Station device and method for controlling same, and method for controlling charging system including station device and driving robot

Abstract

This station device for charging a robot comprises: a frame for forming an exterior of the station device; a protruding member protruding from the frame; and a charging unit including a first charging terminal for charging the robot, wherein, when the robot contacts the protruding member, the protruding member protruding from the frame is drawn into the frame and reduces a driving speed of the robot, and as the protruding member is drawn into the frame, the first charging terminal protrudes from the inside of the frame to the outside of the frame, and as the first charging terminal protrudes outside the frame, a contact surface between the first charging terminal and the second charging terminal of the robot gradually increases.

Description

Station device and control method thereof, and control method of a charging system including a station device and a driving robot

[0001] The present disclosure relates to a robot and a control method thereof, and a control method of a robot charging system including a station device and a robot, and more particularly, to a robot capable of docking to a station device and charging the robot's battery through a charging unit of the station device, and a control method thereof, and a control method of a robot charging system including a station device and a robot.

[0002] Recent mobile robots, such as cleaning robots, dock with station devices and charge their batteries through the charging port of the station device.

[0003] When a driving robot is docked to a station device, there is a problem in which static electricity generated by friction between the wheels of the driving robot and the floor flows through the charging part and damages the station device.

[0004] A station device for charging a robot according to one or more embodiments of the present disclosure includes a charging unit including a frame for forming an exterior of the station device, a protruding member protruding from the frame, and a first charging terminal for charging the robot, and when the robot comes into contact with the protruding member, the protruding member protruding from the frame is drawn into the frame and reduces a running speed of the robot, and as the protruding member is drawn into the frame, the first charging terminal protrudes from the inside of the frame to the outside of the frame, and as the first charging terminal protrudes to the outside of the frame, a contact surface between the first charging terminal and a second charging terminal of the robot gradually increases.

[0005] The protruding member may further include at least one gear for protruding the first charging terminal out of the frame as it is introduced into the frame.

[0006] The at least one gear may include a first gear that rotates in a first direction as the protruding member is introduced into the frame; a second gear that rotates in a second direction opposite to the first direction as the first gear rotates; and a third gear that rotates in the first direction as the second gear rotates to protrude the first charging terminal out of the frame.

[0007] Further comprising a first support member supporting the protruding member, wherein the first support member includes a plurality of first grooves, and the first support member can engage with the first gear through the plurality of first grooves.

[0008] It further includes a second support portion supporting the first charging terminal, wherein the second support portion includes a plurality of second grooves, and the second support portion can be engaged with the third gear through the plurality of second grooves.

[0009] The above protruding member can reduce the driving speed of the robot to a speed corresponding to a gear ratio between the first gear and the third gear.

[0010] The robot further includes an elastic member that provides elastic force to protrude the protruding member outside the frame, and when the protruding member moves in a direction that compresses the elastic member, the running speed of the robot can be reduced by the elastic force.

[0011] It further includes an elastic member that provides an elastic force to protrude the protruding member outside the frame, and when the robot moves away from the station device, the protruding member can be protruded outside the frame by the elastic force.

[0012] As the contact surface between the first charging terminal and the second charging terminal gradually increases, static electricity generated by friction between the robot and the floor may flow from the second charging terminal to the first charging terminal.

[0013] Further comprising a ground member for receiving static electricity introduced through the first charging terminal from the second charging terminal; and while the contact surface between the first charging terminal and the second charging terminal increases, static electricity introduced through the first charging terminal from the second charging terminal can move to the ground member.

[0014] Static electricity transferred to the above ground absence can be discharged to the frame.

[0015] The second charging terminal includes a hole for receiving the first charging terminal, and when the first charging terminal protrudes outside the frame, at least a portion of the first charging terminal can be received by the hole.

[0016] When the contact area between the first charging terminal and the second charging terminal is greater than a preset value, the robot can be charged.

[0017] The first charging terminal and the second charging terminal may be conductors, and the protruding member may be an insulator.

[0018] The apparatus further comprises a memory; and a processor; wherein the processor receives information about the weight of the robot from the robot, identifies an approach speed corresponding to the weight of the robot, and transmits information about the approach speed corresponding to the weight of the robot to the robot so that the robot approaches and docks with the station device at the identified approach speed.

[0019] FIG. 1 is a drawing for explaining a robot charging system according to one embodiment of the present disclosure.

[0020] FIG. 2 is a block diagram illustrating the configuration of a station device according to one embodiment of the present disclosure.

[0021] FIG. 3 is a flowchart illustrating a method for a robot to dock to a station device and charge a battery according to one embodiment of the present disclosure.

[0022] FIG. 4 is a drawing for explaining a configuration for performing docking between a station device and a robot according to one embodiment of the present disclosure.

[0023] FIG. 5, FIG. 6 and FIG. 7 are drawings for explaining a docking process of a station device and a robot according to one embodiment of the present disclosure.

[0024] FIG. 8 is a flowchart illustrating a method for controlling the approach speed of a robot by a station device according to one embodiment of the present disclosure.

[0025] The present embodiments may be modified and have various embodiments. Therefore, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope to specific embodiments, but should be understood to encompass various modifications, equivalents, and / or alternatives of the embodiments of the present disclosure. In connection with the description of the drawings, similar reference numerals may be used for similar components.

[0026] In describing the present disclosure, if it is determined that a specific description of a related known function or configuration may unnecessarily obscure the gist of the present disclosure, a detailed description thereof will be omitted.

[0027] Additionally, the following embodiments may be modified in various other forms, and the scope of the technical concepts of the present disclosure is not limited to the following embodiments. Rather, these embodiments are provided to further faithfully and completely convey the technical concepts of the present disclosure to those skilled in the art.

[0028] The terminology used in this disclosure is for the purpose of describing specific embodiments only and is not intended to limit the scope of the rights. Singular expressions include plural expressions unless the context clearly dictates otherwise.

[0029] In this disclosure, expressions such as “has,” “can have,” “includes,” or “may include” indicate the presence of a corresponding feature (e.g., a component such as a number, function, operation, or part), and do not exclude the presence of additional features.

[0030] In this disclosure, expressions such as “A or B,” “at least one of A and / or B,” or “one or more of A or / and B” can include all possible combinations of the listed items. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” can all refer to (1) including at least one A, (2) including at least one B, or (3) including both at least one A and at least one B.

[0031] The expressions “first,” “second,” “first,” or “second,” etc., used in this disclosure can describe various components, regardless of order and / or importance, and are only used to distinguish one component from another, but do not limit the components.

[0032] When it is said that a component (e.g., a first component) is “(operatively or communicatively) coupled with / to” or “connected to” another component (e.g., a second component), it should be understood that said component may be directly coupled to said other component, or may be coupled via another component (e.g., a third component).

[0033] On the other hand, when it is said that a component (e.g., a first component) is "directly connected" or "directly connected" to another component (e.g., a second component), it can be understood that no other component (e.g., a third component) exists between said component and said other component.

[0034] The expression "configured to" used in the present disclosure may be used interchangeably with, for example, "suitable for," "having the capacity to," "designed to," "adapted to," "made to," or "capable of." The term "configured to" may not necessarily mean only "specifically designed to" in terms of hardware.

[0035] Instead, in some contexts, the phrase "a device configured to" may mean that the device, in conjunction with other devices or components, is "capable of" performing A, B, and C. For example, the phrase "a processor configured (or set) to perform A, B, and C" may refer to a dedicated processor (e.g., an embedded processor) for performing those operations, or a general-purpose processor (e.g., a CPU or application processor) that can perform those operations by executing one or more software programs stored in a memory device.

[0036] In the embodiments, a 'module' or 'part' performs at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. Furthermore, a plurality of 'modules' or 'parts' may be integrated into at least one module and implemented as at least one processor, except for a 'module' or 'part' that needs to be implemented as a specific hardware.

[0037] Meanwhile, the various elements and areas in the drawings are schematically drawn. Therefore, the technical concept of the present invention is not limited by the relative sizes or spacing depicted in the attached drawings.

[0038] Hereinafter, with reference to the attached drawings, embodiments according to the present disclosure will be described in detail so that a person having ordinary knowledge in the technical field to which the present disclosure pertains can easily implement the present disclosure.

[0039] FIG. 1 is a drawing for explaining a robot charging system according to one embodiment of the present disclosure.

[0040] Referring to FIG. 1, the robot charging system (10) may include a station device (100) and a robot (200).

[0041] The station device (100) is a device capable of charging the battery of the robot (200). The station device (100) may include a charging unit for charging the battery of the robot (200).

[0042] In the present disclosure, the station device (100) may be replaced with terms such as “docking station”, “charging station”, “charging device”, and “charger”.

[0043] The station device (100) can charge the battery of the robot (200) by converting AC power received from an external power source (e.g., household AC power) into DC power and supplying the DC power to the robot (200).

[0044] The station device (100) may be fixed to a fixed location (e.g., a location positioned by a user) and may not move unless there are special circumstances (e.g., when moved by a user). When the output voltage of the battery of the robot (200) approaches the minimum voltage while the station device (100) is positioned at the fixed location and moves through a specific space, the robot (200) may move toward the station device (100) to charge the battery based on the location information of the station device (100) included in the pre-stored map. In addition, the robot (200) may dock with the station device (100) to charge the battery.

[0045] The station device (100) can perform a charging operation on the battery of the robot (200) after detecting that the robot (200) has docked to the station device (100).

[0046] The robot (200) may be a mobile robot including a driving unit. The robot (200) may drive within a specific space (e.g., a home, office, restaurant, airport, etc.) and perform a preset function within the specific space. For example, if the robot (200) is a cleaning robot, the robot (200) may move within a home and clean the floor within the home. As another example, if the robot (200) is a serving robot, the robot (200) may move within a restaurant and serve food.

[0047] The robot (200) may include a battery and may perform a preset function while moving through a specific space using the electric energy stored in the battery. While the robot (200) moves through a specific space and performs the preset function, the electric energy of the battery is consumed and the output voltage of the battery may be reduced.

[0048] When the output voltage of the battery is higher than the preset minimum voltage, the robot (200) can operate normally, and when the output voltage of the battery is lower than the preset minimum voltage, the robot (200) can stop operating. Accordingly, when the output voltage approaches the minimum voltage, the robot (200) can move to the station device (100).

[0049] Meanwhile, while the robot (200) is moving, static electricity may be generated due to friction between the moving part of the robot (200) (e.g., wheels) and the floor. At this time, the generated static electricity may be charged to the second charging terminal of the robot (200).

[0050] Additionally, static electricity may be generated due to contact charging during the process of contact between the first charging terminal of the station device (100) and the second charging terminal of the robot (200). Here, contact charging may refer to a phenomenon that occurs due to contact between metals with a potential difference. In this case, the generated static electricity may be charged to the second charging terminal of the robot (200).

[0051] At this time, when the first charging terminal of the station device (100) and the second charging terminal of the robot (200) come into contact, static electricity charged in the second charging terminal of the robot (200) may rapidly flow into the first charging terminal of the station device (100), which may cause damage to the internal circuit of the station device (100).

[0052] To solve the above-described problem, the station device (100) of the present disclosure may include a deceleration device that reduces the driving speed of the robot (200). Accordingly, the speed at which the robot (200) approaches the station device (100) for docking may be reduced.

[0053] Additionally, as the robot (200) approaches, the charging terminal of the station device (100) may gradually protrude. As the charging terminal of the station device (100) gradually protrudes, the contact area where the first charging terminal and the second charging terminal come into contact may gradually increase. Accordingly, the speed at which static electricity charged in the second charging terminal flows into the first charging terminal may be reduced, and the problem of static electricity flowing into the station device (100) damaging the internal circuit may be resolved.

[0054] Additionally, the station device (100) may include a first ground member for discharging static electricity charged at the first charging terminal to a frame of the station device (100) having a potential of 0 or close to 0.

[0055] Additionally, the robot (200) may include a second ground member for discharging static electricity charged at the second charging terminal to a frame of the robot (200) at a potential of 0 or close to 0.

[0056] Accordingly, the amount of static electricity flowing into the control circuit of the station device (100) through the first charging terminal (114) may be eliminated or reduced.

[0057] FIG. 2 is a block diagram illustrating the configuration of a station device according to one embodiment of the present disclosure.

[0058] Referring to FIG. 2, the station device (100) includes a charging unit (110), a communication interface (120), a memory (130), and a processor (140).

[0059] The charging unit (110) can convert AC power of an external power source (PS) into DC power for charging the battery of the robot (200) and supply the DC power to the robot (200).

[0060] The charging unit (110) may include a rectifier, a DC-DC converter, and a first charging terminal. The rectifier may receive AC power from an external power source (PS), convert the AC power of the external power source (PS) into DC power, and output the converted DC power. For example, the rectifier may include a bridge diode that converts the direction of AC voltage and AC current into positive voltage and positive current, and a capacitor that removes fluctuations in the positive voltage.

[0061] A DC-DC converter can change the voltage value of the DC power rectified by the rectifier. For example, the DC-DC converter can convert the voltage of the DC power rectified by the rectifier to approximately 24.9 V. Meanwhile, in the above-described embodiment, the station device (100) is described as including a rectifier and a DC-DC converter, but is not limited thereto, and the station device (100) may include a transformer (AC-AC converter) and a rectifier.

[0062] When the first charging terminal (114) and the second charging terminal (211) come into contact, the charging unit (110) can charge the battery of the robot (200).

[0063] The first charging terminal can charge the battery of the robot (200) by making contact with the second charging terminal of the robot (200). Specifically, the first charging terminal can apply a DC voltage output from a DC-DC converter to the second charging terminal of the robot (200).

[0064] In addition, the charging unit (110) may further include a FET (Field Effective Transister), and when the charging condition is satisfied, the FET may be turned on to supply power to the robot (200) through the charging terminal.

[0065] The communication interface (120) can communicate with an external device. The communication interface (120) can establish a communication connection with the communication interface (120) of the robot (200) while the robot (200) returns to the station device (100). The communication interface (120) can transmit information on whether or not the robot (200) is docked under the control of the processor (140).

[0066] The memory (130) can store data necessary for the station device (100) to operate according to various embodiments of the present disclosure.

[0067] Additionally, one or more instructions may be stored in the memory (130). Additionally, programs, applications, and data for driving the station device (100) may be stored in the memory (130).

[0068] The processor (140) controls the overall operation of the station device (100). Specifically, the processor (140) is connected to components of the station device (100) and can control the overall operation of the station device (100). For example, the processor (140) is connected to a charging unit (@10), a hall sensor, a communication interface (120), a memory (130), and a switch to control the station device (100). The processor (140) may be composed of one or more processors.

[0069] The processor (140) can perform the operation of the station device (100) according to an embodiment of the present disclosure by executing one or more instructions stored in the memory (130).

[0070] According to one embodiment of the present disclosure, the processor (140) can control the communication interface (120) to perform a communication connection while the robot (200) returns to the station device (100).

[0071] Meanwhile, the configuration illustrated in FIG. 2 is merely an example, and various configurations may be added or deleted depending on the type of station device (100). For example, the station device (100) may further include at least one of a Hall sensor and a switch.

[0072] The Hall sensor is configured to detect that the robot (200) has docked. In particular, the Hall sensor can detect that the robot (200) has docked by detecting a magnetic field generated by the electromagnet of the robot (200).

[0073] The switch is configured to detect docking of the robot (200). When the switch is turned on, the station device (100) can control the communication interface (120) to transmit information regarding whether or not the robot (200) is docked. At this time, the switch can be exposed to the outside to detect docking of the robot (200) when the robot (200) is docked to the station device (100).

[0074] When the robot (200) is docked to the station device (100) and the switch is turned on, the processor (140) can control the communication interface (120) to generate information on whether or not it is docked and transmit it to the robot (200).

[0075]

[0076] *When the magnetic field of the electromagnet is detected by the Hall sensor, the processor (140) can control the charging unit (110) to charge the robot (200). That is, the processor (140) can turn on the FET to charge the robot (200).

[0077] FIG. 3 is a flowchart illustrating a method for a robot to dock to a station device and charge a battery according to one embodiment of the present disclosure.

[0078] The robot (200) can detect a battery charging event (S310). At this time, the battery charging event may be an event in which the remaining battery capacity of the robot (200) is below a threshold (i.e., an event in which the output voltage approaches the minimum voltage), an event in which a user command is input to return to the station device (100), and the robot (200).

[0079] The robot (200) can search for the station device (100) (S320). That is, the robot (200) can identify the location of the station device (100) using a map created through the SLAM (Simultaneous Localization and Mapping) method, and can search for information about the station device (100) using various sensors. At this time, the information about the station device (100) may include shape information of the station device (100), reflection pattern information of the station device (100), QR code information, etc. That is, the robot (200) can obtain shape information or QR code information of the station device (100) using an image sensor, and can obtain reflection pattern information, etc. using a lidar sensor, etc. Then, the robot (200) can drive to return to the station device (100).

[0080] The robot (200) can approach the station device (100) (S330). Specifically, the robot (200) can measure the distance between the robot (200) and the station device (100) using various sensors, etc., and can align itself with the station device (100) using sensing information acquired through a lidar sensor or an image sensor, etc.

[0081] And, the robot (200) can move to a position to perform docking with the station device (100) by driving to the position of the detected station device (100).

[0082] When moving to a position for docking with the station device (100), the robot (200) can perform docking (S340). At this time, docking refers to an action in which two objects come into close contact with each other to adjust speed, etc., and the two objects that have met can be physically connected.

[0083] When a communication connection (or pairing) is performed by the communication interface (particularly, a Bluetooth module) of the robot (200) while the robot (200) is docked to the station device (100), and the switch is turned on, the robot (200) can receive information about whether it is docked from the station device (100). Accordingly, the robot (200) can detect the station device (100) based on the information about whether it is docked.

[0084] The robot (200) can initiate charging (S350). Specifically, the robot (200) can apply current to the electromagnet based on detection by the station device (100). When the Hall sensor (220) of the station device (100) detects a magnetic field generated by the electromagnet to which current is applied, the station device (100) can turn on the FET of the charging unit (110). The robot (200) can initiate charging using power supplied from the charging unit (110).

[0085] Meanwhile, the method by which the station device (100) and the robot (200) perform docking in the above-described step S340 will be described with reference to the drawings below.

[0086] FIG. 4 is a drawing for explaining a configuration for performing docking between a station device and a robot according to one embodiment of the present disclosure.

[0087] Referring to FIG. 4, the station device (100) may include a protruding member (111) protruding outside the first frame (101). The first frame (101) may be a main body or a part of the main body forming the exterior of the station device (100).

[0088] The protruding member (111) can come into contact with a robot approaching the station device (100) to dock with the station device (100). The protruding member (111) may be a non-conductive material.

[0089] The protruding member (111) may be supported by the first support member (112). When the first support member (112) moves toward the inside of the first frame (101) or the outside of the first frame (101), the protruding member (111) may move along the first support member (112). The first support member (112) may be a conductor through which electricity flows.

[0090] The first support member (112) may be connected to an elastic member (113). The elastic member (113) may provide elastic force in a direction in which the first support member (112) protrudes out of the first frame (101). That is, the elastic member (113) may provide elastic force in a direction in which the protruding member (111) protrudes out of the first frame (101). The elastic member (113) may be a spring, but is not limited thereto.

[0091] When the station device (100) and the robot (200) are not docked, the protruding member (111) may protrude outside the first frame (101) due to the elastic force of the elastic member (113).

[0092] The station device (100) may include a first charging terminal (114) for charging the robot (200). The first charging terminal (114) may be connected to a control circuit for controlling the operation of the station device (100). The control circuit may include a processor (140) and may be connected to a charging adapter for charging the robot (200).

[0093] The robot (200) may include a second charging terminal (211) for receiving power from the first charging terminal (114) to charge the battery. At this time, the second charging terminal (211) may be connected to the battery of the robot (200).

[0094] In order for the station device (100) to charge the robot (200), the station device (100) and the robot (200) must be docked so that the first charging terminal (114) and the second charging terminal (211) are in contact.

[0095] During the docking process between the station device (100) and the robot (200), the movement of the protruding member (111) and the movement of the first charging terminal (114) can be linked by at least one gear (115a, 115b, 115c).

[0096] FIG. 5, FIG. 6 and FIG. 7 are drawings for explaining a docking process of a station device and a robot according to one embodiment of the present disclosure.

[0097] Referring to FIG. 5, during the process of the robot (200) docking to the station device (100), the second charging terminal (211) and the protruding member (111) may first come into contact before the first charging terminal (114) and the second charging terminal (211) come into contact.

[0098] When the second charging terminal (211) and the protruding member (111) come into contact, the second charging terminal (211) can push the protruding member (111) from the outside of the first frame (101) to the inside of the first frame (101).

[0099] Referring to FIG. 6, the protruding member (111) (or the first support member (112) including the protruding member (111)) can compress the elastic member (113). At this time, the elastic member (113) can provide elastic force in a direction that pushes the protruding member (111) out of the first frame (101).

[0100] The protruding member (111) can provide a force that pushes the robot (200) in the opposite direction to the driving direction of the robot (200) by the elastic force provided by the elastic member (113). Accordingly, the driving speed of the robot (200) can be reduced.

[0101] When the protruding member (111) is inserted into the first frame (101), the first gear (115a) engaged with the first plurality of grooves of the first support member (112) can rotate in the first direction. Here, the first direction may be clockwise.

[0102] The second gear (115b) meshed with the first gear (115a) can rotate in a second direction. Here, the second direction may be counterclockwise.

[0103] The third gear (115c) meshed with the second gear (115b) can rotate in a first direction. Here, the third direction may be clockwise. The first direction may be a direction in which the third gear (116c) protrudes the first charging terminal (114) from inside the first frame (101) to outside the first frame (101).

[0104] The third gear (115c) may be engaged with the second support member (115) that supports the first charging terminal (114). Specifically, the third gear (116c) may be engaged with the second plurality of grooves included in the first charging terminal (114). The second support member (115) may be a conductor through which electricity flows.

[0105] At this time, when the third gear (115c) rotates in the first direction, the first charging terminal (114) can protrude toward the outside of the first frame (101) by the third gear (115c). As the second support member (115) protrudes toward the outside of the first frame (101), the first charging terminal (114) supported by the second support member (115) can also protrude toward the outside of the first frame (101). In FIG. 4, the second support member (115) and the first charging terminal (114) are illustrated as being separate, but this is not limited thereto, and the second support member (115) and the first charging terminal (114) may be implemented as an integrated body.

[0106] Meanwhile, the extent to which the protruding member (111) reduces the speed of the robot (200) can be determined depending on the gear ratio between at least one gear.

[0107] For example, if the gear ratios of the first gear (116a), the second gear, and the third gear are 1:1:N, the movement speed of the robot (200) can be reduced to 1 / N.

[0108] The second charging terminal (211) of the robot (200) can be implemented in a form that includes a hole for accommodating the first charging terminal (114).

[0109] As illustrated in Fig. 5, as the first charging terminal protrudes outside the first frame (101), the first charging terminal (114) can be accommodated in a hole provided in the second charging terminal (211). Accordingly, the first charging terminal (114) and the second charging terminal (211) can come into contact.

[0110] As the extent to which the first charging terminal (114) protrudes outside the first frame (101) increases, the area where the first charging terminal (114) is accommodated by the hole of the second charging terminal (211) may increase. Accordingly, the area where the first charging terminal (114) and the second charging terminal (211) come into contact may increase.

[0111] As described above, during the process of the robot (200) docking to the station device (100), the contact area between the first charging terminal (114) and the second charging terminal (211) may gradually increase.

[0112] Accordingly, the problem of static electricity charged to the second charging terminal (211) being rapidly introduced through the first charging terminal (114) can be prevented. That is, as the contact area between the first charging terminal (114) and the second charging terminal (211) gradually increases, static electricity charged to the second charging terminal (211) can gradually be introduced into the first charging terminal (114).

[0113] Referring to FIG. 6, when the first charging terminal (114) is fully accommodated in the hole included in the second charging terminal (211), docking of the station device (100) and the robot (200) can be completed.

[0114] Specifically, when the contact surface between the first charging terminal (114) and the second charging terminal (211) becomes greater than a preset value, the station device (100) can charge the robot (200).

[0115] When docking of the station device (100) and the robot (200) is completed, the station device (100) can charge the robot (200) through the first charging terminal (114).

[0116] Meanwhile, the station device (100) may include a first ground member (117) for receiving static electricity flowing from the second charging terminal (211) to the first charging terminal (114). The first ground member (117) may be a conductor through which electricity can flow.

[0117] Specifically, the first ground member (117) may be connected to the first charging terminal (114) so ​​that a potential difference occurs between the first charging terminal (114) and the first ground member (117). Accordingly, static electricity introduced through the first charging terminal (114) may move to the first ground member (117).

[0118] The first ground member (117) may be connected to the first frame (101) forming at least a portion of the first frame (101). Static electricity received in the first ground member (117) may be discharged to the first frame (101).

[0119] Accordingly, static electricity flowing into the first charging terminal (114) through the second charging terminal (211) can be discharged to the first frame (101) through the first ground member (117) without flowing into the circuit of the station device (100).

[0120] Specifically, while the contact surface between the first charging terminal (114) and the second charging terminal (211) gradually increases, static electricity generated by friction between the robot (200) and the floor may flow from the second charging terminal (211) to the first charging terminal (114). In addition, the static electricity flowing into the first charging terminal (114) may be discharged to the first frame (101) through the first ground member (117).

[0121] Additionally, while the contact surface between the first charging terminal (114) and the second charging terminal (211) gradually increases, static electricity generated by friction between the first charging terminal (114) and the second charging terminal (211) can be discharged to the first frame (101) through the first ground member (117).

[0122] Specifically, static electricity introduced through the first charging terminal (114) or generated at the first charging terminal (114) can be introduced to the first ground member (117) along the second support member (115). The static electricity introduced to the first ground member (117) can be discharged to the first frame (101).

[0123] Additionally, the robot (200) may include a second ground member (212) for receiving static electricity charged to the second charging terminal (211). The second ground member (212) may be a conductor through which electricity can flow.

[0124] Static electricity introduced through the second charging terminal (211) can be received by the second ground member (212).

[0125] The second ground member (212) may be connected to the second frame (201). Static electricity received in the second ground member (212) may be discharged to the second frame (201).

[0126] As static electricity generated in the robot (200) is discharged to the second ground member (212) included in the robot (200), static electricity flowing into the first charging terminal (114) can be reduced.

[0127] Meanwhile, in order to reduce the speed at which the contact area between the first charging terminal (114) and the second charging terminal (211) increases, the station device (100) can control the approach speed at which the robot (200) approaches the station device (100).

[0128] FIG. 8 is a flowchart for explaining a method for controlling the approach speed of a robot (200) by a station device (100) according to one embodiment of the present disclosure.

[0129] Referring to FIG. 8, the station device (100) can receive information about the weight of the robot (200) from the robot (200) (S810).

[0130] The weight of the robot (200) may include the weight of the load loaded on the robot (200). If the robot (200) is a cleaning robot, the load loaded on the robot (200) may include at least one of the weight of the mop, the collected dust or trash, and the volume of the cleaning solution.

[0131] The station device (100) can control the robot (200) so that the approach speed of the robot (200) decreases as the weight of the robot (200) increases.

[0132] When information about the weight of the robot (200) is received, the station device (100) can identify an approach speed corresponding to the weight of the robot (200) (S820).

[0133] For example, the memory (130) can store information on the approach speed of the robot (200) according to its weight in the form of a lookup table. The station device (100) can identify the approach speed corresponding to the weight of the robot (200) through the lookup table stored in the memory (130).

[0134] The station device (100) can transmit information about an approach speed corresponding to the weight of the robot (200) to the robot (200) so that the robot (200) approaches the station device (100) at an approach speed corresponding to the weight of the robot (200) and docks therewith (S830).

[0135] When the robot (200) approaches the station device (100) at the received approach speed and the robot (200) comes into contact with the station device (100), docking can be performed (S840).

[0136] The docking process between the station device (100) and the robot (200) may be as described with reference to FIGS. 4 to 6.

[0137] When docking between the station device (100) and the robot (200) is completed, the station device (100) can start charging the robot (200) (S850).

[0138] Although various embodiments have been described above, each embodiment is not necessarily implemented individually, and may be implemented together in a single product by being combined in whole or in part with at least one other embodiment.

[0139] Meanwhile, the terms "part" or "module" used in the present disclosure include units composed of hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A "part" or "module" may be an integrally composed component, a minimum unit performing one or more functions, or a portion thereof. For example, a module may be composed of an application-specific integrated circuit (ASIC).

[0140] Various embodiments of the present disclosure may be implemented as software including instructions stored in a machine-readable storage medium that can be read by a machine (e.g., a computer). The device, which is a device capable of calling instructions stored in the storage medium and operating according to the called instructions, may include an electronic device (100) according to the disclosed embodiments. When the instructions are executed by a processor, the processor may directly or under the control of the processor perform a function corresponding to the instructions using other components. The instructions may include code generated or executed by a compiler or interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory" means that the storage medium does not contain signals and is tangible, but does not distinguish between data being stored semi-permanently or temporarily in the storage medium.

[0141] According to one or more embodiments, the methods according to the various embodiments disclosed herein may be provided as a computer program product. The computer program product may be traded as a commodity between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or online through an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0142] Each component (e.g., a module or a program) according to various embodiments may be composed of one or more entities, and some of the aforementioned sub-components may be omitted, or other sub-components may be further included in various embodiments. Alternatively or additionally, some components (e.g., a module or a program) may be integrated into a single entity, which may perform the same or similar functions as those performed by each of the respective components prior to integration. Operations performed by a module, program, or other component according to various embodiments may be executed sequentially, in parallel, iteratively, or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

Claims

1. In a station device for charging a robot, A frame for forming the exterior of the above station device; a protruding member protruding from the above frame; and A charging unit including a first charging terminal for charging the robot; When the robot contacts the protruding member, the protruding member protruding from the frame is drawn into the frame and reduces the driving speed of the robot. As the protruding member is introduced into the frame, the first charging terminal protrudes from the inside of the frame to the outside of the frame, A station device, wherein the contact surface between the first charging terminal and the second charging terminal of the robot gradually increases as the first charging terminal protrudes outside the frame.

2. In paragraph 1, A station device further comprising at least one gear for protruding the first charging terminal out of the frame as the protruding member is introduced into the frame.

3. In paragraph 2, At least one gear of the above, A first gear that rotates in a first direction as the protruding member is introduced into the frame; A second gear that rotates in a second direction opposite to the first direction as the first gear rotates; and A station device comprising a third gear that rotates in the first direction as the second gear rotates to protrude the first charging terminal out of the frame.

4. In paragraph 3, Further comprising a first support member supporting the above-mentioned protruding member; The above first support portion includes a plurality of first grooves, A station device wherein the first support member engages with the first gear through the plurality of first grooves.

5. In paragraph 3, Further comprising a second support member supporting the first charging terminal; The second support portion includes a plurality of second grooves, A station device wherein the second support member engages with the third gear through the plurality of second grooves.

6. In paragraph 3, A station device in which the protruding member reduces the driving speed of the robot to a speed corresponding to a gear ratio between the first gear and the third gear.

7. In paragraph 1, Further comprising an elastic member that provides elastic force to protrude the protruding member outside the frame; A station device that reduces the running speed of the robot by elastic force when the protruding member moves in the direction of compressing the elastic member.

8. In paragraph 1, Further comprising an elastic member that provides elastic force to protrude the protruding member outside the frame; A station device, wherein when the robot moves away from the station device, the protruding member protrudes outside the frame due to the elastic force.

9. In paragraph 1, A station device in which static electricity generated by friction between the robot and the floor is introduced from the second charging terminal to the first charging terminal while the contact surface between the first charging terminal and the second charging terminal gradually increases.

10. In paragraph 1, Further comprising a ground member for receiving static electricity introduced from the second charging terminal through the first charging terminal; A station device, wherein while the contact surface between the first charging terminal and the second charging terminal increases, static electricity introduced from the second charging terminal through the first charging terminal moves to the ground member.

11. In paragraph 10, The static electricity transferred to the above ground absence is, A station device that is emitted into the above frame.

12. In paragraph 1, The second charging terminal includes a hole for accommodating the first charging terminal, A station device, wherein when the first charging terminal protrudes outside the frame, at least a portion of the first charging terminal is received by the hole.

13. In paragraph 1, A station device that charges the robot when the contact area between the first charging terminal and the second charging terminal is greater than a preset value.

14. In paragraph 1, The above first charging terminal and the above second charging terminal are conductors, The above protruding member is a station device that is non-conductive.

15. In paragraph 1, memory; and processor; including more; The above processor, Receive information about the weight of the robot from the robot, Identify the approach speed corresponding to the weight of the robot, A station device that transmits information about an approach speed corresponding to the weight of the robot to the robot so that the robot approaches and docks with the station device at the identified approach speed.

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