Station and cleaning device

Abstract

This cleaning device comprises: a robot cleaner including a main body and a mop detachably mountable to a lower portion of the main body; and a station on which the robot cleaner can be placed, wherein the station includes: a water tank configured to store water and store a solution including a substance for removing scale during a scale removal process; a heating device; a pump; and a control unit configured to control the pump to pump water stored in the water tank to the heating device to be heated by the heating device when the robot cleaner is placed on the station, and to control the pump to pump the solution stored in the water tank to the heating device during the scale removal process such that scale accumulated in the heating device from water heated by the heating device is removed by the solution when the robot cleaner is not placed on the station.

Description

Stations and cleaning devices

[0001] The present disclosure relates to a station for a robot vacuum cleaner including a mop and a cleaning device including the same.

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

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

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

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

[0006] One aspect of the present disclosure provides a station and cleaning device capable of reducing scale generation.

[0007] One aspect of the present disclosure provides a station and cleaning device capable of reducing performance degradation.

[0008] The technical problems to be achieved in this document are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0009] A cleaning device according to the invention comprises a robot cleaner including a main body and a mop detachably mountable to a lower portion of the main body, and a station on which the robot cleaner is mounted. The station comprises a water tank configured to store water, a washing chamber corresponding to the mop while the robot cleaner is mounted on the station, a heating device for heating water supplied from the water tank, a pump configured to pump water stored in the water tank, and a control unit configured to control the pump to remove scale accumulated in the heating device during a scale removal process.

[0010] A station according to the invention comprises a water tank for storing water, a washing chamber for washing a water mop of a robot cleaner, a heating device for heating water supplied from the water tank, a pump for pumping water stored in the water tank, and a control unit configured to control the pump for removing scale accumulated in the heating device in a scale removal process.

[0011] FIG. 1 is a drawing illustrating a state in which a robot cleaner is out of a station in a cleaning device according to one embodiment of the present disclosure.

[0012] FIG. 2 is a drawing illustrating a state in which a robot cleaner is installed on a station in a cleaning device according to one embodiment of the present disclosure.

[0013] FIG. 3 is a drawing showing the rear of a cleaning device according to one embodiment of the present disclosure.

[0014] FIG. 4 is a drawing illustrating a robot vacuum cleaner according to one embodiment of the present disclosure.

[0015] FIG. 5 is a drawing showing the rear of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0016] FIG. 6 is a drawing illustrating the lower part of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0017] FIG. 7 is a front view drawing of the internal configuration of a station according to one embodiment of the present disclosure.

[0018] FIG. 8 is a rear view drawing of the internal configuration of a station according to one embodiment of the present disclosure.

[0019] FIG. 9 is a rear view of the interior of a station according to one embodiment of the present disclosure.

[0020] Fig. 10 is a schematic drawing of the internal configuration of the heating device by enlarging the portion C shown in Fig. 9.

[0021] FIG. 11 is a drawing illustrating a portion of a station according to one embodiment of the present disclosure.

[0022] FIG. 12 is a drawing illustrating a state in which a washing frame is separated from a washing chamber in a station according to one embodiment of the present disclosure.

[0023] FIG. 13 is a cross-sectional view of a station according to one embodiment of the present disclosure.

[0024] FIG. 14 is a schematic diagram illustrating a configuration of a station according to one embodiment of the present disclosure.

[0025] Figure 15 shows a cross-section along line A-A' shown in Figure 3.

[0026] Figure 16 shows a cross-section along the line B-B' shown in Figure 3.

[0027] FIG. 17 illustrates a control block diagram of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0028] FIG. 18 illustrates a control block diagram of a station according to one embodiment of the present disclosure.

[0029] FIG. 19 is a drawing schematically illustrating the internal configuration of a heating device according to one embodiment of the present disclosure.

[0030] FIG. 20 is an enlarged view of a heating device according to one embodiment of the present disclosure.

[0031] Figure 21 shows a cross-section along line DD' shown in Figure 20.

[0032] FIG. 22 is a flowchart illustrating an example of a process for a station to start a scale removal process according to one embodiment of the present disclosure.

[0033] FIG. 23 illustrates an example of a notification provided by a station according to one embodiment of the present disclosure.

[0034] FIG. 24 is a flowchart illustrating an example of a process of a scale removal process when a heating device according to one embodiment of the present disclosure includes a water pipe and a heater.

[0035] FIG. 25 schematically illustrates the flow of water when a station performs a scale removal process according to one embodiment of the present disclosure.

[0036] FIG. 26 is a flowchart illustrating an example of a process of a scale removal process when a heating device according to one embodiment of the present disclosure includes a tank and a heater.

[0037] FIG. 27 schematically illustrates the flow of water when a station performs a scale removal process according to one embodiment of the present disclosure.

[0038] FIG. 28 is a flowchart illustrating another example of a process of a scale removal process when a heating device according to one embodiment of the present disclosure includes a water tank and a heater.

[0039] FIG. 29 schematically illustrates the flow of water when a station performs a scale removal process according to one embodiment of the present disclosure.

[0040] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0041] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0042] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0043] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0044] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0045] The terms "part," "module," and "member" may be implemented in hardware or software. Depending on the embodiments, multiple "parts," "modules," or "members" may be implemented as a single component, or a single "part," "module," or "member" may include multiple components.

[0046] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0047] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0048] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0049] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0050] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0051] Meanwhile, the terms "front", "back", "left", "right", "up", "down", etc. used in the following description are defined based on the drawing, and the shape and position of each component are not limited by these terms. For example, as illustrated in FIG. 1, the direction in which the robot cleaner (10) enters the station (20) can be defined as rearward (-X direction), and the opposite direction can be defined as forward (+X direction).

[0052] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0053] FIG. 1 is a drawing illustrating a state in which a robot cleaner is removed from a station in a cleaning device according to one embodiment of the present disclosure. FIG. 2 is a drawing illustrating a state in which a robot cleaner is installed in a station in a cleaning device according to one embodiment of the present disclosure. FIG. 3 is a drawing illustrating the rear of a cleaning device according to one embodiment of the present disclosure.

[0054] Referring to FIGS. 1 to 3, the cleaning device (1) may include a robot cleaner (10) and a station (20). The cleaning device (1) may be referred to as a cleaning system (1).

[0055] A robot cleaner (10) can clean a floor by moving along the floor. The floor cleaned by the robot cleaner (10) can be referred to as a cleaning surface. The robot cleaner (10) can perform dry cleaning and / or wet cleaning. The robot cleaner (10) can suck up or wipe away dirt from the cleaning surface. Here, dirt can be a general term for foreign substances such as dust, hair, and food crumbs.

[0056] The robot cleaner (10) can be mounted on the station (20). The robot cleaner (10) can be mounted on the station (20). The robot cleaner (10) can be docked on the station (20). At least a portion of the robot cleaner (10) can be placed in the receiving space (210a) of the station (20).

[0057] The robot vacuum cleaner (10) can move to the station (20) during cleaning and / or after cleaning is completed.

[0058] For example, the robot vacuum cleaner (10) may move to the station (20) when charging is required, when the dust collector (141, see FIG. 5) needs to be emptied, when the water tank (114, see FIG. 5) is low in water, when the moisture content of the mop (160) is low, when the mop (160) needs to be washed, when the mop (160) needs to be sterilized, and / or when the mop (160) needs to be dried.

[0059] The station (20) may be provided to hold the robot cleaner (10). The station (20) may be provided to allow the robot cleaner (10) to be installed. The station (20) may be provided to store the robot cleaner (10).

[0060] For example, while the robot cleaner (10) is seated on the station (20), the station (20) can charge the battery (150, see FIG. 5) of the robot cleaner (10). For example, while the robot cleaner (10) is seated on the station (20), the station (20) can collect the waste collected in the dust bin (141) of the robot cleaner (10). For example, while the robot cleaner (10) is seated on the station (20), the station (20) can supply water to the water tank (114) of the robot cleaner (10). For example, while the robot cleaner (10) is seated on the station (20), the station (20) can wet the mop (160) with water and / or steam. For example, while the robot cleaner (10) is mounted on the station (20), the station (20) can wash the mop (160). For example, while the robot cleaner (10) is mounted on the station (20), the station (20) can sterilize the mop (160). For example, while the robot cleaner (10) is mounted on the station (20), the station (20) can dry the mop (160).

[0061] FIG. 4 is a drawing illustrating a robot cleaner according to one embodiment of the present disclosure. FIG. 5 is a drawing illustrating the rear of a robot cleaner according to one embodiment of the present disclosure. FIG. 6 is a drawing illustrating the lower portion of a robot cleaner according to one embodiment of the present disclosure.

[0062] A robot cleaner (10) may include a main body (110). The main body (110) may form the overall appearance of the robot cleaner (10). Components of the robot cleaner (10) may be accommodated inside the main body (110). Electrical components may be arranged inside the main body (110). The main body (110) may be referred to as a cleaner body (110).

[0063] The robot cleaner (10) may include a suction port (111). The suction port (111) may be formed to face a surface to be cleaned. The suction port (111) may be open toward the surface to be cleaned. The suction port (111) may be formed in the main body (110). The suction port (111) may be formed in the lower part of the main body (110). The suction port (111) may be formed by penetrating the lower surface (110b) of the main body (110). Dirt on the surface to be cleaned may be sucked into the main body (110) through the suction port (111) together with air. The suction port (111) may be referred to as a vacuum cleaner suction port (111).

[0064] A robot vacuum cleaner (10) may include a brush (130). The brush (130) may strike a surface to be cleaned to scatter dirt. Dirt scattered by the brush (130) may be drawn into the suction port (111) together with air.

[0065] For example, the robot cleaner (10) may include a first brush (131) disposed in the suction port (111). The first brush (131) may be rotatably mounted relative to the main body (110). The rotation axis of the first brush (131) may be an axis extending approximately along the horizontal direction (Y direction). The first brush (131) may be referred to as a main brush (131).

[0066] For example, the robot cleaner (10) may include a second brush (132) positioned adjacent to the lower edge of the main body (110). The second brush (132) may guide dirt around the main body (110) that the first brush (131) cannot sweep to the suction port (111). The second brush (132) may be rotatably mounted with respect to the main body (110). The rotation axis of the second brush (132) may be an axis extending approximately along a vertical direction (Z direction). The second brush (132) may be referred to as a side brush (132).

[0067] The robot vacuum cleaner (10) may include a dust collector (141). Dirt and / or air sucked in through the suction port (111) may move to the dust collector (141). Dirt sucked in through the suction port (111) may be collected in the dust collector (141). Air sucked in through the suction port (111) may be filtered as it passes through the dust collector (141). Dirt and air sucked in through the suction port (111) may be separated in the dust collector (141).

[0068] The robot cleaner (10) may include an exhaust port (112). The exhaust port (112) may be formed in the main body (110). The exhaust port (112) may be formed on the rear side of the main body (110). Air sucked in through the suction port (111) may be filtered and discharged to the outside of the robot cleaner (10) through the exhaust port (112). For example, a plurality of exhaust ports (112) may be provided, and the plurality of exhaust ports may be configured with a plurality of holes. The exhaust port (112) may be referred to as a vacuum cleaner exhaust port (112).

[0069] The robot cleaner (10) may include a suction motor (142). The suction motor (142) may generate suction force. By the suction force generated by the suction motor (142), the suction port (111) may suck in dirt and / or air. By the suction force generated by the suction motor (142), the exhaust port (112) may suck in the inside of the robot cleaner (10) and discharge the filtered air to the outside. The suction motor (142) may be disposed on an air path formed between the suction port (111) and the exhaust port (112). The suction motor (142) may be referred to as a vacuum cleaner suction motor (142).

[0070] The robot cleaner (10) may include a driving unit (120) for driving the robot cleaner (10). The driving unit (120) may be mounted on the main body (110) and may move the main body (110). For example, the driving unit (120) may include a pair of main wheels (121). For example, the driving unit (120) may further include at least one auxiliary wheel (122) for stable driving of the robot cleaner (10).

[0071] The robot vacuum cleaner (10) may include a battery (150). The battery (150) may be configured to be rechargeable. The battery (150) may provide the power required to operate the robot vacuum cleaner (10).

[0072] The robot cleaner (10) may include a charging terminal (151). The charging terminal (151) may be electrically connected to a battery (150). While the robot cleaner (10) is docked on the station (20), the charging terminal (151) of the robot cleaner (10) may be electrically connected to the charging terminal (218, see FIG. 11) of the station (20). As the charging terminal (151) of the robot cleaner (10) is electrically connected to the charging terminal (218) of the station (20), the battery (150) of the robot cleaner (10) may be charged. That is, while the robot cleaner (10) is docked on the station (20), the battery (150) may be charged. The charging terminal (151) may be referred to as a cleaner charging terminal (151).

[0073] The robot vacuum cleaner (10) may include a mop (160). The mop (160) is detachably mountable to the lower portion of the main body (110). The mop (160) may be rotatably mounted with respect to the main body (110). The mop (160) may be provided to contact the surface to be cleaned and clean the surface to be cleaned. The mop (160) may wipe off dirt from the surface to be cleaned while it is wet. In the drawing, two mops (160) are illustrated, but there is no limitation on the number of mops (160). The mop (160) may be referred to as a cleaning pad (160). The mop (160) may be referred to as a wet pad (160).

[0074] The mop (160) can be supplied with moisture from the water tank (114) of the robot cleaner (10). The mop (160) can be supplied with moisture from the station (20). For example, when the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, water stored in the water tank (114) can be supplied to the mop (160). For example, when the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, the robot cleaner (10) can return to the station (20) and be settled on the station (20). At this time, the station (20) can supply water to the water tank (114) or spray water and / or steam toward the mop (160). The robot cleaner (10) being placed on the station (20) may include the robot cleaner (10) being docked on the station (20).

[0075] The robot cleaner (10) may include a water charging unit (113). The water charging unit (113) may be formed in the main body (110). The water charging unit (113) may be formed on the rear side of the main body (110). While the robot cleaner (10) is mounted on the station (20), the water charging unit (113) may receive water provided from the station (20). The water supplied to the robot cleaner (10) through the water charging unit (113) may be stored in a water tank (114). While the robot cleaner (10) is mounted on the station (20), the water charging unit (113) of the robot cleaner (10) may be docked with a first water supply unit (217, see FIG. 11) of the station (20) to be described later.

[0076] The robot vacuum cleaner (10) may include an obstacle detection sensor (170). The obstacle detection sensor (170) may be configured to detect the location of an obstacle or the distance to the obstacle. The obstacle detection sensor (170) may be mounted on the main body (110). For example, the obstacle detection sensor (170) may protrude from the upper surface (110a) of the main body (110).

[0077] FIG. 7 is a front view illustrating the internal configuration of a station according to one embodiment of the present disclosure. FIG. 8 is a rear view illustrating the internal configuration of a station according to one embodiment of the present disclosure. FIG. 9 is a rear view illustrating the internal configuration of a station according to one embodiment of the present disclosure. FIG. 10 is a schematic diagram illustrating the internal configuration of a heating device by enlarging part C shown in FIG. 9.

[0078] The station (20) may include a main body (210). The main body (210) may form the overall appearance of the station (20). The main body (210) may form a receiving space (210a) for receiving at least a portion of the robot cleaner (10). The main body (210) may be referred to as a station main body (210).

[0079] The main body (210) may include a base (211) and a housing (212) that can be detachably coupled to the base (211).

[0080] The base (211) may include a cleaner mounting portion (211a) on which the robot cleaner (10) is mounted. The cleaner mounting portion (211a) may have a shape inclined from the surface to be cleaned so that the robot cleaner (10) may enter. For example, the cleaner mounting portion (211a) may include a shape inclined upward along the direction in which the robot cleaner (10) enters the station (20). For example, an anti-slip portion (216) may be formed on the cleaner mounting portion (211a) so that the robot cleaner (10) can easily climb the inclined surface of the cleaner mounting portion (211a). For example, an anti-slip protrusion (215) may be formed on the cleaner mounting portion (211a) to prevent the robot cleaner (10) mounted on the station (20) from slipping along the inclined surface of the cleaner mounting portion (211a). The robot cleaner (10) installed on the station (20) can be prevented from leaving the station (20) by the anti-slip barrier (215).

[0081] The base (211) may include a side wall portion (211b) extending upward from the cleaner mounting portion (211a). The side wall portion (211b) may be provided to surround at least a portion of the cleaner mounting portion (211a).

[0082] The housing (212) may be provided to cover the side wall portion (211b) of the base (211). The housing (212) may accommodate components of the station (20). Electrical components may be arranged inside the housing (212). The housing (212) may form an opening (212a), and the robot cleaner (10) may enter the receiving space (210a) of the station (20) through the opening (212a).

[0083] The station (20) may include a water tank (221). The water tank (221) may be configured to store water. Relatively clean water may be accommodated in the water tank (221). The water stored in the water tank (221) may be provided to the water tank (114) of the robot cleaner (10) or to the washing chamber (230) of the station (20) to be described later. That is, the water stored in the water tank (221) may be used to provide moisture to the mop (160) or to wash the mop (160). The water tank (221) may be detachably mounted on the main body (210). For example, a user may hold the handle (221a) of the water tank (221) to detach the water tank (221) from the main body (210) or to attach the water tank (221) to the main body (210).

[0084] The station (20) may include a waste tank (222). The waste tank (222) may be configured to store water. The waste tank (222) may accommodate relatively dirty water. Dirty water (waste water) obtained by washing the mop (160) may be stored in the waste tank (222). The waste tank (222) may be detachably mounted on the main body (210). For example, a user may grasp the handle (222a) of the waste tank (222) to detach the waste tank (222) from the main body (210) or attach the waste tank (222) to the main body (210).

[0085] The station (20) may include a waste collection bin (223). The waste collection bin (223) may be provided to store waste collected from the dust collection bin (141) of the robot cleaner (10). The waste collection bin (223) may be detachably mounted on the main body (210). For example, a user may hold the handle (223a) of the waste collection bin (223) to detach the waste collection bin (223) from the main body (210) or attach the waste collection bin (223) to the main body (210).

[0086] In the drawing, the sewage tank (222), the water supply tank (221), and the sewage collection tank (223) are shown as being arranged side by side along a roughly horizontal direction (Y direction), but there is no limitation on the positions of each of the sewage tank (222), the water supply tank (221), and the sewage collection tank (223).

[0087] The station (20) may include a suction port (213). The suction port (213) may be formed in the cleaner mounting portion (211a). While the robot cleaner (10) is mounted on the station (20), the suction port (213) may be communicated with the dust collector (141) of the robot cleaner (10). The suction port (213) may be provided to suction the waste collected in the dust collector (141). The suction port (213) may be referred to as a cleaner suction port (213).

[0088] The station (20) may include a waste collection duct (225). The waste collection duct (225) may be provided to guide waste sucked through the suction port (213) to a waste collection bin (223). The waste collection duct (225) may be positioned between the suction port (213) and the waste collection bin (223). One end of the waste collection duct (225) may be in communication with the suction port (213). The other end of the waste collection duct (225) may be in communication with the waste collection bin (223).

[0089] The station (20) may include an exhaust port (214, see FIG. 3). The exhaust port (214) may be formed on the rear side of the main body (210). The exhaust port (214) may be formed on the rear side of the housing (212). The exhaust port (214) may draw air into the interior of the station (20) and discharge the filtered air to the outside. For example, the exhaust ports (214) may be provided in multiple numbers, and the multiple exhaust ports (214) may be configured with multiple holes. The exhaust port (214) may be referred to as a station exhaust port (214).

[0090] The station (20) may include a suction motor (224). When the robot cleaner (10) is installed in the station (20), the suction motor (224) may generate a suction force to suck up the waste in the dust collector (141). By the suction force of the suction motor (224), the waste in the dust collector (141) may flow along the suction port (213) and the waste collection duct (225) and be collected in the waste collection container (223). By the suction force generated by the suction motor (224), the exhaust port (214) may suck in the inside of the station (20) and discharge the air that has passed through the exhaust filter (226) to the outside. The suction motor (224) may be referred to as a station suction motor (224).

[0091] The station (20) may include a heating device (250). The heating device (250) may generate high-temperature water and / or steam. The heating device (250) may generate high-temperature water and / or steam using water stored in a water tank (221). The heating device (250) may receive water stored in the water tank (221) and generate high-temperature water and / or steam. For example, the heating device (250) may heat water to 40°C or higher to create high-temperature water, or heat water to 100°C or higher to create steam.

[0092] High temperature water and / or steam generated from the heating device (250) may be provided to the washing chamber (230). For example, high temperature water and / or steam generated from the heating device (250) may be provided to the robot cleaner (10).

[0093] The heating device (250) may be placed below the water tank (221). When supplying water from the water tank (221) to the heating device (250), the first pump (21) can pump the water from the water tank (221) with relatively low power with the help of gravity.

[0094] Referring to FIG. 10, as an example, a heating device (250) may include a water pipe (251) and a heater (252). The heating device (250) may include a heating device case (256) for accommodating at least a portion of the water pipe (251) and at least a portion of the heater (252). The heating device case (256) may include a case mounting portion (256a) for mounting to the main body (210) of the station (20).

[0095] A water pipe (251) may be provided to connect the fifth pipe (205) and the sixth pipe (206). The water pipe (251) may form a flow path through which water flowing in through the fifth pipe (205) flows into the sixth pipe (206). For example, the water pipe (251) may be extended by bending several times between the fifth pipe (205) and the sixth pipe (206).

[0096] A heater (252) may be placed adjacent to a water pipe (251). The heater (252) may be configured to heat water passing through the water pipe (251). The heater (252) may extend in a direction in which the water pipe (251) extends. For example, the heater (252) may be extended by bending several times in response to the water pipe (251) being bent and extended several times. The heater (252) may have a shape similar to that of the water pipe (251).

[0097] The heating device (250) according to the present disclosure has a shape in which the water pipe (251) is bent several times, and the heater (252) has a shape in which the heater is bent several times to correspond to the water pipe (251), so that the flow path through which water flows from the fifth pipe (205) to the sixth pipe (206) in a limited space can be increased, and thus, the heater (252) can secure time to heat the water.

[0098] The station (20) may include a drying device (260). The drying device (260) may be configured to generate air (hereinafter, referred to as dry air) for drying the mop (160). The drying device (260) may be configured to provide the dry air to a cleaning chamber (230) to be described later. While the robot cleaner (10) is mounted on the station (20), the dry air discharged from the drying device (260) may be directed toward the mop (160). The air (dry air) generated and provided by the drying device (260) may have a relatively low humidity or a high temperature. The dry air may also be referred to as hot air or dry wind.

[0099] For example, after washing and / or sterilizing the mop (160), the station (20) can provide dry air to the mop (160). For example, if the moisture content of the mop (160) increases while the robot cleaner (10) is cleaning, the robot cleaner (10) can return to the station (20), and the station (20) can discharge dry air toward the mop (160).

[0100] The drying device (260) may include a fan (262) that generates a blowing force. The drying device (260) may include a drying duct (261) that is provided to guide air blown by the fan (262). The drying duct (261) may be provided to connect the fan (262) and a washing chamber (230) to be described later. The drying device (260) may include a heater (263) that is provided to heat the air blown by the fan (262). The heater (263) may be provided to heat the air guided by the drying duct (261). At least a portion of the heater (263) may be disposed inside the drying duct (261).

[0101] FIG. 11 is a diagram illustrating a portion of a station according to one embodiment of the present disclosure. FIG. 12 is a diagram illustrating a state in which a washing frame is separated from a washing chamber in a station according to one embodiment of the present disclosure. FIG. 13 is a side cross-sectional diagram of a station according to one embodiment of the present disclosure.

[0102] The station (20) may include a washing chamber (230). While the robot cleaner (10) is mounted on the station (20), the washing chamber (230) may be arranged to correspond to the mop (160) (for example, as illustrated in FIGS. 15 and 16 , the washing chamber (230) may be aligned with the mop (160). The washing chamber (230) may be defined as a space where the mop (160) is washed. The washing chamber (230) may be arranged to receive water delivered from a water tank (221). The washing chamber (230) may have a shape for containing water. While the robot cleaner (10) is mounted on the station (20), the mop (160) can be washed by the water received in the washing chamber (230).

[0103] A cleaning chamber (230) may be formed in the base (211) of the main body (210). The cleaning chamber (230) may be provided to be recessed from the cleaner mounting portion (211a). The cleaning chamber (230) may be defined by a chamber bottom (230a) and a chamber side wall (230b) extending upward from the chamber bottom (230a). The chamber side wall (230b) may be provided to have a predetermined height.

[0104] The chamber floor (230a) may be provided to slope downward along the direction in which the robot cleaner (10) enters the station (20). For example, the chamber floor (230a) may be provided to slope downward toward the rear. Accordingly, after the mop (160) is washed, water (wastewater) within the washing chamber (230) can easily flow along the slope of the chamber floor (230a) toward the wastewater collection unit (234) located at the rear of the washing chamber (230). However, the present disclosure is not limited to the above, and the slope direction of the chamber floor (230a) may, of course, vary depending on the position of the wastewater collection unit (234).

[0105] For example, the station (20) may include a tray (2301). The tray (2301) may be provided to be detachably mounted on the base (211) of the main body (210) to form at least a portion of the washing chamber (230). For example, the tray (2301) may be provided to form at least a portion of the chamber bottom (230a) and the chamber side wall (230b). The tray (2301) may include at least one tray hole (2302). Wastewater within the washing chamber (230) may flow through the tray hole (2302) to the wastewater collection unit (234). Since the tray (2301) includes the tray hole (2302), foreign substances larger than the tray hole (2302) may be filtered by the tray (2301). That is, the tray (2301) may primarily filter wastewater after washing the mop (160).

[0106] The station (20) may include a washing frame (240). The washing frame (240) may be provided to correspond to the washing chamber (230). The washing frame (240) may be detachably mounted on the washing chamber (230). While the robot cleaner (10) is mounted on the station (20), the washing frame (240) may be provided to come into contact with the mop (160). While the robot cleaner (10) is mounted on the station (20), the washing frame (240) may be provided to rub against the mop (160). The mop (160) may be washed while being rubbed against the washing frame (240). At this time, the mop (160) may be provided to be rotatable.

[0107] For example, the cleaning frame (240) may include a frame body (240a), a frame protrusion (240b), and a frame opening (240c). The frame body (240a) may be detachably coupled to the chamber side wall (230b). The frame opening (240c) may be formed to penetrate the frame body (240a). The frame protrusion (240b) may be formed on the frame body (240a) to interfere with the mop (160).

[0108] The station (20) may include a charging terminal (218). While the robot cleaner (10) is docked on the station (20), the charging terminal (218) of the station (20) may be electrically connected to the charging terminal (151) of the robot cleaner (10). As the charging terminal (218) of the station (20) and the charging terminal (151) of the robot cleaner (10) are electrically connected, the battery (150) of the robot cleaner (10) may be charged. That is, the robot cleaner (10) may be charged while docked on the station (20). The charging terminal (218) may be referred to as a station charging terminal (218).

[0109] The station (20) may include a first water supply unit (217). The first water supply unit (217) may receive water stored in a water tank (221) and supply it to the robot cleaner (10). While the robot cleaner (10) is mounted on the station (20), the first water supply unit (217) of the station (20) may be connected to the water charging unit (113) of the robot cleaner (10). Water flowing out from the first water supply unit (217) may flow into the water charging unit (113). Water flowing in through the water charging unit (113) may be stored in the water tank (114). When the moisture content of the mop (160) decreases during cleaning of the robot cleaner (1), the water stored in the water tank (114) may be provided to the mop (160). For example, the first water supply unit (217) may be formed on the side wall unit (211b) of the base (211) of the main body (210).

[0110] The station (20) may include a second water supply unit (231). The second water supply unit (231) may be connected to the washing chamber (230). The second water supply unit (231) may receive water stored in the water tank (221) and supply it to the washing chamber (230). Water flowing out from the second water supply unit (231) may be accommodated in the washing chamber (230). The water flowing out from the second water supply unit (231) may be used to wash the mop (160). In the drawing, two second water supply units (231) are illustrated, but there is no limitation on the number of second water supply units (231). For example, the number of second water supply units (231) may correspond to the number of mops (160).

[0111] The station (20) may include a water nozzle (241). The water nozzle (241) may be formed in the washing frame (240). While the washing frame (240) is mounted in the washing chamber (230), the water nozzle (241) may correspond to the second water supply unit (231). The water nozzle (241) may be communicated with the second water supply unit (231). The water nozzle (241) may be communicated with the washing chamber (230). The water nozzle (241) may receive water from the second water supply unit (231) and spray it toward the washing chamber (230). While the robot cleaner (10) is mounted in the station (20), the water nozzle (241) may spray water toward the mop (160). In the drawing, two water nozzles (241) are depicted, but there is no limitation on the number of water nozzles (241). For example, the number of water nozzles (241) may correspond to the number of mops (160).

[0112] The station (20) may include a dry air supply unit (232). The dry air supply unit (232) may be connected to the washing chamber (230). The dry air supply unit (232) may receive dry air from the drying device (260) and supply it to the washing chamber (230). Dry air discharged from the drying device (260) may be supplied to the washing chamber (230) through the dry air supply unit (232). In the drawing, two dry air supply units (232) are illustrated, but there is no limitation on the number of dry air supply units (232). For example, the number of dry air supply units (232) may correspond to the number of mops (160).

[0113] The station (20) may include a dry air nozzle (242). The dry air nozzle (242) may be formed in the cleaning frame (240). While the cleaning frame (240) is mounted in the cleaning chamber (230), the dry air nozzle (242) may correspond to the dry air supply unit (232). The dry air nozzle (242) may be in communication with the dry air supply unit (232). The dry air nozzle (242) may be in communication with the cleaning chamber (230). The dry air nozzle (242) may receive dry air from the dry air supply unit (232) and spray it toward the cleaning chamber (230). While the robot cleaner (10) is mounted in the station (20), the dry air nozzle (242) may spray dry air toward the mop (160). In the drawing, two dry air nozzles (242) arranged vertically are depicted as corresponding to one dry air supply unit (232), but the present disclosure is not limited thereto. There is no limitation on the shape and / or position of the dry air nozzles (242).

[0114] The station (20) may include a washing supply unit (233). The washing supply unit (233) may be in communication with the washing chamber (230). The washing supply unit (233) may receive high-temperature water and / or steam from the heating device (250) and supply it to the washing chamber (230). The high-temperature water and / or steam generated in the heating device (250) may flow toward the washing chamber (230) through the washing supply unit (233). In the drawing, one washing supply unit (233) is illustrated, but there is no limitation on the number of washing supplies (233). For example, a plurality of washing supplies (233) may be provided.

[0115] The station (20) may include a cleaning nozzle (243). The cleaning nozzle (243) may be formed in the cleaning frame (240). While the cleaning frame (240) is mounted in the cleaning chamber (230), the cleaning nozzle (243) may correspond to the cleaning supply unit (233). The cleaning nozzle (243) may be in communication with the cleaning supply unit (233). The cleaning nozzle (243) may be in communication with the cleaning chamber (230). The cleaning nozzle (243) may receive high-temperature water and / or steam from the cleaning supply unit (233) and spray it toward the cleaning chamber (230). While the robot cleaner (10) is mounted in the station (20), the cleaning nozzle (243) may spray high-temperature water and / or steam toward the mop (160). In the drawing, two cleaning nozzles (243) are depicted, but there is no limitation on the number of cleaning nozzles (243). For example, the number of cleaning nozzles (243) may correspond to the number of mops (160).

[0116] The station (20) may include a wastewater collection unit (234). The wastewater collection unit (234) may be in communication with the washing chamber (230). The wastewater collection unit (234) may be provided to collect wastewater within the washing chamber (230). The wastewater collection unit (234) may be provided to guide wastewater within the washing chamber (230).

[0117] FIG. 14 is a schematic diagram illustrating a configuration of a station according to one embodiment.

[0118] Referring to FIG. 14, the station (20) may include at least one pipe (201, 202, 2023, 204, 205, 206, 207, 208, 209, and / or 2010). The station (20) may include at least one pump (21 and / or 22). The station (20) may include at least one valve (23 and / or 24).

[0119] The station (20) may include a first pipe (201). The first pipe (201) may be provided to connect a water supply tank (221) and a first pump (21). One end of the first pipe (201) may be in communication with the water supply tank (221). The other end of the first pipe (201) may be in communication with the first pump (21). The first pipe (201) may be provided to guide water flowing out from the water supply tank (221) or water flowing out from the first pump (21). Water may flow along a first flow path formed inside the first pipe (201).

[0120] The station (20) may include a second pipe (202). The second pipe (202) may be provided to connect the first pump (21) and the first valve (23). One end of the second pipe (202) may be in communication with the first pump (21). The other end of the second pipe (202) may be in communication with the first valve (23). The second pipe (202) may be provided to allow water pumped by the first pump (21) to flow. The second pipe (202) may be provided to guide water flowing out from the first pump (21) or water flowing out from the first valve (23). The water may flow along a second flow path formed inside the second pipe (202).

[0121] The station (20) may include a third pipe (203). The third pipe (203) may be provided to connect the first valve (23) and the second valve (24). The third pipe (203) may be arranged between the first pump (21) and the second valve (24). The third pipe (203) may be provided between the first valve (23) and the second valve (24). One end of the third pipe (203) may be in communication with the first valve (23). The other end of the third pipe (203) may be in communication with the second valve (24). The third pipe (203) may be provided to allow water pumped by the first pump (21) to flow. The third pipe (203) may be provided to guide water flowing out from the first valve (23) or water flowing out from the second valve (24). Water can flow along the third flow path formed inside the third pipe (203).

[0122] The station (20) may include a fourth pipe (204). The fourth pipe (204) may be provided to connect the second valve (24) and the base (211). The fourth pipe (204) may be provided to connect the second valve (24) and the second water supply unit (231). One end of the fourth pipe (204) may be in communication with the second valve (24). The other end of the fourth pipe (204) may be in communication with the second water supply unit (231). The other end of the fourth pipe (204) may be in communication with the washing chamber (230). The fourth pipe (204) may be provided to guide water flowing out from the second valve (24). The fourth pipe (204) may be provided to guide water pumped by the first pump (21) to the washing chamber (230). Water can flow along the fourth flow path formed inside the fourth pipe (204).

[0123] The station (20) may include a fifth pipe (205). The fifth pipe (205) may be provided to connect the second valve (24) and the heating device (250). One end of the fifth pipe (205) may be communicated with the second valve (24). The other end of the fifth pipe (205) may be communicated with the heating device (250). The fifth pipe (205) may be provided to guide water flowing out from the second valve (24) or water flowing out from the heating device (250). The fifth pipe (205) may be provided to guide water pumped by the first pump (21) to the heating device (250). Thus, water stored in the water supply tank (221) may be guided by the fifth pipe (205) to flow to the heating device (250). Alternatively, the fifth pipe (205) may be configured to guide water pumped by the first pump (21) from the heating device (250) to the second valve (24). Thus, water from the heating device (250) may be guided by the fifth pipe (205) to flow to the second valve (24). Water may flow along the fifth flow path formed inside the fifth pipe (205).

[0124] For example, the fifth pipe (205) can be connected to the lower part of the heating device (250).

[0125] The station (20) may include a sixth pipe (206). The sixth pipe (206) may be provided to connect the heating device (250) and the base (211). The sixth pipe (206) may be provided to connect the heating device (250) and the washing supply unit (233). One end (206a, see FIG. 9) of the sixth pipe (206) may be in communication with the heating device (250). The other end (206b, see FIG. 9) of the sixth pipe (206) may be in communication with the washing supply unit (233). The other end (206b) of the sixth pipe (206) may be in communication with the washing chamber (230). The sixth pipe (206) may be provided to guide high-temperature water and / or steam generated in the heating device (250). The sixth pipe (206) may be provided to guide high-temperature water and / or steam generated from the heating device (250) to the washing chamber (230). The high-temperature water and / or steam may flow along the sixth flow path formed inside the sixth pipe (206).

[0126] For example, the sixth pipe (206) may be connected to the upper part of the heating device (250). Generally, considering that the density of steam is lower than that of air and thus moves upward, the sixth pipe (206) may be connected to the upper part of the heating device (250).

[0127] For example, the sixth pipe (206) may include a bending portion (2061, see FIG. 9) that is arranged to be bent at a height between the heating device (250) and the water tank (221). This can prevent water and / or waste within the washing chamber (230) from flowing back into the heating device (250).

[0128] Although not shown, the station (20) may further include a piping for guiding high temperature water and / or steam generated from the heating device (250) to the first water supply unit (217). For example, high temperature water and / or steam generated from the heating device (250) may be guided to the first water supply unit (217) and supplied to the robot cleaner (10).

[0129] The station (20) may include a seventh pipe (207). The seventh pipe (207) may be provided to connect the first valve (23) and the base (211). The seventh pipe (207) may be provided to connect the first valve (23) and the first water supply unit (217). One end of the seventh pipe (207) may be communicated with the first valve (23). The other end of the seventh pipe (207) may be communicated with the first water supply unit (217). The seventh pipe (207) may be provided to guide water flowing from the first valve (23). The seventh pipe (207) may be provided to guide water flowing from the second pipe (202) to the robot cleaner (10) mounted on the station (20). Water may flow along the seventh flow path formed inside the seventh pipe (207).

[0130] The station (20) may include an eighth pipe (208). The eighth pipe (208) may be provided to connect a sewage tank (222) and a second pump (22). One end of the eighth pipe (208) may be in communication with the sewage tank (222). The other end of the eighth pipe (208) may be in communication with the second pump (22). The eighth pipe (208) may be provided to guide air flowing out of the sewage tank (222). The air may flow along an eighth flow path formed inside the eighth pipe (208).

[0131] The station (20) may include a ninth pipe (209). The ninth pipe (209) may be provided to connect the second pump (22) and the base (211). The ninth pipe (209) may be provided to connect the second pump (22) and an air discharge hole (219, see FIGS. 11 to 13). One end of the ninth pipe (209) may be communicated with the second pump (22). The other end of the ninth pipe (209) may be communicated with the outside through the air discharge hole (219). The ninth pipe (209) may be provided to guide air pumped by the second pump (22). The air may flow along a ninth flow path formed inside the ninth pipe (209).

[0132] The station (20) may include a tenth pipe (2010). The tenth pipe (2010) may be provided to connect a sewage tank (222) and a base (211). The tenth pipe (2010) may be provided to connect the sewage tank (222) and a sewage collection unit (234). One end of the tenth pipe (2010) may be in communication with the sewage tank (222). The other end of the tenth pipe (2010) may be in communication with the sewage collection unit (234). The other end of the tenth pipe (2010) may be in communication with a washing chamber (230). The tenth pipe (2010) may be provided to guide sewage within the washing chamber (230). The sewage may flow along a tenth flow path formed within the tenth pipe (2010).

[0133] The station (20) may include a waste collection duct (225). The waste collection duct (225) may be provided to connect a waste collection bin (223) and a base (211). The waste collection duct (225) may be provided to connect the waste collection bin (223) and an intake port (213). One end of the waste collection duct (225) may be in communication with the waste collection bin (223). The other end of the waste collection duct (225) may be in communication with the intake port (213). The waste collection duct (225) may be provided to guide waste and / or air. The waste collection duct (225) may be referred to as an eleventh pipe (225). Waste and / or air may flow along an eleventh flow path formed inside the eleventh pipe (225).

[0134] The station (20) may include a drying duct (261). The drying duct (261) may be provided to guide dry air. The drying duct (261) may be provided to guide air blown by a fan (262) and heated by a heater (263) to the base (211). The drying duct (261) may be communicated with the base (211). The drying duct (261) may be communicated with a dry air supply unit (232). The drying duct (261) may be communicated with a washing chamber (230) through the dry air supply unit (232). The drying duct (261) may be referred to as a twelfth pipe (261). Dry air may flow along a twelfth path formed inside the twelfth pipe (261).

[0135] Meanwhile, the first pipe (201), the second pipe (202), the third pipe (203), the fourth pipe (204), the fifth pipe (205), the sixth pipe (206), the seventh pipe (207), the eighth pipe (208), the ninth pipe (209), the tenth pipe (2010), the eleventh pipe (2011), and the twelfth pipe (2012) are not limited by the ordinal numbers of “first,” “second,” “third,” “fourth,” “fifth,” “sixth,” “seventh,” “eighth,” “ninth,” “tenth,” “eleventh,” and “twelfth.” For example, the fourth pipe (204) may be referred to as the first pipe (204), and the fifth pipe (205) may be referred to as the second pipe (205).

[0136] The station (20) may include a first pump (21). The first pump (21) may be connected to a water tank (221). The first pump (21) may be connected to the water tank (221) via a first pipe (201). The first pump (21) may be connected to a first valve (23). The first pump (21) may be connected to the first valve (23) via a second pipe (202). The first pump (21) may be positioned between the water tank (221) and the first valve (23).

[0137] The first pump (21) may be configured to pump water stored in a water tank (221). The first pump (21) may be configured to pump water in a heating device (250). For example, power may be generated to flow water as the internal components (e.g., piston, rotor, or impeller) of the first pump (21) rotate. For example, when the internal components of the first pump (21) rotate in a first direction, water stored in the water tank (221) may be pumped, and when the internal components of the first pump (21) rotate in a second direction opposite to the first direction, water in the heating device (250) may be pumped.

[0138] The station (20) may include a second pump (22). The second pump (22) may be connected to a sewage tank (222). The second pump (22) may be connected to the sewage tank (222) via an eighth pipe (208). The second pump (22) may be connected to an air discharge hole (219). The second pump (22) may be connected to the air discharge hole (219) via a ninth pipe (209). The second pump (22) may be placed between the sewage tank (222) and the base (211).

[0139] The second pump (22) may be arranged to pump air in the sewage tank (222). The air in the sewage tank (222) may be discharged from the sewage tank (222) by the second pump (22).

[0140] Meanwhile, the ordinal numbers "first" and "second" of the first pump (21) and the second pump (22) do not limit their configuration. For example, the first pump (21) may be referred to as the second pump (21), and the second pump (22) may be referred to as the first pump (22).

[0141] The station (20) may include a first valve (23). The first valve (23) may be connected to a second pipe (202). The first valve (23) may be connected to a seventh pipe (207). The first valve (23) may be connected to a third pipe (203).

[0142] The first valve (23) may be provided to connect the second pipe (202) and the seventh pipe (207) or to connect the second pipe (202) and the third pipe (203). The first valve (23) may be provided to control the flow of water pumped by the first pump (21). The first valve (23) may allow the water pumped by the first pump (21) to flow to the first water supply (217) or the second valve (24). For example, the first valve (23) may selectively open the seventh pipe (207) and the third pipe (203).

[0143] The station (20) may include a second valve (24). The second valve (24) may be connected to a third pipe (203). The second valve (24) may be connected to a fourth pipe (204). The second valve (24) may be connected to a fifth pipe (205).

[0144] The second valve (24) may be provided to connect the third pipe (203) and the fourth pipe (204) or to connect the third pipe (203) and the fifth pipe (205). The second valve (24) may be provided to control the flow of water guided by the third pipe (203). The second valve (24) may allow the water guided by the third pipe (203) to flow to the second water supply (231) or the heating device (250). For example, the second valve (24) may selectively open the fourth pipe (204) and the fifth pipe (205).

[0145] Meanwhile, the first valve (23) and the second valve (24) are not limited by the ordinal numbers "first" and "second." For example, the first valve (23) may be referred to as the second valve (23), and the second valve (24) may be referred to as the first valve (24).

[0146] Fig. 15 shows a cross-section along line A-A' shown in Fig. 3. Fig. 16 shows a cross-section along line B-B' shown in Fig. 3.

[0147] Referring to FIGS. 15 and 16, the robot cleaner (10) can be mounted on the station (20). While the robot cleaner (10) is mounted on the station (20), the mop (160) can be arranged to correspond to the washing chamber (230) of the station (20) (for example, as shown in FIGS. 15 and 16, the washing chamber (230) can be aligned with the mop (160). While the robot cleaner (10) is mounted on the station (20), the mop (160) can be sterilized by high-temperature water and / or steam discharged from the station (20). The mop (160) can be arranged to rotate with respect to the main body (110) while being sterilized by the high-temperature water and / or steam. As a result, the high-temperature water and / or steam can be arranged to contact the entire mop (160).

[0148] The sixth pipe (206) may be provided to guide high temperature water and / or steam generated from the heating device (250) to the washing chamber (230). One end (206a) of the sixth pipe (206) may be connected to the heating device (250) (see FIG. 9), and the other end (206b) of the washing supply unit (233) may be connected to the washing supply unit (233). The sixth pipe (206) may be in communication with the washing chamber (230).

[0149] The washing frame (240) can be detachably mounted in the washing chamber (230). The washing nozzle (243) of the washing frame (240) can be positioned to correspond to the washing supply unit (233). The washing nozzle (243) can be arranged to spray high-temperature water and / or steam guided to the washing chamber (230) through the sixth pipe (206) toward the mop (260).

[0150] For example, while the robot cleaner (10) is mounted on the station (20), at least a portion of the cleaning nozzles (243) may be positioned below the lower surface of the mop (160). The high-temperature water and / or steam sprayed from the cleaning nozzles (243) may reach the lower surface of the mop (160). At least a portion of the high-temperature water and / or steam sprayed from the cleaning nozzles (253) may move upward and reach the lower surface of the mop (160). As a result, the high-temperature water and / or steam may be intensively sprayed to the lower surface of the mop (160) that directly contacts the surface to be cleaned. That is, the high-temperature water and / or steam may be intensively supplied to the lower surface of the mop (160) that most requires sterilization.

[0151] For example, the size of the other end (206b) of the sixth pipe (206) may be set to be larger than the size of the cleaning nozzle (243). For example, the width of the other end (206b) of the sixth pipe (206) in the vertical direction (Z direction) may be set to be larger than the width of the cleaning nozzle (243) in the vertical direction. Accordingly, as the high-temperature water and / or steam flows from the sixth pipe (206) to the cleaning nozzle (243) having a relatively smaller size than the sixth pipe (206), the speed of the high-temperature water and / or steam may increase. Accordingly, the high-temperature water and / or steam may be discharged through the cleaning nozzle (243) at a relatively high speed and may be sprayed further. The high-temperature water and / or steam sprayed through the cleaning nozzle (243) can easily reach the mop (160).

[0152] Typically, the mop of a robot vacuum cleaner retains moisture, making it a breeding ground for bacteria and other microorganisms. If bacteria proliferate on the mop while it's contaminated, it can emit an unpleasant odor and cause secondary contamination of the surface being cleaned. Furthermore, bacteria growing on the mop can affect the user's respiratory health and cause discomfort. This can reduce the cleaning efficiency and usability of the cleaning device.

[0153] In contrast, according to the present disclosure, the station (20) can spray high-temperature water and / or steam to sterilize the mop (160) of the robot cleaner (10). The high-temperature water and / or steam can prevent bacteria, etc. from growing on the mop (160). This can prevent the occurrence of an unpleasant odor in the mop (160) and secondary contamination of the surface to be cleaned. Since the mop (160) can be kept clean, the management of the mop (160) becomes easy. In addition, when the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, the robot cleaner (10) can return to the station (20), and the station (20) can spray high-temperature water and / or steam toward the mop (160) of the robot cleaner (10). That is, high-temperature water and / or steam can be used not only to sterilize the mop (160) but also to supply moisture to the mop (160). For example, when the area to be cleaned is small, the station (20) can spray high-temperature water and / or steam onto the mop (160). This allows the mop (160) to be easily and quickly supplied with moisture. Consequently, the cleaning efficiency and usability of the cleaning device (1) can be improved.

[0154] Fig. 17 illustrates a control block diagram of a robot vacuum cleaner according to one embodiment.

[0155] Referring to FIG. 17, a robot cleaner (10) according to one embodiment may include an obstacle detection sensor (170), a humidity sensor (171), a battery (150), a user interface (181), a driving unit (120), a brush motor (133), a suction motor (142), a driving unit (163), a communication unit (182), and / or a control unit (190).

[0156] The obstacle detection sensor (170) detects obstacles that impede the movement of the robot cleaner (10). An obstacle may refer to any object protruding from the floor of the cleaning area and impeding the movement of the robot cleaner (10). For example, not only tables, sofas, etc. located in the cleaning area, but also walls dividing the space may be considered obstacles, and objects that the robot cleaner (10) can climb up and down, such as thresholds or round bars, may also be considered obstacles.

[0157] Specifically, the obstacle detection sensor (170) can detect obstacles in a non-contact manner using electromagnetic waves such as infrared rays, visible light, or ultrasonic waves. For example, the obstacle detection sensor (170) can detect infrared rays reflected from an obstacle after irradiating infrared rays, and output the intensity of the detected infrared rays or the time interval (Time Of Flight: TOF) between irradiating infrared rays and detecting the reflected infrared rays to the control unit (190).

[0158] The control unit (190) can calculate the presence or absence of an obstacle or the distance between the obstacle and the robot cleaner (10) based on the output value of the obstacle detection sensor (170).

[0159] As another example, an obstacle detection sensor (170) may include a transmitter that irradiates electromagnetic waves and a receiver that receives electromagnetic waves reflected from an obstacle.

[0160] The transmitter is installed at the front of the main body (110) of the robot cleaner (10) and can transmit electromagnetic waves toward the front of the main body (110). In addition, depending on the embodiment, the transmitter may include an LED that generates electromagnetic waves and a wide-angle lens that refracts the transmitted electromagnetic waves to spread the electromagnetic waves in all directions.

[0161] As another example, the obstacle detection sensor (170) may include a camera that acquires images of the vicinity (e.g., front, rear, and / or side) of the robot cleaner (10).

[0162] The control unit (190) can calculate the presence or absence of an obstacle or the distance between the obstacle and the robot cleaner (10) based on the image acquired by the obstacle detection sensor (170).

[0163] The humidity sensor (171) may include at least one sensor for measuring the humidity (or moisture content) of the mop (160).

[0164] In one embodiment, the humidity sensor (171) can measure changes in moisture in the air. The humidity sensor (171) is provided around the mop (160) to measure the humidity (or moisture content) of the mop (160). In this case, the output humidity of the humidity sensor (171) can be proportional to the moisture content of the mop (160).

[0165] The control unit (190) can determine the humidity (or moisture content) of the mop (160) based on the humidity measured from the humidity sensor (171).

[0166] In one embodiment, the humidity sensor (171) can measure the intensity of the electromagnetic wave reflected from the mop (160) after irradiating the mop (160) with light such as infrared or visible light or electromagnetic waves such as ultrasonic waves and / or the time interval from the irradiation of the electromagnetic wave until the reflected electromagnetic wave is detected.

[0167] For example, the humidity sensor (171) may include a light emitting portion that irradiates light to the mop (160) and a light receiving portion that receives light reflected from the mop (160).

[0168] The control unit (190) can determine the humidity (or moisture content) of the mop (160) based on the output value of the humidity sensor (171).

[0169] The control unit (190) can perform various operations depending on the humidity (or moisture content) of the mop (160). For example, the control unit (190) can control the driving unit (120) to return the robot cleaner (10) to the station (20) based on the humidity of the mop (160) being measured to be higher than a predetermined maximum humidity. As another example, the control unit (190) can control the driving unit (120) to return the robot cleaner (10) to the station (20) based on the humidity of the mop (160) being measured to be lower than a predetermined minimum humidity.

[0170] The battery (150) can supply power to various electrical components of the robot cleaner (10). The battery (150) can be charged while the robot cleaner (10) is placed on the station (20).

[0171] The robot vacuum cleaner (10) may include a battery sensor that detects the charge level of the battery (150).

[0172] The control unit (190) can control the driving unit (120) to cause the robot cleaner (10) to return to the station (20) when the charge level of the battery (150) falls below a predetermined charge level.

[0173] The user interface (181) may include an output interface and an input interface.

[0174] At least one output interface can transmit various information related to the operation of the robot cleaner (10) to the user by generating sensory information.

[0175] For example, at least one output interface may transmit information related to the settings of the robot cleaner (10) and the operating time of the robot cleaner (10) to the user. Information related to the operation of the robot cleaner (10) may be output via a display, an indicator, and / or a voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, etc.

[0176] If the display includes a touch screen display, the touch screen display may be an example of an output interface and an input interface.

[0177] In one embodiment, at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to the control of the robot cleaner (10).

[0178] At least one input interface can convert sensory information received from a user into an electrical signal.

[0179] At least one input interface may include a power button for turning on the robot vacuum cleaner (10).

[0180] Each button may include a visual indicator (e.g., text, an icon, etc.) that indicates its function.

[0181] At least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0182] In the present disclosure, 'button' may be replaced with a UI element (User Interface Element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0183] The robot cleaner (10) can process user input received through the user interface (181) and output information related to the robot cleaner (10) through the user interface (181).

[0184] In one embodiment, the user interface (181) may include an input interface for receiving a mop wash command and / or a mop steam command.

[0185] If the user determines that washing or sterilizing the mop (160) of the robot cleaner (10) is necessary, the user can input a mop washing command and / or mop steam command through the input interface.

[0186] The robot cleaner (10) can return to the station (20) when a mop washing command and / or mop steam command is input through the input interface.

[0187] When a mop washing command and / or mop steam command is input through the input interface, the robot cleaner (10) can transmit a mop washing request signal and / or mop steam request signal to the station (20).

[0188] Accordingly, when the robot cleaner (10) returns to the station (20) and docks at the station (20), the station (20) can perform a washing process and / or a steam process.

[0189] The driving unit (120) may include driving wheels (121, 122) provided on the main body (110) and a wheel motor that provides power to the driving wheels (121, 122).

[0190] The driving wheels (121, 122) can move the main body (110) by rotation. The main body (110) can move forward, backward, or rotate by rotation of the driving wheels (122). For example, when both the left and right driving wheels (121, 122) rotate forward, the main body (110) moves in a straight line forward, and when both the left and right driving wheels (121, 122) rotate backward, the main body (110) can move in a straight line backward.

[0191] In addition, when the left and right driving wheels (121, 122) rotate in the same direction but at different speeds, the main body (110) curves to the right or left. When the left and right driving wheels (121, 122) rotate in different directions, the main body (110) can rotate to the left or right in place.

[0192] The wheel motor generates rotational force to rotate the driving wheels (121, 122). A DC motor or a BLDC motor may be employed as the wheel motor, but the embodiment of the robot cleaner (10) does not place any restrictions on the type of wheel motor. This applies not only to the wheel motor but also to other motors included in the robot cleaner (10).

[0193] The wheel motor may include a left wheel motor that rotates the left driving wheel and a right wheel motor that rotates the right driving wheel.

[0194] Each of the left and right wheel motors can operate independently according to a control signal from the control unit (190), and the main body (110) can move forward, backward, or rotate according to the operation of the left and right wheel motors.

[0195] The control unit (190) can control the movement of the robot cleaner (10) by controlling the driving unit (120) (e.g., wheel motor).

[0196] The brush motor (133) can rotate the brush (130).

[0197] The control unit (190) can control the brush motor (133) to rotate the brush (130) during dry cleaning, thereby causing foreign substances on the floor to be blown away by the brush (130).

[0198] The suction motor (142) can suck foreign substances scattered by the brush (130) into the dust collector (141) and rotate the suction fan that generates suction force to suck the foreign substances into the dust collector (141).

[0199] The control unit (190) can control the suction motor (142) to rotate the suction fan during dry cleaning, thereby allowing foreign substances scattered by the brush (130) to be drawn into the dust collector (141) through the suction port (111).

[0200] The driving unit (163) may include a rotation driving unit (161) that rotates the mop (160) and / or a lifting driving unit (162) that raises or lowers the mop (160).

[0201] The robot cleaner (10) may include a rotation drive unit (161) that rotates the mop (160). The rotation drive unit (161) may include a motor. The rotation drive unit (161) may be referred to as a motor (161). For example, when the robot cleaner (10) is mounted on a station (20) and the mop (160) is being washed and / or sterilized, the motor (161) may rotate the mop (160). The control unit (190) of the robot cleaner (10) may control the motor (161) to rotate the mop (160).

[0202] The control unit (190) can rotate the mop (160) by controlling the rotation drive unit (161). The rotation drive unit (161) can include a motor for rotating the mop (160) and a driving circuit for driving the motor.

[0203] The robot cleaner (10) may include a lifting drive unit (162) that moves the mop (160) up and down. While the robot cleaner (10) cleans, the lifting drive unit (162) may move the mop (160) downward. As a result, the mop (160) may come into contact with the surface to be cleaned. While the robot cleaner (10) completes cleaning and returns to the station (20), the lifting drive unit (162) may move the mop (160) upward. As a result, the mop (160) may be separated from the surface to be cleaned. While the robot cleaner (10) moves to the station (20), the mop (160) may be prevented from colliding with an obstacle on the surface to be cleaned or from leaving unnecessary moisture on the surface to be cleaned. As will be described later, the control unit (190) of the robot vacuum cleaner (10) can control the lifting drive unit (162) to move the mop (160) up and down.

[0204] The control unit (190) can raise or lower the mop (160) by controlling the lifting drive unit (162). That is, the control unit (190) can move the mop (160) by controlling the lifting drive unit (162). The lifting drive unit (162) can include an actuator that can move the mop (160).

[0205] The communication unit (182) can communicate with an external device (e.g., a server, a user device, a station (20)) via wires and / or wirelessly.

[0206] The communication unit (182) can transmit data to an external device (e.g., a server, a user device, a station (20)) or receive data from an external device. To this end, the communication unit (182) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication unit (182) can include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network or a wide area network)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0207] The short-range wireless communication module may include, but is not limited to, a Bluetooth communication module, a BLE (Bluetooth Low Energy) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, a Zigbee communication module, an infrared (IrDA, infrared Data Association) communication module, a WFD (Wi-Fi Direct) communication module, an UWB (ultrawideband) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc.

[0208] The remote communication module may include a communication module that performs various types of remote communication and may include a mobile communication interface. The mobile communication interface transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0209] In one embodiment, the communication unit (182) can communicate with external devices via a surrounding access point (AP). The access point (AP) can connect the local area network (LAN) to which the robot cleaner (10) is connected to a wide area network (WAN) to which the server is connected. The robot cleaner (10) can be connected to the server via the wide area network (WAN).

[0210] In one embodiment, the communication unit (182) can communicate wirelessly with the station (20).

[0211] The control unit (190) can control the overall operation of the robot vacuum cleaner (10).

[0212] The control unit (190) may include at least one processor (191) that controls the operation of the robot cleaner (10) and at least one memory (192) that stores a program and data for controlling the operation of the robot cleaner (10).

[0213] At least one processor (191) controls the overall operation of the robot cleaner (10). Specifically, at least one processor (191) is connected to each component of the robot cleaner (10) and can control the overall operation of the robot cleaner (10). For example, at least one processor (191) is electrically connected to a memory (192) and can control the overall operation of the robot cleaner (10). The processor (191) may be composed of one or more processors.

[0214] At least one processor (191) can perform operations of the robot cleaner (10) according to various embodiments by executing at least one instruction stored in the memory (192).

[0215] At least one memory (192) can store data required for various embodiments. The memory (192) may be implemented in the form of a memory embedded in the robot cleaner (10) or in the form of a memory that can be attached or detached to the robot cleaner (10) depending on the purpose of data storage. For example, data for operating the robot cleaner (10) may be stored in a memory embedded in the robot cleaner (10), and data for expanding functions of the robot cleaner (10) may be stored in a memory that can be attached or detached to the robot cleaner (10). Meanwhile, in the case of the memory embedded in the robot cleaner (10), it may be implemented as at least one of volatile memory (e.g., DRAM (dynamic RAM), SRAM (static RAM), or SDRAM (synchronous dynamic RAM)), non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)). In addition, in the case of the memory that can be attached or detached to the robot cleaner (10), it may be implemented as at least one of memory cards (e.g., CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card)), external memory that can be connected to a USB port (e.g., USB memory), etc. It can be implemented.

[0216] At least one processor (191) may include one or more of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), a MIC (Many Integrated Core), a DSP (Digital Signal Processor), an NPU (Neural Processing Unit), a hardware accelerator, or a machine learning accelerator. At least one processor (191) may control one or any combination of other components of the robot cleaner (10), and may perform operations or data processing related to communication. At least one processor (191) may execute at least one program or instruction stored in the memory (192). For example, at least one processor (191) may execute at least one instruction stored in the memory (192), thereby performing a method according to at least one embodiment of the present disclosure.

[0217] In one embodiment, the control unit can control the drive unit (163) according to predetermined conditions. Controlling the drive unit (163) can include rotating or moving the mop (160).

[0218] In one embodiment, the control unit can control the driving unit (120) according to predetermined conditions. Controlling the driving unit (120) may include moving the robot cleaner (10).

[0219] In one embodiment, the control unit can control the brush motor (133) and / or the suction motor (142) according to predetermined conditions.

[0220] Figure 18 illustrates a control block diagram of a station according to one embodiment.

[0221] Referring to FIG. 18, the station (20) may include a docking detection sensor (270), a suction motor (224), a user interface (281), a communication unit (282), a first pump (21), a second pump (22), a first valve (23), a second valve (24), a heating device (250), a scale sensor (255), a drying device (260), and / or a control unit (290).

[0222] The docking detection sensor (270) can detect whether the robot cleaner (10) is docked to the station (20). The docking detection sensor (270) can include at least one sensor that detects mechanical and / or electrical changes when the robot cleaner (10) is docked to the station (20).

[0223] For example, the docking detection sensor (270) may include a sensor that detects whether the charging terminal (151) of the robot cleaner (10) is electrically connected to the charging terminal (218) of the station (20). As another example, the docking detection sensor (270) may include a sensor (e.g., an elasticity sensor) that detects mechanical deformation when the robot cleaner (10) is docked.

[0224] The control unit (290) can determine whether the robot cleaner is docked to the station based on the output value of the docking detection sensor (270).

[0225] The suction motor (224) can generate suction force to suck up the waste in the dust collector (141).

[0226] The control unit (290) can suck up waste from the dust collector (141) into the waste collection bin (223) by operating the suction motor (224).

[0227] The operation of the control unit (290) operating the suction motor (224) to suck the waste from the dust collector (141) into the waste collection bin (223) may be referred to as a suction stroke.

[0228] The user interface (281) may include an output interface and an input interface.

[0229] At least one output interface can convey various information related to the operation of the station to the user by generating sensory information.

[0230] For example, at least one output interface may convey information related to the station's settings and the station's operating time to the user. Information related to the station's operation may be output via a display, an indicator, and / or a voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, or the like.

[0231] If the display includes a touch screen display, the touch screen display may be an example of an output interface and an input interface.

[0232] In one embodiment, at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to control of the station.

[0233] At least one input interface can convert sensory information received from a user into an electrical signal.

[0234] At least one input interface may include a power button for turning on the station.

[0235] Each button may include a visual indicator (e.g., text, an icon, etc.) that indicates its function.

[0236] At least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0237] In the present disclosure, 'button' may be replaced with a UI element (User Interface Element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0238] The station (20) can process user input received through the user interface (281) and output information related to the station through the user interface (281).

[0239] In one embodiment, the user interface (281) may include an input interface for receiving a mop wash command and / or a mop steam command.

[0240] If the user determines that washing or sterilizing the mop (160) of the robot cleaner (10) is necessary, the user can input a mop washing command and / or mop steam command through the input interface.

[0241] The station (20) can perform a washing process, a steam process, and / or a drying process in response to a mop washing command and / or a mop steam command being input through the user interface (281).

[0242] The communication unit (282) can communicate with an external device (e.g., a server, a user device, a robot vacuum cleaner (10)) via wires and / or wirelessly.

[0243] The communication unit (282) can transmit data to an external device (e.g., a server, a user device, a robot cleaner (10)) or receive data from the external device. To this end, the communication unit (282) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication unit (282) can include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network or a wide area network)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0244] The short-range wireless communication module may include, but is not limited to, a Bluetooth communication module, a BLE (Bluetooth Low Energy) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, a Zigbee communication module, an infrared (IrDA, infrared Data Association) communication module, a WFD (Wi-Fi Direct) communication module, an UWB (ultrawideband) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc.

[0245] The remote communication module may include a communication module that performs various types of remote communication and may include a mobile communication interface. The mobile communication interface transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0246] In one embodiment, the communication unit (282) can communicate with external devices via a surrounding access point (AP). The access point (AP) can connect the local area network (LAN) to which the robot cleaner (10) is connected to a wide area network (WAN) to which the server is connected. The station (20) can be connected to the server via the wide area network (WAN).

[0247] In one embodiment, the communication unit (282) can communicate wirelessly with the robot cleaner (10).

[0248] Various examples can be adopted as a method for communicating between the robot cleaner (10) and the station (20).

[0249] In one embodiment, the robot cleaner (10) and the station (20) can communicate directly via a short-range communication module.

[0250] In one embodiment, the robot cleaner (10) and the station (20) can communicate directly via wired communication while the robot cleaner (10) is docked to the station (20).

[0251] In one embodiment, the robot cleaner (10) and the station (20) can communicate indirectly via an external server through a remote communication module.

[0252] Indirect communication via an external server may include the robot cleaner (10) transmitting a predetermined signal to the external server, and the external server transmitting the predetermined signal received from the robot cleaner (10) to the station (20), and / or the station (20) transmitting a predetermined signal to the external server, and the external server transmitting the predetermined signal received from the station (20) to the robot cleaner (10).

[0253] The first pump (21) may be configured to pump water stored in a water tank (221) or to pump water from a heating device (250).

[0254] The internal configuration of the first pump (21) can pump water stored in the water tank (221) when rotating in the first direction, and can pump water in the heating device (250) when rotating in the second direction opposite to the first direction.

[0255] The control unit (290) can control the pumping direction of the first pump (21) and operate the first pump (21).

[0256] The second pump (22) may be provided to pump air from the sewage tank (222).

[0257] The control unit (290) can operate the second pump (22).

[0258] A water level sensor (not shown) provided in the sewage tank (222) can transmit information about the water level of the sewage tank (222) to the control unit (290).

[0259] The control unit (290) can control the second pump (22) based on information obtained through the water level sensor. The control unit (290) can stop the second pump (22) based on the water level of the sewage tank (222) reaching a predetermined level.

[0260] The first valve (23) may be provided to control the flow of water pumped by the first pump (21) and may operate based on a control signal from the control unit (290).

[0261] The second valve (24) may be provided to control the flow of water guided by the third pipe (203) and may operate based on a control signal from the control unit (290).

[0262] The heating device (250) may include a heater (252).

[0263] The heater (252) may be arranged to heat water passing through the water pipe (251) and may operate based on a control signal from the control unit (290).

[0264] The heating device (250) may further include a temperature sensor (254). The temperature sensor (254) may be configured to detect the temperature of water passing through the water pipe (251) and transmit information related to the temperature within the water pipe (251) to the control unit (290).

[0265] In one embodiment, the control unit (290) can control the heater (252) based on temperature information received from the temperature sensor (254). For example, the control unit (290) can stop operation of the heater (252) based on reaching a temperature detected by the temperature sensor (254).

[0266] Here, the heating device (250) may correspond to a heating device (see FIGS. 19 and 21, 350, 450) to be described later. The heater (see FIGS. 19 and 21, 352) of the heating device (350) to be described later may correspond to the heater (252), and the heating device (350, 450) to be described later may further include a water tank (see FIGS. 19 and 21, 351) and a water level sensor (see FIGS. 19 and 21, 353, 453).

[0267] All descriptions related to the heating device (250) in this disclosure can also be applied to the heating devices (350, 450).

[0268] The control unit (290) can perform a steam stroke by controlling at least one pump (21, 22), at least one valve (23, 24) and a heating device (250) described above.

[0269] In one embodiment, the control unit (290) may initiate a steam stroke in response to a steam stroke initiation condition being satisfied.

[0270] In response to the start of the steam stroke, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water tank (221). Accordingly, the water stored in the water tank (221) can flow to the heating device (250) through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fifth pipe (205).

[0271] Thereafter, the control unit (290) can operate the heater (252) based on the detection of water passing through the water pipe (251), thereby causing high-temperature water and / or steam to be sprayed from the heating device (250) to the washing chamber (230).

[0272] The control unit (290) operates the heater (252) while water passes through the water pipe (251), but can prevent the heater (252) from overheating by temporarily stopping the operation of the heater (252) based on the temperature detected by the temperature sensor (254) during the steam stroke reaching a predetermined temperature.

[0273] The control unit (290) can terminate the steam administration based on the satisfaction of the steam administration termination condition.

[0274] In one embodiment, the control unit (290) may terminate the steam administration in response to the steam administration execution time having elapsed a predetermined period of time.

[0275] The control unit (290) can turn off the heater (252) in response to the end of the steam administration.

[0276] In one embodiment, the control unit (290) can initiate a drying stroke when the steam stroke is terminated.

[0277] If the steam process is performed repeatedly, scale may be deposited on the heating device (250). For example, if the steam process is performed repeatedly, scale (e.g., CaCO3, Mg(OH)2) may be deposited on the heating device (250) depending on the movement of cations and anions contained in the water supplied to the heating device (250).

[0278] Here, scale deposition in the heating device (250) may include scale deposition in the water pipe (251) and / or scale deposition in the water tank (351).

[0279] As scale accumulates in the heating device (250), the water pipe (251) or the sixth pipe (206) becomes blocked, so that water heated by the heater (252) is not discharged to the outside of the heating device (250).

[0280] If the water heated by the heater (252) is not discharged to the outside of the heating device (250), the internal temperature of the heating device (250) will continuously rise, and accordingly, the internal pressure of the heating device (250) will increase. Accordingly, if the scale accumulated in the heating device (250) is not removed, a great danger may arise.

[0281] The scale sensor (255) can detect scale accumulated in the heating device (250).

[0282] The scale sensor (255) can collect information that can estimate that a large amount of scale has been generated in the heating device (250). The scale sensor (255) can transmit information that can estimate that a large amount of scale has accumulated in the heating device (250) to the control unit (290).

[0283] For example, the scale sensor (255) may include a temperature sensor (254). The control unit (290) may determine that scale has accumulated in the heating device (250) based on the temperature detected by the temperature sensor (254) rising above a predetermined temperature during the steam cycle.

[0284] As another example, the scale sensor (255) may include a pressure sensor that detects the internal pressure of the heating device (250). The control unit (290) may determine that scale has accumulated in the heating device (250) based on the pressure detected by the pressure sensor rising above a predetermined pressure during the steam cycle.

[0285] As another example, the scale sensor (255) may include a flow rate sensor that detects the flow rate of water flowing through the water pipe (251) or the sixth pipe (206). The control unit (290) may determine that scale has accumulated in the heating device (250) based on the flow rate detected by the flow rate sensor during the steam cycle being below a predetermined flow rate.

[0286] As another example, the scale sensor (255) may include a water quality sensor that detects the water quality of water flowing through the water pipe (251) or the sixth pipe (206) or the water quality of water stored in the water tank (351). The control unit (290) may determine that scale has accumulated in the heating device (250) based on the water quality detected by the water quality sensor being below a standard water quality.

[0287] Water quality sensors may include, for example, a TDS sensor, a turbidity sensor, a pH sensor, an electrical conductivity sensor, a hardness sensor, and the like.

[0288] The control unit (290) may determine that scale has accumulated in the heating device (250) based on the fact that the TDS value measured by the TDS sensor is greater than a predetermined value, the turbidity value detected by the turbidity sensor is greater than a predetermined value, the pH value detected by the pH sensor falls within a predetermined pH range, the electrical conductivity detected by the electrical conductivity sensor falls within a predetermined electrical conductivity range, and / or the hardness value detected by the hardness sensor is greater than a predetermined value.

[0289] The information acquired by the scale sensor (255) is not limited to the examples described above, and any sensor capable of collecting information that can determine whether scale has accumulated in the heating device (250) can be employed as an example of the scale sensor (255) without limitation.

[0290] For example, as will be described later, the scale sensor (255) may further include a sensor that detects the opening of a relief valve (205v, see FIG. 25), and the control unit (290) may determine that scale has accumulated in the heating device (250) based on the detection of the opening of the relief valve (205v, see FIG. 25).

[0291] The drying device (260) may include a heater (263) for heating air and a fan (262) for blowing the heated air. The air heated by the heater (263) may be blown into the washing chamber (230) according to the operation of the fan (262).

[0292] The control unit (290) can perform a drying process by controlling the drying device (260) to blow heated air into the washing chamber (230).

[0293] The control unit (290) can perform a drying process by operating the heater (263) and the fan (262).

[0294] The control unit (290) can terminate the drying process according to the drying process termination conditions.

[0295] In one embodiment, the control unit (290) may terminate the drying process in response to the drying process execution time having elapsed a predetermined period of time.

[0296] In one embodiment, the control unit (290) may terminate the drying process in response to receiving a drying termination request signal from the robot cleaner (10). To this end, the robot cleaner (10) may be configured to transmit a drying termination request signal to the station (20) in response to the humidity measured by the humidity sensor (171) falling below a predetermined humidity level during the drying process.

[0297] The control unit (290) can control the overall operation of the station (20).

[0298] The control unit (290) may include at least one processor (291) that controls the operation of the station (20) and at least one memory (292) that stores a program and data for controlling the operation of the station (20).

[0299] At least one processor (291) controls the overall operation of the station (20). Specifically, at least one processor (291) is connected to each component of the station (20) and can control the overall operation of the station (20). For example, at least one processor (291) is electrically connected to a memory (292) and can control the overall operation of the station (20). The processor (291) may be composed of one or more processors.

[0300] At least one processor (291) can perform operations of the station (20) according to various embodiments by executing at least one instruction stored in the memory (292).

[0301] At least one memory (292) can store data required for various embodiments. The memory (292) may be implemented in the form of memory embedded in the station (20) or in the form of memory that can be attached or detached to the station (20) depending on the purpose of data storage. For example, data for operating the station (20) may be stored in a memory embedded in the station (20), and data for expanding the function of the station (20) may be stored in a memory that can be attached or detached to the station (20). Meanwhile, the memory embedded in the station (20) may be implemented as at least one of volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)). In addition, the memory that can be detachably attached to the station (20) may be implemented in the form of a memory card (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.), external memory that can be connected to a USB port (e.g., USB memory), etc.

[0302] At least one processor (291) may include one or more of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), a MIC (Many Integrated Core), a DSP (Digital Signal Processor), an NPU (Neural Processing Unit), a hardware accelerator, or a machine learning accelerator. At least one processor (291) may control one or any combination of other components of the station (20), and may perform operations related to communication or data processing. At least one processor (291) may execute at least one program or instruction stored in the memory (292). For example, at least one processor (291) may perform a method according to at least one embodiment of the present disclosure by executing at least one instruction stored in the memory (292).

[0303] FIG. 19 is a drawing schematically illustrating the internal configuration of a heating device according to one embodiment of the present disclosure.

[0304] Referring to FIG. 19, a heating device (350) according to one embodiment of the present disclosure will be described. The same components as those of the cleaning device (1) illustrated in FIGS. 1 to 18 are assigned the same reference numerals, and detailed descriptions thereof may be omitted.

[0305] Referring to FIG. 19, a heating device (350) according to one embodiment of the present disclosure can generate high-temperature water and / or steam. The heating device (350) can generate high-temperature water and / or steam using water stored in a water tank (221). The heating device (350) can receive water stored in the water tank (221) to generate high-temperature water and / or steam.

[0306] For example, the heating device (350) may include a water tank (351) capable of receiving water delivered from a water tank (221).

[0307] The heating device (350) may include a heater (352) configured to heat water contained in a tank (351). As the water in the tank (351) is heated by the heater (352), high temperature water and / or steam may be generated. The control unit (290) of the station (20) may control the heater (352). For example, the heater (352) may be configured such that at least a portion thereof is positioned inside the tank (351) and comes into contact with the water to heat the water.

[0308] For example, the heater (352) can heat water using vibration and / or electrical resistance. However, the present disclosure is not limited to the above-described examples, and the type of the heater (352) is not limited as long as it can heat water to generate high-temperature water and / or steam.

[0309] The heating device (350) may include a water level sensor (353) configured to detect a water level within the water tank (351). The control unit (290) of the station (20) may operate the heater (352) based on the detection of a predetermined water level by the water level sensor (353). The detection of a predetermined water level by the water level sensor (353) may include the detection of the water level within the water tank (351) reaching a predetermined water level by the water level sensor (353).

[0310] Accordingly, the heater (352) can operate only when a certain amount of water is filled in the tank (351), thereby preventing accidents such as fire in advance.

[0311] The heating device (350) may include a temperature sensor (254) configured to detect the temperature within the water tank (351). As will be described later, the control unit (290) of the station (20) may stop the operation of the heater (352) based on the temperature detected by the temperature sensor (254) being higher than a predetermined temperature. Accordingly, the operation of the heater (352) may be stopped when the temperature of the high-temperature water and / or steam is excessively high, thereby preventing accidents such as fire in advance and preventing damage to the cleaning device (e.g., mop).

[0312] The heating device (350) may include a heater (352), a water level sensor (353) and / or a temperature sensor (254).

[0313] The heater (352) may be provided to heat water contained in the tank (351) and may operate based on a control signal from the control unit (290).

[0314] The water level sensor (353) may be provided to detect the water level in the water tank (351).

[0315] For example, the water level sensor (353) can be implemented as a pressure sensor, light sensor, ultrasonic sensor, etc. that can measure the water level of the water tank (351).

[0316] As another example, the water level sensor (353) may be implemented as an electrode sensor that can detect when the water level of the water tank (351) reaches a predetermined level.

[0317] The water level sensor (353) can transmit information about the water level of the water tank (351) to the control unit (290).

[0318] In one embodiment, the water level sensor (353) can detect that the water level of the tank (351) has reached a predetermined level, and can be configured to transmit an electrical signal to the control unit (290) in response to the water level of the tank (351) reaching the predetermined level.

[0319] The control unit (290) can operate the heater (352) based on a predetermined water level detected by the water level sensor (353).

[0320] The temperature sensor (254) may be provided to detect the temperature within the tank (351) and transmit information related to the temperature within the tank (351) to the control unit (290).

[0321] In one embodiment, the control unit (290) can control the heater (352) based on temperature information received from the temperature sensor (254). For example, the control unit (290) can stop operation of the heater (352) based on reaching a temperature detected by the temperature sensor (254).

[0322] The control unit (290) can perform a steam stroke by controlling at least one pump (21, 22), at least one valve (23, 24) and a heating device (250) described above.

[0323] In one embodiment, the control unit (290) may initiate a steam stroke in response to a steam stroke initiation condition being satisfied.

[0324] In response to the start of the steam stroke, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water tank (221). Accordingly, the water stored in the water tank (221) can flow to the heating device (350) through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fifth pipe (205).

[0325] Thereafter, the control unit (290) can operate the heater (352) based on the detection of a predetermined water level by the water level sensor (353), thereby causing high-temperature water and / or steam to be sprayed from the heating device (350) to the washing chamber (230). The control unit (290) can stop the operation of the first pump (21) based on the detection of a predetermined water level by the water level sensor (353).

[0326] The control unit (290) operates the heater (352) until the steam stroke is completed based on the detection of a predetermined water level by the water level sensor (353), but temporarily stops the operation of the heater (352) based on the detection of a temperature by the temperature sensor (254) during the steam stroke reaching a predetermined temperature, thereby preventing the heater (352) from overheating.

[0327] The control unit (290) can terminate the steam administration based on the satisfaction of the steam administration termination condition.

[0328] In one embodiment, the control unit (290) may terminate the steam stroke in response to a predetermined water level (minimum water level) being detected by the water level sensor (353).

[0329] In one embodiment, the control unit (290) may terminate the steam administration in response to the steam administration execution time having elapsed a predetermined period of time.

[0330] Fig. 20 is an enlarged view of a heating device according to one embodiment of the present disclosure. Fig. 21 illustrates a cross-section along line DD' shown in Fig. 20.

[0331] Referring to FIGS. 20 and 21, a heating device (450) according to one embodiment of the present disclosure will be described. Components identical to those of the cleaning device (1) illustrated in FIGS. 1 to 18 are assigned the same reference numerals, and detailed descriptions thereof may be omitted.

[0332] Referring to FIGS. 20 and 21, a heating device (450) according to one embodiment of the present disclosure can generate high-temperature water and / or steam. The heating device (450) can generate high-temperature water and / or steam using water stored in a water tank (221). The heating device (450) can receive water stored in the water tank (221) to generate high-temperature water and / or steam.

[0333] For example, the heating device (450) may include a water tank (451) capable of receiving water delivered from a water tank (221). The water tank (451) may include a water tank body (451a) and a water tank cover (451b).

[0334] The heating device (450) may include a heater (452) configured to heat water contained in a tank (451). As the water in the tank (451) is heated by the heater (452), high temperature water and / or steam may be generated. The control unit (290) of the station (20) may control the heater (452). For example, the heater (452) may be positioned outside the tank (451) and configured to heat the water without contacting the water. The heater (452) may be configured to be in surface contact with at least one surface of the tank (451).

[0335] The heating device (450) may include a water level sensor (453) that detects the water level of the water tank (451).

[0336] FIG. 22 is a flowchart illustrating an example of a process for a station to start a scale removal process according to one embodiment of the present disclosure.

[0337] Referring to FIG. 22, the control unit (290) can perform a steam treatment while the robot cleaner (10) is seated at the station (20) (1100).

[0338] In response to the start of the steam stroke, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water tank (221). Accordingly, the water stored in the water tank (221) can flow through the first pipe (201), the first pump (21), the second pipe (202), the first valve (23), the third pipe (203), the second valve (24), and the fifth pipe (205) to the heating device (250, 350).

[0339] Thereafter, the control unit (290) can operate the heater (252) based on the detection of water passing through the water pipe (251), thereby causing high-temperature water and / or steam to be sprayed from the heating device (250, 350) to the washing chamber (230).

[0340] That is, the control unit (290) can operate the heater (252) during the steam administration.

[0341] The scale sensor (255) can detect scale accumulated in the heating device (250, 350) (1200).

[0342] The control unit (290) can determine whether scale has accumulated in the heating device (250, 350) based on information collected by the scale sensor (255) (1200).

[0343] Various examples of how the control unit (290) determines whether the scale is accumulated have been described above, so redundant descriptions are omitted.

[0344] The control unit (290) can terminate the steam stroke (1300) when it is determined that scale has accumulated in the heating device (250, 350), i.e., when scale accumulation has been detected by the scale sensor (255).

[0345] Terminating the steam administration may include stopping operation of the first pump (21) and stopping operation of the heater.

[0346] The control unit (290) can provide a notification to guide the start of a scale removal process based on the scale accumulation detected by the scale sensor (255) (1400).

[0347] Providing a notification guiding the start of the scale removal process may include providing a notification guiding the start of the scale removal process through a user interface (281). Providing a notification guiding the start of the scale removal process through a user interface (281) may include outputting sensory information (e.g., visual information, auditory information, etc.) guiding the start of the scale removal process through the user interface (281).

[0348] Providing a notification indicating the start of a scale removal process may include providing a notification indicating the start of a scale removal process via an external device. Providing a notification indicating the start of a scale removal process via an external device may include transmitting a signal indicating the need for a scale removal process to the external device via a communication unit (282).

[0349] The external device may provide a notification to guide the start of a scale removal process based on receiving a signal from the station (20) indicating that a scale removal process is required.

[0350] FIG. 23 illustrates an example of a notification provided by a station according to one embodiment of the present disclosure.

[0351] Referring to FIG. 23, a notification (NT) guiding the start of a scale removal process may include sensory information (e.g., a visual indication) indicating the preliminary actions required for the scale removal process.

[0352] For example, a notification (NT) guiding the start of a scale removal process may include sensory information (SI) that prompts the addition of a substance (e.g., citric acid) to remove scale to the water tank (221).

[0353] As another example, the notification (NT) guiding the start of the scale removal process may include sensory information that guides the robot cleaner (10) to remain undocked to the station (20) before the start of the scale process.

[0354] In one embodiment, a notification (NT) guiding the start of a scale removal operation may include a user interface element (UE) that provides guidance for starting the scale removal operation.

[0355] When a user interface element (UE) is selected, guidance may be provided to initiate the scale removal process.

[0356] A guide for initiating a scale removal process may include, for example, sensory information (e.g., video, text, etc.) guiding how to add a substance for removing scale to the water tank (221) and / or sensory information guiding how to input a command to initiate a scale removal process.

[0357] According to the present disclosure, a user can easily perform actions necessary for the scale removal process before the scale removal process begins.

[0358] The start command of the scale removal process (hereinafter referred to as the 'scale removal command') may be received by the user interface (281) or may be received from an external device via the communication unit (282).

[0359] That is, the user can directly input a scale removal command using the user interface (281) or remotely input a scale removal command using an external device.

[0360] The control unit (290) can start the scale removal process (1600) based on receiving a scale removal command (example of 1500).

[0361] According to various embodiments, if the station (20) has a configuration capable of automatically supplying a substance for removing scale to the water tank (221) (e.g., a storage tank for storing citric acid, an actuator for automatically moving the storage tank to supply citric acid stored in the storage tank to the water tank (221), etc.), operations 1400 and 1500 may be omitted.

[0362] That is, if the station (20) has a configuration capable of automatically supplying a substance for removing scale to the water tank (221), the control unit (290) can skip operations 1400 and 1500 and start the scale removal process immediately.

[0363] In one embodiment, the control unit (290) may control the communication unit (282) to transmit an undock command to the robot cleaner (10) based on receiving a scale removal command while the robot cleaner (10) is seated on the station (20).

[0364] Thereafter, the control unit (290) can control the communication unit (282) to transmit a docking command to the robot cleaner (10) based on the completion of the scale removal process.

[0365] The robot cleaner (10) can undock from the station (20) based on receiving an undock command from the station (20) and maintain the undocked state from the station (20) until receiving a docking command.

[0366] According to the present disclosure, it is possible to prevent the mop (160) of the robot cleaner (10) from being contaminated by discharge of contaminated water with scale precipitated into the washing chamber (230) during the scale removal process.

[0367] The control unit (290) can control the first pump (21) to remove scale accumulated in the heating device (250, 350) in the scale removal process.

[0368] In order to remove scale, it is necessary to stay in the heating device (250, 350) for a long time so that the substance for removing scale becomes a dissolved aqueous solution.

[0369] For convenience of explanation, the aqueous solution containing the substance for removing scale is referred to as a citric acid solution below. However, it is to be understood that the type of aqueous solution may change depending on the type of substance for removing scale.

[0370] In one embodiment, the control unit (290) can control the RPM of the first pump (21) in the scale removal process to be lower than the RPM of the first pump (21) in the steam process.

[0371] That is, the control unit (290) can drive the first pump (21) at a first RPM in the scale removal process and drive the first pump (21) at a second RPM greater than the first RPM in the steam process.

[0372] Hereinafter, controlling the first pump (21) may include controlling the direction of water supplied by the first pump (21) (or controlling the first valve and / or the second valve).

[0373] If a large amount of scale is deposited on the heating device (250, 350), a safety accident may occur when the heater (252) is operated.

[0374] The control unit (290) may not drive the heater (252) in the scale removal process.

[0375] Meanwhile, the scale removal process method may differ depending on the various structures of the heating device (250, 350).

[0376] For example, if the heating device (250, 350) includes a water pipe (251) without a water tank (351, 451), the control unit (290) can perform the scale removal process based on the first algorithm. If the heating device (250, 350) includes a water tank (351, 451), the control unit (290) can perform the scale removal process based on a second algorithm that is different from the first algorithm.

[0377] Here, the first algorithm and the second algorithm may be pre-stored in the memory (292).

[0378] FIG. 24 is a flowchart illustrating an example of a scale removal process when a heating device according to one embodiment of the present disclosure includes a water pipe and a heater. FIG. 25 schematically illustrates a water flow when a station according to one embodiment of the present disclosure performs a scale removal process.

[0379] In one embodiment, the heating device (250) may include a water pipe (251) and a heater (252). If the heating device (250) includes a water pipe (251), it may not include a water tank (351, 451).

[0380] Referring to FIGS. 24 and 25, the station (20) may include a relief valve (205v).

[0381] In one embodiment, the fifth pipe (205) may be divided into a first flow path (205a) toward the heating device (250) and a second flow path (205b) toward the washing chamber (230) by a three-way port (205p).

[0382] Here, the first flow path (205a) can guide water pumped from the water tank (221) to the heating device (250), and the second flow path (205b) can guide water pumped from the water tank (221) and / or water in the heating device (250) (e.g., water in the water pipe (251)) to the washing chamber (230).

[0383] That is, the second flow path (205b) branches off from the first flow path (205a) and can guide water flowing into the first flow path (205a) to the washing chamber (230).

[0384] The relief valve (205v) can open and close the second flow path (205b).

[0385] The relief valve (205v) may be opened as the internal pressure of the heating device (250) increases. For example, the relief valve (205v) may be opened when the internal pressure of the heating device (250) exceeds a predetermined pressure.

[0386] If the water heated by the heater (252) is not discharged to the outside of the heating device (250), the internal temperature of the heating device (250) continues to rise, and accordingly, the internal pressure of the heating device (250) increases, and accordingly, the relief valve (205v) opens so that high-temperature, high-pressure water can be discharged into the washing chamber (230).

[0387] According to the present disclosure, a safety accident due to an increase in internal pressure of a heating device (250) can be prevented by a relief valve (205v).

[0388] As an example of a scale sensor (255), a sensor that detects the opening of a relief valve (205v) or detects the flow of water through the second flow path (205b) may be employed.

[0389] The control unit (290) can terminate the steam stroke when the opening of the relief valve (205v) is detected or the flow of water through the second flow path (205b) is detected.

[0390] The control unit (290) can start the scale removal process based on a scale removal command after the opening of the relief valve (205v) is detected or the flow of water through the second flow path (205b) is detected.

[0391] The control unit (290) can perform a first operation (2100) of pumping water from the water tank (221) to the heating device (250) in the scale removal process.

[0392] In one embodiment, the control unit (290) may control the first pump (21) to pump water from the water tank (221) to the heating device (250).

[0393] Controlling the first pump (21) to pump water from the water tank (221) to the heating device (250) may include controlling at least one valve (23, 24) to guide water from the water tank (221) to the heating device (250). For example, the control unit (290) may control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water tank (221).

[0394] Water (or citric acid solution) pumped to the heating device (250) by the first operation (2100) can remove scale in the water pipe (251) and be discharged through the sixth pipe (206).

[0395] Water (or citric acid solution) discharged through the sixth pipe (206) can be guided to the washing chamber (230).

[0396] As previously explained, since sufficient time is required for the citric acid solution to pass through the water pipe (251) and remove scale, the target RPM of the first pump (21) in the scale removal process may be lower than the target RPM of the first pump (21) in the steam process.

[0397] The control unit (290) can stop pumping (2300) based on the satisfaction of the pumping termination condition (example of 2200).

[0398] Here, the pumping termination conditions may include that the water in the water tank (221) is completely exhausted, that the first pump (21) has been driven for a predetermined period of time, etc.

[0399] For example, the station (20) may include a flow sensor capable of measuring the flow rate of water flowing into the heating device (250). The flow sensor may measure the flow rate of water flowing into the water pipe (251).

[0400] The control unit (290) can stop pumping based on the fact that no water flow is detected by the flow sensor.

[0401] The control unit (290) can stop pumping based on driving the first pump (21) for a predetermined period of time.

[0402] Stopping pumping may include stopping operation of the first pump (21).

[0403] According to the present disclosure, scale accumulated in the heating device (250) can be removed by supplying a citric acid solution to the heating device (250) in the scale removal process.

[0404] Since the citric acid solution is discharged into the cleaning chamber (230) after removing the scale, there is a risk of contamination of the mop (160) when the robot cleaner (10) is later docked to the station (20) and the mop (160) is placed on the cleaning frame (240).

[0405] After stopping pumping, the control unit (290) can perform a second operation (2400) of pumping water from the washing chamber (230) into the sewage tank (222).

[0406] Pumping water from the washing chamber (230) to the wastewater tank (222) may include driving a second pump.

[0407] By the second operation (2400), the wastewater received in the washing chamber (230) can be guided to the wastewater tank (222).

[0408] When the second operation is completed, the control unit (290) can terminate the scale removal process and notify the user of the completion of the scale removal process.

[0409] For example, the control unit (290) may provide a notification to the user indicating the end of the scale removal process.

[0410] Providing a notification indicating the end of the scale removal operation may include providing a notification indicating the end of the scale removal operation via a user interface (281).

[0411] Providing a notification indicating the end of the scale removal process may include transmitting a signal to an external device via the communication unit (282) notifying the end of the scale removal process.

[0412] The control unit (290) can transmit a signal to the robot cleaner (10) indicating the end of the scale removal process to the user. Here, the signal indicating the end of the scale removal process can correspond to a docking command.

[0413] The robot cleaner (10) can be docked to the station (20) based on receiving a docking command from the station (20).

[0414] The operations performed by the station (20) after completion of the scale removal process described above can be performed in the same manner even when a subsequent scale removal process is completed.

[0415] FIG. 26 is a flowchart illustrating an example of a scale removal process when a heating device according to one embodiment of the present disclosure includes a water tank and a heater. FIG. 27 schematically illustrates a water flow when a station according to one embodiment of the present disclosure performs a scale removal process.

[0416] In one embodiment, the heating device (350, 450) may include a tank (351, 451) and a heater.

[0417] In one embodiment, the control unit (290) may control the first pump (21) to move water from the tank (351, 451) to the water tank (221) based on the scale being detected (example of 1200 in FIG. 22).

[0418] For example, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water tank (351, 451) to the water supply tank (221).

[0419] In one embodiment, the control unit (290) may control the first pump (21) to move water from the water tank (351, 451) to the water supply tank (221), and then control the first pump (21) to discharge water from the water supply tank (221) to the washing chamber (230).

[0420] For example, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the seventh pipe (207) and control the first pump (21) to pump water from the water tank (221).

[0421] According to the present disclosure, before the start of the scale removal process, in particular, before the user adds citric acid to the water tank (221), the water stored in the tank (351, 451) may be moved to the water tank (221) or discharged to the washing chamber (230).

[0422] According to the present disclosure, scale can be efficiently removed when a citric acid solution is delivered to the tank (351, 451) by performing a scale removal process while the tank (351, 451) is empty.

[0423] Since it takes some time from when scale is detected until the user inputs a scale removal command, the control unit (290) may perform an operation to control the first pump (21) to move water in the tank (351, 451) to the water supply tank (221) before receiving the scale removal command after scale is detected.

[0424] After moving the water in the tank (351, 451) to the water supply tank (221), the control unit (290) can start the scale removal process by receiving a scale removal command.

[0425] Referring to FIGS. 26 and 27, the control unit (290) can perform a first operation (3100) of pumping water from the water tank (221) into the water tank (351, 451) in the scale removal process.

[0426] Pumping water from the water tank (221) into the tank (351, 451) may include controlling at least one valve (23, 24) to guide water from the water tank (221) into the tank (351, 451). For example, the control unit (290) may control the first valve (23) to connect the second pipe (202) and the third pipe (203), control the second valve (24) to connect the third pipe (203) and the fifth pipe (205), and control the first pump (21) to pump water stored in the water tank (221).

[0427] Pumping water from the water tank (221) into the tank (351, 451) may include pumping water from the water tank (221) into the tank (351, 451) until the water level in the tank (351, 451) reaches a predetermined level.

[0428] The control unit (290) can stop the operation of the first pump (21) based on the detection of a predetermined water level by a water level sensor (353, 453) provided to detect the water level in the water tank (351, 451). Here, the predetermined water level can include the full water level.

[0429] Pumping water from the water tank (221) into the tank (351, 451) may include driving the first pump (21) for a predetermined period of time. Here, the predetermined period of time may be preset as the time required for the water level of the tank (351, 451) to reach the predetermined level.

[0430] The control unit (290) can perform a second operation (3300) of pumping water from the water tank (351, 451) into the water tank (221) based on the passage of a predetermined time (example of 3200) after pumping water from the water tank (221) into the water tank (351, 451). Here, the predetermined time can be preset as a sufficient time required for the citric acid solution to remove scale.

[0431] After the first operation (3100) is performed, the citric acid solution can remove scale within the heating device (350, 450) for a predetermined period of time.

[0432] According to the second operation (3300), the aqueous solution in which the scale is dissolved can be recovered into the water tank (221).

[0433] The control unit (290) can repeat the operations (3000; 3100, 3200, and 3300) described above a predetermined number of times. Here, the predetermined number of times can be preset as an appropriate number of times for scale removal.

[0434] According to the present disclosure, scale within a heating device (350, 450) can be efficiently removed by repeatedly performing the operations (3000; 3100, 3200 and 3300) described above.

[0435] The control unit (290) can control the first pump (21) to pump water from the water tank (221) into the washing chamber (230) after repeating the operations (3000; 3100, 3200, and 3300) described above a predetermined number of times (3400). For example, the control unit (290) can control the first valve (23) to connect the second pipe (202) and the seventh pipe (207), and control the first pump (21) to pump water from the water tank (221).

[0436] The control unit (290) can pump water from the water supply tank (221) to the washing chamber (230) and then pump water from the washing chamber (230) to the wastewater tank (222) (3500).

[0437] In various embodiments, operation 3500 may be omitted.

[0438] If operation 3500 is omitted, the control unit (290) can complete the scale removal process by pumping water from the water tank (221) into the washing chamber (230). In this case, the control unit (290) can provide a notification to the user to discard the water from the water tank (221).

[0439] The operation of pumping water from the washing chamber (230) to the wastewater tank (222) corresponds to operation 2400 of Fig. 24, so a duplicate description is omitted.

[0440] FIG. 28 is a flowchart illustrating another example of a scale removal process when a heating device according to one embodiment of the present disclosure includes a water tank and a heater. FIG. 29 schematically illustrates a water flow when a station according to one embodiment of the present disclosure performs a scale removal process.

[0441] In one embodiment, the heating device (350, 450) may include a tank (351, 451) and a heater (352, 452).

[0442] Referring to FIGS. 28 and 29, the station (20) may include a bypass pipe (205c) branching from the fifth pipe (205). The bypass pipe (205c) may also be referred to as a siphon pipe in that it allows water within the tank (351, 451) to be discharged into the washing chamber (230) by the siphon principle.

[0443] A first flow path can be formed to guide water pumped from the water tank (221) by the fifth pipe (205) to the heating device (350, 450).

[0444] The fifth pipe (205) can be branched from the bypass pipe (205c) by a three-way port (205pc).

[0445] One end of the bypass pipe (205c) can be connected to the three-way port (205pc), and the other end of the bypass pipe (205c) can be directed toward the washing chamber (230). Here, the other end of the bypass pipe (205c) can be provided at a position lower than the bottom of the water tank (351, 451).

[0446] The bypass pipe (205c) may be extended upward to a predetermined height (h1) lower than the height (hs) of the water tank (351, 451) and then bent to extend downward toward the washing chamber (230). Extending downward toward the washing chamber (230) may mean extending to a position lower than the bottom of the water tank (351, 451).

[0447] By means of a bypass pipe (205c), a second flow path can be formed that branches off from the first flow path and extends upward to a predetermined height (h1) lower than the height (hs) of the water tank (351, 451) and then bends to extend downward toward the washing chamber (230). Here, the predetermined height (h1) can be set in advance as an appropriate height that is higher than half the height (hs) of the water tank (351, 451) rather than the height (hs) of the water tank (351, 451).

[0448] When the water level of the tank (351, 451) rises above a predetermined height (h1), the water in the tank (351, 451) can be discharged to the washing chamber (230) through the second flow path formed by the bypass pipe (205c) by the siphon principle.

[0449] After the water in the tank (351, 451) is discharged, if the water level in the tank (351, 451) is maintained lower than a predetermined height (h1), the water in the tank (351, 451) is not discharged into the washing chamber (230).

[0450] According to the present disclosure, water in the tank (351, 451) can be discharged to the washing chamber (230) without a pumping operation by installing a bypass pipe (205c).

[0451] As described above, the control unit (290) can discharge water from the tank (351, 451) into the washing chamber (230) before the start of the scale removal process.

[0452] In one embodiment, the control unit (290) can discharge water in the tank (351, 451) into the washing chamber (230) by controlling the first pump (21) so that the water level in the tank (351, 451) rises above the predetermined height (h1) before the scale removal process begins.

[0453] Here, information about the water level of the tank (351, 451) can be collected by the water level sensor (353, 453).

[0454] In the scale removal process, the control unit (290) can perform a first operation (4100) of pumping water in the water tank (221) so that the water level in the tank (351, 451) rises to a target water level (ht) lower than a predetermined height (h1).

[0455] For example, the control unit (290) may drive the first pump (21) to pump water from the water tank (221) into the tank (351, 451) based on the start of the scale removal process, and may stop the driving of the first pump (21) based on the water level of the tank (351, 451) reaching the target water level (ht).

[0456] The target water level (ht) can be preset as a water level lower than the predetermined water level (h1).

[0457] By the first operation (4100), the citric acid solution can be moved to the tank (351, 451) by the target water level (ht) to remove scale within the heating device (350, 450).

[0458] After the first operation (4100) is performed, the citric acid solution can remove scale within the heating device (350, 450) for a predetermined period of time.

[0459] The control unit (290) may perform a second operation (4300) of pumping water from the water supply tank (221) into the water tank (351, 451) so that the water level of the water tank (351, 451) rises above a predetermined height (h1) based on the fact that a predetermined time has elapsed after pumping the water from the water supply tank (221) into the water tank (351, 451) (example of 4200). Here, the predetermined time may be preset as a sufficient time required for the citric acid solution to remove scale.

[0460] When the water level of the tank (351, 451) rises above a predetermined height (h1), the water in the tank (351, 451) can be discharged to the washing chamber (230) along the second flow path formed by the bypass pipe (205c).

[0461] According to the second operation (4300), the aqueous solution in which the scale is dissolved can be discharged into the washing chamber (230).

[0462] The control unit (290) can repeat the operations (4000; 4100, 4200, and 4300) described above a predetermined number of times. Here, the predetermined number of times can be preset as an appropriate number of times for scale removal.

[0463] According to the present disclosure, scale within a heating device (350, 450) can be efficiently removed by repeatedly performing the operations (3000; 3100, 3200 and 3300) described above.

[0464] The control unit (290) can pump water from the washing chamber (230) into the wastewater tank (222) after performing the operations (3000; 3100, 3200 and 3300) described above (4400).

[0465] According to the present disclosure, water from which scale has been removed is discharged directly to the washing chamber (230) without passing through the water tank (221), thereby preventing the water tank (221) from being contaminated.

[0466] A cleaning device according to one embodiment includes a robot cleaner including a main body and a mop detachably mountable to a lower portion of the main body, and a station on which the robot cleaner is mounted. The station includes a water tank configured to store water, a washing chamber corresponding to the mop while the robot cleaner is mounted on the station, a heating device for heating water supplied from the water tank, a pump configured to pump water stored in the water tank, and a control unit configured to control the pump to remove scale accumulated in the heating device during a scale removal process.

[0467] The above station may further include a scale sensor for detecting scale accumulated in the heating device.

[0468] The station may further include a first channel for guiding water pumped from the water tank to the heating device, a second channel branched from the first channel for guiding water flowing through the first channel to the washing chamber, and a relief valve for opening and closing the second channel. The relief valve may be configured to open in response to an increase in internal pressure of the heating device. The scale sensor may be configured to detect the opening of the relief valve or the flow of water through the second channel.

[0469] The heating device may include a water pipe through which water supplied from the water tank can pass, and a heater disposed adjacent to the water pipe for heating water passing through the water pipe.

[0470] The water pipe may include a bendable portion. The heater may include a bendable portion corresponding to the bendable portion of the water pipe.

[0471] The heating device may include a tank for storing water supplied from the water tank, and a heater for heating the water stored in the tank.

[0472] The heater may be configured such that at least a portion of the heater is in contact with water stored in the tank within the tank and heats the water stored in the tank.

[0473] The heater may be configured to heat water stored in the tank without contacting the water stored in the tank from outside the tank.

[0474] The control unit may provide a notification to the user to initiate the scale removal process based on the scale accumulation detected by the scale removal sensor. The notification may include sensory information prompting the user to add a substance to remove the scale to the water tank.

[0475] The control unit may drive the pump to supply water stored in the water tank to the heating device based on the start of the scale removal process. The water supplied to the heating device by driving the pump may pass through the water pipe and be discharged into the washing chamber.

[0476] The control unit is configured to control the pump to inject steam generated by the heating device into the washing chamber in the steam stroke, drive the pump at a first RPM in the scale removal stroke, and drive the pump at a second RPM greater than the first RPM in the steam stroke.

[0477] Based on the start of the scale removal process, the control unit can perform a first operation of controlling the pump to pump water stored in the water tank to the water tank, and based on a predetermined time elapsed after the performance of the first operation, perform a second operation of controlling the pump to pump water stored in the water tank to the water tank.

[0478] The control unit can control the pump to pump water stored in the water tank into the washing chamber after repeating the first operation and the second operation a predetermined number of times.

[0479] The station may further include a first flow path for guiding water pumped from the water tank to the heating device, and a second flow path branched from the first flow path, extending upward to a predetermined height lower than the height of the water tank, and then bending to extend downward toward the washing chamber. Based on the start of the scale removal process, the control unit may perform a first operation for controlling the pump so that the water level of the water tank rises to a target water level lower than the predetermined height, and based on a predetermined time elapsed since the performance of the first operation, perform a second operation for controlling the pump so that the water level of the water tank rises to or above the predetermined height.

[0480] A station according to one embodiment includes a water tank for storing water, a washing chamber for washing a water mop of a robot cleaner, a heating device for heating water supplied from the water tank, a pump arranged to pump water stored in the water tank, and a control unit configured to control the pump to remove scale accumulated in the heating device during a scale removal process.

[0481] The station may further include a scale sensor for detecting scale accumulation in the heating device. The control unit may provide a notification to the user to initiate the scale removal process based on the scale accumulation detected by the scale removal sensor. The notification may include sensory information prompting the user to add a substance to remove the scale to the water tank.

[0482] The heating device may include a water pipe through which water supplied from the water tank can pass, and a heater disposed adjacent to the water pipe to heat the water passing through the water pipe. The control unit may drive the pump to supply water stored in the water tank to the heating device based on the start of the scale removal process. The water supplied to the heating device according to the driving of the pump may pass through the water pipe and be discharged into the washing chamber.

[0483] The heating device may include a tank for storing water supplied from the water supply tank, and a heater for heating the water stored in the tank. Based on the start of the scale removal process, the control unit may perform a first operation for controlling the pump to pump the water stored in the water supply tank into the tank, and based on a predetermined time elapsed after the performance of the first operation, perform a second operation for controlling the pump to pump the water stored in the tank into the water supply tank.

[0484] The control unit can control the pump to pump water stored in the water tank into the washing chamber after repeating the first operation and the second operation a predetermined number of times.

[0485] The heating device may include a tank for storing water supplied from the water supply tank, and a heater for heating the water stored in the tank. The station may further include a first flow path for guiding water pumped from the water supply tank to the heating device, and a second flow path branching from the first flow path, extending upward to a predetermined height lower than the height of the tank, and then bending to extend downward toward the washing chamber. Based on the start of the scale removal process, the control unit may perform a first operation for controlling the pump so that the water level of the tank rises to a target water level lower than the predetermined height, and based on the elapse of a predetermined time since the performance of the first operation, perform a second operation for controlling the pump so that the water level of the tank rises to or above the predetermined height.

[0486] According to the invention of the present disclosure, the station and cleaning device can be made more convenient to use since the mop can be washed by the heating device.

[0487] According to the invention, the station and cleaning device can remove scale generated by the heating device, thereby reducing performance degradation.

[0488] The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects that are not mentioned will be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains.

[0489] The above illustrates and describes specific embodiments. However, the invention is not limited to the above-described embodiments, and those skilled in the art will readily appreciate that various modifications and implementations can be made without departing from the spirit and scope of the invention as set forth in the claims below.

Claims

1. A robot vacuum cleaner including a main body and a mop detachably mountable to the lower part of the main body; and A station on which the robot cleaner can be mounted is included; The above station is, A water tank configured to store water and, during a scale removal process, to store a solution containing a substance for removing scale; heating device; pump; and A cleaning device comprising a control unit that controls the pump to pump water stored in the water tank to the heating device in order to heat the water stored in the water tank when the robot cleaner is installed at the station, and, in a scale removal process, controls the pump to pump the solution stored in the water tank to the heating device in order to remove scale accumulated in the heating device by the solution through water heated by the heating device when the robot cleaner is not installed at the station.

2. In paragraph 1, The above station is, A cleaning device further comprising a scale sensor for detecting scale accumulated in the heating device.

3. In paragraph 2, The above station is, A washing chamber corresponding to the mop while the robot cleaner is mounted on the station; A first flow path for guiding water or solution pumped from the water tank to the heating device; A second flow path branching from the first flow path and guiding water or solution flowing through the first flow path to the washing chamber; and Further comprising a relief valve for opening and closing the second euro; The above relief valve is configured to open in accordance with an increase in internal pressure of the heating device, A cleaning device wherein the scale sensor is configured to detect the opening of the relief valve or the flow of water through the second passage.

4. In paragraph 1, The above heating device, A pipe through which water or solution supplied from the above water tank can pass; and A cleaning device comprising a heater disposed adjacent to a water pipe for heating water or a solution passing through the pipe.

5. In paragraph 4, The above pipe includes a first bending portion, A cleaning device wherein the heater includes a second bending portion corresponding to the first bending portion.

6. In paragraph 1, The above heating device, A tank for storing water or solution supplied from the above water tank; and A cleaning device comprising a heater for heating water or a solution stored in the above tank.

7. In paragraph 6, A cleaning device wherein at least a portion of the heater is configured to contact water stored in the tank within the tank and heat the water stored in the tank.

8. In paragraph 6, A cleaning device wherein the heater is provided outside the tank and configured to heat water or a solution stored in the tank without contact.

9. In paragraph 2, The above control unit, Provide a notification to guide the user to start the scale removal process based on the scale accumulated in the heating device being detected by the scale sensor, The above notice is, A cleaning device comprising sensory information that induces the addition of the substance for removing the scale to the water tank.

10. In paragraph 4, The above station is, The robot cleaner further comprises a washing chamber corresponding to the mop while the robot cleaner is mounted on the station; The above control unit, Drive the pump to supply water or solution stored in the water tank to the heating device based on the start of the scale removal process, A cleaning device in which water or solution supplied to the heating device according to the operation of the pump passes through the pipe and is discharged into the washing chamber.

11. In paragraph 1, The above station is, The robot cleaner further comprises a washing chamber corresponding to the mop while the robot cleaner is mounted on the station; The above control unit, In the steam administration, the pump is configured to be controlled to spray steam generated by the heating device into the washing chamber, In the above scale removal process, the pump is driven at 1 RPM, A cleaning device that drives the pump at a second RPM greater than the first RPM in the above steam stroke.

12. In paragraph 6, Based on the start of the above scale removal process, the control unit, A cleaning device that performs a first operation of controlling the pump to pump the solution stored in the water tank to the water tank, and performs a second operation of controlling the pump to pump the solution stored in the water tank to the water tank based on the passage of a predetermined time after the performance of the first operation.

13. In paragraph 12, The above station is, The robot cleaner further comprises a washing chamber corresponding to the mop while the robot cleaner is mounted on the station; Based on the start of the above scale removal process, the control unit, A cleaning device that controls the pump to pump the solution stored in the water tank into the cleaning chamber after repeating the first and second operations a predetermined number of times.

14. In paragraph 6, The above station is, Washing chamber; A first flow path for guiding water or solution pumped from the water tank to the heating device; and Further comprising a second flow path branching from the first flow path, extending upward to a predetermined height lower than the height of the tank, and then bending to extend downward toward the washing chamber; Based on the start of the above scale removal process, the control unit, A cleaning device that performs a first operation of controlling the pump so that the water level of the tank rises to a target water level lower than the predetermined height, and performs a second operation of controlling the pump so that the water level of the tank rises to a target water level higher than the predetermined height based on the elapsed time after the first operation.

15. In a station where the robot vacuum cleaner can be placed, A water tank configured to store water and a solution containing a substance for removing scale during a scale removal process; heating device; pump; and A station including a control unit that controls the pump to pump water stored in the water tank to the heating device in order to heat the water stored in the water tank when the robot cleaner is installed at the station, and, in a scale removal process, controls the pump to pump the solution stored in the water tank to the heating device in order to remove scale accumulated in the heating device by the solution through water heated by the heating device when the robot cleaner is not installed at the station.

Images