047] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0048] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0049] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0050] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0051] FIG. 1 is a diagram illustrating a 5G network-based cloud system (1000) according to one embodiment of the present invention. FIG. 2 is a diagram illustrating the configuration of a mobile robot (100) according to one embodiment of the present invention. FIG. 3 is a diagram illustrating a robot control system (200) according to one embodiment of the present invention.

[0052] FIG. 1 illustrates a 5G network-based cloud system (1000) according to one embodiment of the present invention.

[0053] Referring to FIG. 1, a cloud system (1000) may include a mobile robot (100), a mobile terminal (300), a robot control system (200), various devices (400), and a 5G network (500).

[0054] A mobile robot (100) is a robot that transports goods from a starting point to a destination. The mobile robot (100) can move directly from a logistics center to a destination, or it can be loaded onto a vehicle from the logistics center to the vicinity of the goods destination, then unloaded near the destination and moved to the destination.

[0055] In addition, the mobile robot (100) can move items to a destination not only outdoors but also indoors. The mobile robot (100) can be implemented as an AGV (Automated Guided Vehicle), and the AGV can be a transport device that moves by sensors, magnetic fields, vision devices, etc. on the floor.

[0056] A mobile robot (100) according to one embodiment of the present invention may include a storage area for storing items. The storage area may be divided to accommodate various items, and various types of items may be placed in the multiple divided partial storage areas. Accordingly, mixing of items may be prevented.

[0057] The mobile terminal (300) can communicate with the mobile robot (100) via a 5G network (500). The mobile terminal (300) can be a device carried by a user who installs a partition in a storage area to load items, or a device carried by a recipient of loaded items. The mobile terminal (300) can provide information based on images, and the mobile terminal (300) can include mobile devices such as a mobile phone, a smart phone, a wearable device (e.g., a smartwatch, a smart glass, a head mounted display (HMD)).

[0058] The robot control system (200) can remotely control the mobile robot (100) and respond to various requests from the mobile robot (100). For example, the robot control system (200) can perform calculations using artificial intelligence based on requests from the mobile robot (100).

[0059] In addition, the robot control system (200) can set the movement path of the mobile robot (100), and when there are multiple destinations, the robot control system (200) can set the movement order of the destinations.

[0060] The various devices (400) may include a personal computer (PC, 400a), an autonomous vehicle (400b), a home robot (400c), etc. When the mobile robot (100) arrives at the transport destination of the goods, it can directly deliver the goods to the home robot (400c) through communication with the home robot (400c).

[0061] Various devices (400) can be connected wirelessly or wiredly to a mobile robot (100), a mobile terminal (300), a robot control system (200), etc. through a 5G network (500).

[0062] The above-mentioned mobile robot (100), mobile terminal (300), robot control system (200), and various devices (400) are all equipped with 5G modules to transmit and receive data at speeds of 100 Mbps to 20 Gbps (or higher), enabling transmission of large-capacity video files to various devices and minimizing power consumption by operating at low power. However, the transmission speed may be implemented differently depending on the embodiment.

[0063] The 5G network (500) may include a 5G mobile communication network, a local area network, the Internet, etc., and may provide a communication environment for devices with or without wires.

[0064] FIG. 2 is a drawing for explaining the configuration of a mobile robot (100) according to one embodiment of the present invention. The description will be made with reference to FIG. 4, which illustrates a mobile robot (100) according to one embodiment of the present invention.

[0065] A mobile robot (100) may include a body (101, see FIG. 4) including a storage area, and the components described below may be included in the body (101). The mobile robot (100) may include a communication unit (110), an input unit (120), a sensing unit (140), an output unit (150), a driving unit (170), a control unit (180), a memory (185), and a power supply unit (190).

[0066] The components illustrated in FIG. 2 are not essential for implementing a mobile robot (100), and thus the mobile robot (100) described in this specification may have more or fewer components than the components listed above.

[0067] The communication unit (110, Transceiver) may include a wired or wireless communication module capable of communicating with the robot control system (200) of FIG. 1.

[0068] As an optional example, the communication unit (110) may be equipped with modules related to GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, and NFC (Near Field Communication) communication.

[0069] The input unit (120) may include a user input unit (122) for receiving information from a user. As an optional embodiment, the input unit (120) may include a camera (121) for inputting a video signal and a microphone (123) for receiving an audio signal. Here, the camera (121) or the microphone (123) may be treated as a sensor, and a signal acquired from the camera (121) or the microphone (123) may be referred to as sensing data or sensor information.

[0070] The input unit (120) can obtain input data to be used when obtaining output using learning data and a learning model for model learning. The input unit (120) can also obtain unprocessed input data, in which case the control unit (180) can extract input features as preprocessing for the input data.

[0071] A camera (121) is positioned in front of the mobile robot (100) to detect obstacles ahead, and multiple cameras may be positioned at different angles. A plurality of cameras (121) with different shooting directions may be provided, such as a camera that broadly recognizes the front and a camera that photographs the floor.

[0072] Alternatively, cameras with different functions may be provided. For example, a wide-angle camera, an infrared camera, etc. may be provided. In addition, the camera may serve as a sensing unit (140) to detect surrounding objects.

[0073] The user input unit (122) may be equipped with a button or a touch panel for touch input. Alternatively, user commands may be input remotely via a communication unit (110). In this case, the user input unit (122) may include a personal computer (400) or remote control device separately provided from the mobile robot (100), as illustrated in FIG. 1.

[0074] The user input unit (122) includes all methods for receiving user commands, and thus can recognize user commands through voice recognition. That is, a voice recognition device that analyzes voices collected by a microphone (123) to extract user commands can also function as the user input unit (122).

[0075] The input unit (120) may include a product information input unit, wherein the product information input unit may receive information on the size of the product, weight information, destination information, information on the transport requester, etc. In this case, the product information input unit may include a code reader.

[0076] The sensing unit (140) can obtain at least one of internal information of the mobile robot (100), information about the surrounding environment of the mobile robot (100), and user information using various sensors.

[0077] At this time, the sensing unit (140) may include various types of sensors for recognizing the surroundings for autonomous driving. Representative examples include a distance detection sensor or proximity sensor (141) and a lidar (142).

[0078] The proximity sensor (141) may include an ultrasonic sensor that recognizes nearby objects and determines the distance to the objects based on the time it takes for the emitted ultrasonic waves to return. A plurality of proximity sensors (141) may be provided along the perimeter of the mobile robot (100), and may also be provided on the upper side of the mobile robot (100) to detect obstacles above.

[0079] Lidar (142) is a device that precisely maps its surroundings by emitting laser pulses and receiving the light reflected from surrounding objects. While similar in principle to radar, it utilizes different electromagnetic waves, resulting in different technologies and applications.

[0080] Lasers can damage human eyesight because they use light with a wavelength of 600 to 1000 nm. Lidar (142) uses a longer wavelength and is used to measure not only the distance to a target object, but also its speed and direction, temperature, and the analysis and concentration of surrounding atmospheric substances.

[0081] In addition, the sensing unit (140) according to one embodiment of the present invention may include a light sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an infrared sensor, a fingerprint recognition sensor, an ultrasonic sensor, a light sensor, a Hall sensor, etc.

[0082] The output unit (150) can generate output related to visual, auditory, or tactile sensations. The output unit (150) can include an optical output unit that outputs visual information, a display (151), etc., a speaker (152) that outputs auditory information, an ultrasonic output unit that outputs ultrasonic signals belonging to an inaudible frequency, etc., and a haptic module that outputs tactile information.

[0083] The memory (185) stores data that supports various functions of the mobile robot (100). The memory (185) can store a number of application programs (or applications) that run on the mobile robot (100), data for the operation of the mobile robot (100), and commands.

[0084] Additionally, the memory (185) can store information necessary for performing operations using artificial intelligence, machine learning, and artificial neural networks. The memory (150) can store a deep neural network model. The deep neural network model can be used to infer result values ​​for new input data other than training data, and the inferred values ​​can be used as a basis for judgment to perform a certain action.

[0085] The power supply unit (190) can supply power to each component of the mobile robot (100) by receiving external power or internal power under the control of the processor (190). The power supply unit (190) includes a battery, which may be a built-in battery or a replaceable battery. The battery may be charged using a wired or wireless charging method, and the wireless charging method may include a magnetic induction method or a magnetic resonance method.

[0086] The driving unit (170) is a means for moving the mobile robot (100), and may include wheels or legs, and may include a wheel driving unit and a leg driving unit that control the wheels or legs. Referring to FIG. 4, a plurality of wheels provided on the bottom surface of the wheel driving unit can be controlled to move the mobile robot (100) including the body (101).

[0087] The wheel may include a main wheel (171) for driving the mobile robot (100) and an axle on which the wheel rotates, as well as a caster including a main shaft that rotates in conjunction with the body (101), and an auxiliary caster that reinforces support to prevent loaded items from falling during driving.

[0088] The leg drive unit (not shown) can control a plurality of legs to move the body according to the control of the control unit (180). The plurality of legs may correspond to a configuration formed so that the mobile robot (100) can walk or run. The plurality of legs may be implemented as four, but the embodiment is not limited thereto. Referring also to FIG. 4, the plurality of legs may be formed as an integral part by being coupled to the body (101) of the mobile robot (100), or may be implemented in a form that is attachable to and detachable from the body (101).

[0089] The mobile robot (100) can move the body (101) through a driving unit (170) having at least one of the wheel driving unit and / or leg driving unit described above. However, in this specification, an embodiment in which the wheel driving unit is mounted on the mobile robot (100) will be mainly described.

[0090] The control unit (180) is a module that controls the components of the mobile robot (100). The control unit (180) may refer to a data processing device built into hardware that has a physically structured circuit to perform a function expressed by a code or command included in a program.

[0091] As an example of a data processing device built into hardware, it may include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

[0092] The control unit (180) can collect information through the input unit (120). The input of the input unit (120) may also include a touch input on the display (151). Based on the collected information, the control unit (180) can also transmit the collected information to the mobile terminal (200) illustrated in FIG. 1 through the communication unit (110).

[0093] FIG. 3 is a drawing illustrating a robot control system (200) according to one embodiment of the present invention.

[0094] The robot control system (200) may include an AI server. The AI ​​server may refer to a device that trains an artificial neural network using a machine learning algorithm or utilizes a trained artificial neural network. Here, the robot control system (200) may be comprised of multiple servers to perform distributed processing, and may be defined as a 5G network. In this case, the AI ​​server may be included as part of the mobile robot (100) and perform at least a portion of the AI ​​processing within the mobile robot (100).

[0095] The robot control system (200) may include a communication unit (210), memory (230), a learning processor (240), and a processor (260).

[0096] The communication unit (210) of the robot control system (200) can transmit and receive data with external devices such as a mobile robot (100).

[0097] The memory (230) may include a model storage unit (231). The model storage unit (231) may store a model (or artificial neural network, 231a) being learned or learned through the learning processor (240).

[0098] The learning processor (240) can train an artificial neural network (231a) using learning data. The learning model can be used while mounted on the robot control system (200) of the artificial neural network, or can be mounted on an external device such as a mobile robot (100).

[0099] The learning model may be implemented in hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented in software, one or more instructions constituting the learning model may be stored in memory (230).

[0100] The processor (260) can use a learning model to infer a result value for new input data and generate a response or control command based on the inferred result value.

[0101] FIG. 4 is a drawing illustrating a docking station (600) and a body (101) of a mobile robot (100) according to one embodiment of the present invention. FIG. 5 is a drawing illustrating the interior of a body (101) of a mobile robot (100) according to one embodiment of the present invention. FIG. 6 is a drawing illustrating an air flow pipe (130) of a mobile robot (100) according to one embodiment of the present invention. FIG. 7 is a cross-sectional view of a docking station (600) and a mobile robot (100) before docking according to one embodiment of the present invention. And FIG. 8 is a cross-sectional view of a docking station (600) and a mobile robot (100) according to one embodiment of the present invention in a docked state.

[0102] Hereinafter, in describing a docking station (600), a mobile robot (100), and a device (100, 600) including the same according to one embodiment of the present invention, the forward and backward directions will be described based on the x-axis direction, the left and right directions will be described based on the y-axis direction, and the up and down directions will be described based on the z-axis direction.

[0103] First, the mobile robot (100) according to one embodiment of the present invention can move through a driving unit (170) located at the lower part of the body (101), as described above with reference to FIG. 2. In addition, the body (101) of the mobile robot (100) may have a box-shaped shape.

[0104] Referring to FIG. 2, the main wheel (171) constituting the driving unit (170) is connected to a motor to directly transmit driving force to the body (101), and the speed of the motor can be adjusted to control the moving speed of the mobile robot (100).

[0105] And the caster (172) may include an axle, which is the rotation axis of the wheel, and a main shaft that is arranged perpendicular to the axle and rotates with respect to the body (101). The direction of movement of the mobile robot (100) can be controlled by using the caster (172), or the direction of travel can be changed by adjusting the left and right rotation speed of the main wheel (171). The body (101) can also rotate in place by adjusting the direction of the caster (172), and this type of driving unit (170) can play a role in helping the mobile robot (100) avoid obstacles and move in a limited space.

[0106] A control box (102) in which electronic components are mounted may be located inside the body (101) of the mobile robot (100). A plurality of holes may be formed on the front of the control box (102). In addition, at least one blower (107) may be located on the front of the control box (102).

[0107] Here, at least one blower (107) positioned on the front of the control box (102) can serve to cool the internal space of the control box (102) to counteract heat generation of electronic components mounted on the control box (102). That is, the blower (107) can counteract heat generation of electronic components by blowing air into the internal space of the control box (102) through a plurality of holes formed on the front of the control box (102).

[0108] However, as described above, convection cooling using a blower (107) causes a large amount of air to flow in from the outside. In particular, in the case of a logistics site where a mobile robot (100) according to an embodiment of the present invention is frequently used, a large amount of dust is bound to flow into the interior of the mobile robot (100) due to the nature of the working environment.

[0109] In this case, if dust that has entered the interior of the mobile robot (100) accumulates inside the control box (102), a short circuit may eventually occur in the electronic components. This may cause errors in the operation of the mobile robot (100) and further result in damage to the mobile robot (100).

[0110] Accordingly, the purpose of a mobile robot (100) according to one embodiment of the present invention is to discharge internal dust of the mobile robot (100) while docked to a docking station (600).

[0111] To this end, the mobile robot (100) according to one embodiment of the present invention may include an air passage pipe (130) positioned between the front of the body (101) and the front of the control box (102) and capable of moving in the forward and backward direction (x-axis direction). Here, when one end of the air passage pipe (130) is coupled with a dust collection pipe (620) positioned at the front of the docking station (600), the air passage pipe (130) may move backward so that the other end may be brought into close contact with the front of the control box (102). More specific details for discharging internal dust of the mobile robot (100) will be described later.

[0112] In addition, a docking station (600) according to one embodiment of the present invention can collect internal dust of a mobile robot (100) while the mobile robot (100) is docked. The docking station (600) can include a housing (610), a dust collection pipe (620), a dust collection motor (630), and a dust collection filter (640).

[0113] The dust collection pipe (620) is formed on the front of the housing (610) and can be combined with the air flow pipe (130) located in the mobile robot (100). In addition, the dust collection motor (630) is located inside the housing (610) and can serve to suck in the internal air of the mobile robot (100) through the air flow pipe (130) and the dust collection pipe (620). In addition, the dust collection filter (640) can surround the dust collection motor (630) and collect dust in the sucked air.

[0114] In addition, the docking station (600) according to one embodiment of the present invention may include an exhaust port (650) formed on the upper surface of the housing (610) and through which air from which dust has been removed is discharged through a dust collecting filter (640). In addition, the dust collecting motor (630) may discharge air from which dust has been removed through the exhaust port (650).

[0115] Here, the dust collection filter (640) may include a High Efficiency Particulate Air (HEPA) filter containing activated carbon. The HEPA filter can increase dust collection efficiency, and as described above, air from which dust has been removed by passing through the HEPA filter can be discharged to the outside. Therefore, the docking station (600), the mobile robot (100), and the device (100, 600) including the same according to one embodiment of the present invention can also achieve an air purifying effect.

[0116] And, a docking station (600) according to one embodiment of the present invention may include a charging port (660) formed on the front of the housing (610) and coupled with a charging terminal (108) formed on the front of the mobile robot (100).

[0117] That is, according to one embodiment of the present invention, the docking station (600), the mobile robot (100), and the device (100, 600) including the same can allow the mobile robot (100) to be docked to the docking station (600) for charging, and at the same time, discharge internal dust of the mobile robot (100). Therefore, since there is no need to install a separate device for removing internal dust of the mobile robot (100), there is an advantage in that the efficiency of space utilization can be increased and additional cost consumption can be reduced.

[0118] In addition, a docking station (600) according to one embodiment of the present invention may include a restraining plate (670) formed at the lower portion of the housing (610) and preventing movement of the mobile robot (100) when the charging terminal (108) and the charging port (660) are coupled. Referring also to FIG. 4, the restraining plate (670) may have a rim shape with a groove formed in the center.

[0119] More specifically, referring to FIG. 4, FIG. 7 and FIG. 8 together, the restraint plate (670) can serve to increase the stability of the connection between the charging terminal (108) and the charging port (660) or the connection between the dust collection pipe (620) and the air flow pipe (130) when the mobile robot (100) is docked with the docking station (600).

[0120] Accordingly, as one embodiment of the present invention, the caster of the mobile robot (100) can be secured in the groove of the restraint plate (670) described above, thereby preventing movement of the mobile robot (100). Accordingly, the stability of docking between the docking station (600) and the mobile robot (100) according to one embodiment of the present invention can be increased, thereby facilitating charging of the mobile robot (100) and removal of dust inside the mobile robot (100).

[0121] Hereinafter, a method for removing internal dust of a mobile robot (100) through a docking station (600) while the docking station (600) and the mobile robot (100) are docked will be described in more detail.

[0122] In a mobile robot (100) according to one embodiment of the present invention, the air flow pipe (130) can move backward when one end is coupled with the dust collection pipe (620) located at the front of the docking station (600) as described above, so that the other end can be brought into close contact with the front of the control box (102). In addition, the dust collection motor (630) of the docking station (600) is driven, thereby allowing the internal air of the control box (102) to be sucked in.

[0123] Here, the mobile robot (100) according to one embodiment of the present invention may include a first guide pin (103) formed by protruding from the front edge of the control box (102) and an elastic member (104) positioned on the first guide pin (103). In addition, the air flow pipe (130) may include a first guide hole (131) into which the first guide pin (103) is inserted at the other end and which comes into contact with the elastic member (104).

[0124] Referring to FIGS. 7 and 8 together, the air flow pipe (130) of the mobile robot (100) can be coupled to the dust collection pipe (620) of the docking station (600), and as the mobile robot (100) moves forward, the air flow pipe (130) can move backward so that the other end of the air flow pipe (130) can be in close contact with the front of the control box (102). At this time, the first guide pin (103), the elastic member (104), and the first guide hole (131) described above can serve to guide the movement of the air flow pipe (130).

[0125] In addition, the air passage pipe (130) may include a rubber member (132) formed along the circumference of the other end. Through this, the air passage pipe (130) can be completely pressed against the front of the control box (102) so that no gap occurs between the other end of the air passage pipe (130) and the front of the control box (102). In this state, the dust collection motor (630) of the docking station (600) described above can be driven to suck in the internal air of the control box (102).

[0126] Additionally, the mobile robot (100) according to one embodiment of the present invention can detect the docked state of the air flow pipe (130) and the dust collection pipe (620) through the sensing unit (140) and the control unit (180) described above with reference to FIG. 2. In addition, the sensing unit (140) and the control unit (180) can detect whether the other end of the air flow pipe (130) is completely in contact with the front of the control box (102). In addition, the control unit (180) controls the driving unit (170) of the mobile robot (100) to move the mobile robot (100) and move the mobile robot (100) so that the other end of the air flow pipe (130) is completely in contact with the front of the control box (102) in a state where the air flow pipe (130) and the dust collection pipe (620) are coupled.

[0127] FIGS. 9 and 10 are drawings for explaining a support bracket (105) that supports the lower portion of an air flow pipe (130) in a mobile robot (100) according to one embodiment of the present invention. FIG. 11 is a perspective view illustrating an air flow pipe (130) of a mobile robot (100) according to one embodiment of the present invention. And FIG. 12 is a drawing for explaining that internal air is discharged through an air flow pipe (130) in a mobile robot (100) according to one embodiment of the present invention.

[0128] First, FIGS. 9 and 10 are drawings for explaining a support bracket (105) that supports the lower part of an air passage pipe (130) in a mobile robot (100) according to one embodiment of the present invention. FIG. 9 illustrates a second guide hole (106) formed in the front-back direction (x-axis direction, FIG. 4) in the support bracket (105), and FIG. 10 illustrates a second guide pin (133) formed in the lower part of the air passage pipe (130) and inserted into the second guide hole (106).

[0129] Referring to FIG. 8 together, in order to efficiently exhaust air inside the control box (102) of the mobile robot (100) while the mobile robot (100) and the docking station (600) are docked, the other end of the air flow pipe (130) needs to be completely in contact with the front of the control box (102).

[0130] To this end, as described above, the mobile robot (100) according to one embodiment of the present invention may include a first guide pin (103), an elastic member (104), and a first guide hole (131), and may also include a rubber member (132) formed along the other end of the air flow pipe (130).

[0131] In addition, in a mobile robot (100) according to one embodiment of the present invention, the body (101) may include a support bracket (105) that supports the lower part of the air flow pipe (130) and prevents the air flow pipe (130) from flowing in the left-right direction (y-axis direction, FIG. 4) perpendicular to the forward-backward direction (x-axis direction, FIG. 4).

[0132] Here, the support bracket (105) may include a second guide hole (106) formed in the front-back direction (x-axis direction, FIG. 4). In addition, the air flow pipe (130) may include a second guide pin (133) formed at the bottom and introduced into the second guide hole (106). Through this, the air flow pipe (130) can be made to move only in the front-back direction (x-axis direction, FIG. 4), and as described above, the other end of the air flow pipe (130) can be made to be completely in contact with the front of the control box (102).

[0133] FIG. 11 is a drawing illustrating an air flow pipe (130) of a mobile robot (100) according to one embodiment of the present invention, and is a drawing for explaining the characteristics of the shape of the air flow pipe (130) more specifically.

[0134] According to one embodiment of the present invention, the air flow pipe (130) of the mobile robot (100) may have a width at one end greater than the width at the other end. Accordingly, w1 may have a value greater than w2, and h1 may have a value greater than h2.

[0135] This is because the other end of the air flow pipe (130) is pressed against the front of the control box (102), one end of the air flow pipe (130) is connected to the dust collection pipe (620) of the docking station (600), and the internal air of the control box (102) is sucked toward the dust collection pipe (620) of the docking station (600) through the air flow pipe (130).

[0136] That is, as shown in Fig. 12, the internal air of the control box (102) can be efficiently sucked in through a shape in which the width of the air passage pipe (130) narrows from one end to the other.

[0137] In addition, the air flow pipe (130) of the mobile robot (100) according to one embodiment of the present invention can be formed to have a curved shape, for example, an S-shaped shape, as illustrated in FIG. 11. Through this, the air flow can be made smooth, and the internal air of the control box (102) can be sucked in more efficiently.

[0138] Additionally, the mobile robot (100) according to one embodiment of the present invention may include at least one blower (107) positioned in front of the control box (102). Here, the blower (107) may rotate to prevent heat generation from electronic components mounted in the control box (102) when the mobile robot (100) moves for normal operation as described above, and may serve to cool the internal space by blowing air toward the inside of the control box (102).

[0139] In addition, referring to FIG. 12, the blower (107) of the mobile robot (100) according to one embodiment of the present invention can play an assisting role when the internal air of the control box (102) is sucked in. That is, the blower (107) can rotate so that the internal air of the control box (102) is sucked into the air passage (130). Therefore, the mobile robot (100) according to one embodiment of the present invention can more efficiently discharge the internal air of the control box (102) through the blower (107). In addition, the rotation of the blower (107) described above can be controlled through the control unit (180) described above with reference to FIG. 2.

[0140] In summary, the docking station, mobile robot, and device including the same according to the present invention can remove dust inside the mobile robot by sucking air through the dust collecting motor of the docking station while the dust collecting pipe of the docking station and the air duct of the mobile robot are connected. In addition, the docking station can purify the air by collecting dust in the sucked air through the dust collecting filter and discharging the air from which dust has been removed to the outside through the dust collecting motor.

[0141] The above detailed description should not be construed as limiting in any respect and should be considered illustrative only. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. In a docking station that collects internal dust of a mobile robot while the mobile robot is docked, housing; A dust collection pipe formed on the front of the housing and connected to an air flow pipe located in the mobile robot; A dust collecting motor located inside the housing and sucking in internal air of the mobile robot through the air flow pipe and the dust collecting pipe; and A docking station including a dust collecting filter that surrounds the dust collecting motor and collects dust from the sucked air.

2. In paragraph 1, It includes an exhaust port formed on the upper surface of the housing and through which air from which dust has been removed through the dust collecting filter is discharged, The above dust collecting motor, A docking station characterized in that the air from which the dust has been removed is discharged through the exhaust port.

3. In paragraph 2, The above dust collection filter, A docking station characterized by including a HEPA filter (High Efficiency Particulate Air filter) containing activated carbon.

4. In paragraph 1, A charging port formed on the front of the housing and coupled with a charging terminal formed on the front of the mobile robot; and A docking station characterized by including a restraining plate formed at the lower part of the housing and preventing movement of the mobile robot while the charging terminal and the charging port are combined.

5. In a mobile robot that docks to a docking station to discharge internal dust, A body including a driving section; A control box located inside the above body, in which electronic components are mounted, and in which a number of holes are formed on the front; and It includes an air flow pipe located between the front of the above body and the front of the above control box and capable of moving forward and backward, The above air flow pipe is, A mobile robot whose first end is connected to a dust collection pipe located at the front of the above-mentioned docking station and moves backward so that the other end is pressed against the front of the above-mentioned control box.

6. In paragraph 5, A first guide pin formed by protruding from the front edge of the above control box; and Including an elastic member positioned on the first guide pin, The above air flow pipe is, A mobile robot characterized in that it includes a first guide hole into which the first guide pin is inserted and which comes into contact with the elastic member.

7. In paragraph 5, The above air flow pipe is, A mobile robot characterized by including a rubber member formed along the periphery of the other end.

8. In paragraph 5, The above body, A mobile robot characterized by including a support bracket that supports the lower portion of the air flow pipe and prevents the air flow pipe from flowing in a left-right direction perpendicular to the forward-backward direction.

9. In paragraph 8, The above support bracket is, Including a second guide hole formed in the forward-backward direction, The above air flow pipe is, A mobile robot characterized by comprising a second guide pin formed at the bottom and introduced into the second guide hole.

10. In paragraph 5, The above air flow pipe is, A mobile robot characterized in that the width of the other end is greater than the width of one end.

11. In paragraph 5, A mobile robot characterized by comprising at least one blower positioned at the front of the control box.

12. In paragraph 5, The above body, It includes a charging terminal formed on the front and coupled with a charging port located on the front of the docking station, A mobile robot characterized in that movement is prevented by a restraining plate located at the bottom of the docking station while the charging port and the charging terminal are combined.

13. In a device for removing internal dust of a mobile robot while the mobile robot is docked to a docking station, An air passage located in the above mobile robot; A dust collection pipe located at the front of the above docking station and connected to the air flow pipe; A dust collecting motor located inside the docking station and sucking in internal air of the mobile robot through the air flow pipe and the dust collecting pipe; and A device including a dust collecting filter that surrounds the dust collecting motor and collects dust from the sucked air.

14. In paragraph 13, The above mobile robot, a body including a driving section; and It includes a control box located inside the above body, in which electronic components are mounted, and in which a number of holes are formed on the front, The above air flow pipe is, It is located between the front of the above body and the front of the above control box and can move forward and backward, A device characterized in that when one end is combined with the above-mentioned dust collection pipe, it moves backwards and the other end comes into close contact with the front of the above-mentioned control box.

15. In paragraph 14, A first guide pin formed by protruding from the front edge of the above control box; and Including an elastic member positioned on the first guide pin, The above air flow pipe is, A device characterized in that it includes a first guide hole into which the first guide pin is inserted at the other end and which comes into contact with the elastic member.

16. In paragraph 14, The above air flow pipe is, A device characterized by including a rubber member formed along the periphery of the other end.

17. In paragraph 14, The above body, A device characterized by including a support bracket that supports the lower portion of the air flow pipe and prevents the air flow pipe from flowing in a left-right direction perpendicular to the forward-backward direction.

18. In paragraph 17, The above support bracket is, Including a second guide hole formed in the forward-backward direction, The above air flow pipe is, A device characterized by comprising a second guide pin formed at the bottom and introduced into the second guide hole.

19. In paragraph 14, A device characterized by comprising at least one blower positioned at the front of said control box.

20. In paragraph 13, The above docking station, It is located on the upper surface and includes an exhaust port through which air from which dust has been removed is discharged through the dust collecting filter. The above dust collecting motor, A device characterized in that it discharges air from which the dust has been removed through the above exhaust port.

Images