Cleaning apparatus and method for controlling same

Abstract

A cleaning apparatus according to the present disclosure comprises: a robot cleaner including a travel part that has a main wheel and a wheel motor for driving the main wheel, and a dust collection container that has one openable surface and stores refuse; a station at which the robot cleaner is docked; and at least one processor for controlling the operations of the robot cleaner and the station, wherein the station includes: a refuse collection container; a loading part which includes a suction port in through which refuse flows from the dust collection container, and on which the robot cleaner is loaded in response to docking of the robot cleaner at the station; and a refuse collection duct having one end communicating with the suction port and having the other end communicating with the refuse collection container. The robot cleaner further includes a position detection sensor for acquiring information related to the position of the robot cleaner as the robot cleaner moves by means of the travel part, the station further includes a pressure sensor for acquiring information related to the pressure inside the refuse collection duct, and the at least one processor can control, on the basis of the information obtained from the position detection sensor and the pressure sensor, the travel part so as to adjust the position of the robot cleaner such that an opening of the dust collection container corresponds to the suction port.

Description

Cleaning device and its control method

[0001] The present disclosure relates to a cleaning device and a method for controlling 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 vacuum cleaners have been developed to further improve the user's cleaning convenience, and a robot vacuum cleaner that automatically empties the waste in the robot vacuum cleaner's waste collection bin when docked with a station has been developed.

[0005] A cleaning device including a robot cleaner and a station according to the present disclosure is intended to position the robot cleaner at an accurate position corresponding to the suction port of the station when the robot cleaner performs a waste discharge process.

[0006] A cleaning device according to the present disclosure comprises a robot cleaner including a driving unit including a main wheel and a wheel motor driving the main wheel, and a dust collector having one side openable and storing dust; A station to which the robot cleaner is docked; and at least one processor controlling operations of the robot cleaner and the station; wherein the station includes a waste collection bin, a suction port through which waste is introduced from the dust collection bin, a mounting portion provided to allow the robot cleaner to be mounted in response to the robot cleaner being docked to the station, and a waste collection duct having one end communicated with the suction port and the other end communicated with the waste collection bin; wherein the robot cleaner further includes a position detection sensor that obtains information about a position of the robot cleaner as the robot cleaner moves by the driving unit; wherein the station further includes a pressure sensor that obtains information about a pressure inside the waste collection duct; and wherein the at least one processor can control the driving unit to adjust a position of the robot cleaner so that an opening of the dust collection bin corresponds to the suction port based on information obtained from the position detection sensor and the pressure sensor.

[0007] A method for controlling a cleaning device including a robot cleaner according to the present disclosure and a station provided for the robot cleaner to be installed, the method may include: allowing the robot cleaner to enter the station to perform a waste discharge process by being installed in the station; obtaining information about the position of the robot cleaner from the position detection sensor; obtaining information about the pressure inside a waste collection duct of the station from a pressure sensor; and adjusting the position of the robot cleaner so that an opening of a dust collection box of the robot cleaner corresponds to an intake port of the station through which waste flows in from the dust collection box based on information obtained from the position detection sensor or the pressure sensor.

[0008] A cleaning device according to one aspect of the present disclosure can improve user convenience.

[0009] A cleaning device according to one aspect of the present disclosure can improve cleaning efficiency.

[0010] A cleaning device according to one aspect of the present disclosure can maintain cleanliness by guiding a robot cleaner to a position where the dust discharge port of the robot cleaner and the dust suction port of a station exactly correspond during a dust discharge operation of the robot cleaner to create a clean cleaning environment.

[0011] According to one aspect of the present disclosure, a robot cleaner can be placed at a station by distinguishing between a first placement position and a second placement position depending on a process performed by a cleaning device, thereby preventing cleaning water for performing a cleaning process from splashing into a suction port and reducing the efficiency of dust suction.

[0012] 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.

[0013] FIG. 1 is a drawing illustrating a state in which a robot cleaner is away from a station in a cleaning device according to one embodiment.

[0014] FIG. 2 is a drawing showing a state in which a robot cleaner is installed on a station in a cleaning device according to one embodiment.

[0015] FIG. 3 is a drawing illustrating a robot vacuum cleaner according to one embodiment.

[0016] Figure 4 is a drawing showing the rear of the robot vacuum cleaner illustrated in Figure 3.

[0017] Figure 5 is a drawing showing the lower part of the robot vacuum cleaner illustrated in Figure 3.

[0018] Fig. 6 is a cross-sectional view of the robot vacuum cleaner along line A-A' of Fig. 4.

[0019] FIG. 7 is a diagram illustrating a station according to one embodiment.

[0020] Figure 8 is a drawing showing the rear of the station illustrated in Figure 7.

[0021] Fig. 9 is a cross-sectional view of the station along line B-B' of Fig. 7.

[0022] FIG. 10 schematically illustrates an enlarged view of a main wheel of a robot cleaner in a cleaning device according to one embodiment when the main wheel is positioned at a first settling position of a station.

[0023] FIG. 11 schematically illustrates an enlarged view of a main wheel of a robot cleaner in a cleaning device according to one embodiment when the main wheel is positioned at a second settling position of the station.

[0024] Fig. 12 illustrates a control block diagram of a robot vacuum cleaner according to one embodiment.

[0025] Figure 13 illustrates a control block diagram of a station according to one embodiment.

[0026] Fig. 14 illustrates a flow chart of a waste collection operation of a cleaning device according to one embodiment.

[0027] FIG. 15 illustrates an example of a method for controlling a robot vacuum cleaner to perform a waste discharge operation at a precise location according to one embodiment.

[0028] Figures 16 and 17 illustrate an example of a method for controlling a station to perform a waste discharge operation at a precise location according to one embodiment.

[0029] 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 encompass various modifications, equivalents, or alternatives of the embodiments.

[0030] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0031] 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.

[0032] 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.

[0033] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0034] 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.

[0035] 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).

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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).

[0041] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0042] FIG. 1 is a drawing showing a state in which a robot cleaner (10) is away from a station (20) in a cleaning device (1) according to one embodiment.

[0043] FIG. 2 is a drawing showing a state in which a robot cleaner (10) is installed on a station (20) in a cleaning device (1) according to one embodiment.

[0044] Referring to FIGS. 1 and 2, 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).

[0045] 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.

[0046] 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).

[0047] The robot vacuum cleaner (10) can move to the station (20) during cleaning and / or after cleaning is completed.

[0048] For example, the robot vacuum cleaner (10) may move to the station (20) when charging is required, when the dust bin (141) needs to be emptied, 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.

[0049] 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).

[0050] For example, while the robot cleaner (10) is seated at the station (20), the station (20) can charge the battery (150) of the robot cleaner (10). For example, while the robot cleaner (10) is seated at the station (20), the station (20) can collect the waste collected in the dust bin (141) of the robot cleaner (10). For example, while the robot cleaner (10) is seated at the station (20), the station (20) can wet the mop (160) with water and / or steam. For example, while the robot cleaner (10) is seated at the station (20), the station (20) can wash the mop (160). For example, while the robot cleaner (10) is seated at the station (20), the station (20) can sterilize the mop (160). For example, while the robot vacuum cleaner (10) is stationed at the station (20), the station (20) can dry the mop (160).

[0051] FIG. 3 is a drawing illustrating a robot vacuum cleaner (10) according to one embodiment.

[0052] Fig. 4 is a drawing showing the rear of the robot vacuum cleaner (10) illustrated in Fig. 3.

[0053] Fig. 5 is a drawing showing the lower part of the robot vacuum cleaner (10) illustrated in Fig. 3.

[0054] Fig. 6 is a cross-sectional view of a robot vacuum cleaner (10) along line A-A' of Fig. 4.

[0055] 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 robot cleaner main body (110).

[0056] 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 to penetrate 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 robot cleaner suction port (111).

[0057] 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.

[0058] 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).

[0059] 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).

[0060] 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).

[0061] 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 robot cleaner exhaust port (112).

[0062] 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).

[0063] 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).

[0064] The robot cleaner (10) may include a battery (150). The battery (150) may be provided to be rechargeable. The battery (150) may provide power required to operate the robot cleaner (10). The robot cleaner (10) may include a charging terminal (151). The charging terminal (151) may be electrically connected to the battery (150). While the robot cleaner (10) is mounted on the station (20), the charging terminal (151) of the robot cleaner (10) may be electrically connected to the charging terminal (218) of the station (20). As the charging terminal (151) of the robot cleaner (10) is electrically connected to the charging terminal (218) of the station (20), the battery (150) of the robot cleaner (10) may be charged. That is, while the robot cleaner (10) is docked to the station (20), the battery (150) can be charged. The charging terminal (151) may be referred to as a robot cleaner charging terminal (151).

[0065] The robot cleaner (10) may include a mop (160). The mop (160) is detachably mountable to the lower part of the main body (110). The mop (160) may be rotatably mounted with respect to the main body (110). The mop (160) may be provided to come into contact with a surface to be cleaned and clean the surface to be cleaned. The mop (160) may wipe off dirt from the surface to be cleaned while it is wet. In the drawing, two mops (160) are illustrated, but there is no limitation on the number of mops (160). The mop (160) may be referred to as a cleaning pad (160). The mop (160) may be referred to as a wet pad (160).

[0066] According to various embodiments, although not shown in the present disclosure, the robot cleaner (10) may further include a water tank for supplying water to the mop (160), a water charging unit for receiving water from the station (20) while the robot cleaner (10) is placed on the station (20), a rotation driving unit for rotating the mop (160), and / or a lifting driving unit for moving the mop (160) up and down.

[0067] The robot cleaner (10) may include a position detection sensor (170). The position detection sensor (170) may obtain information regarding the position of the robot cleaner (10). The position detection sensor (170) may include a Hall sensor.

[0068] Information about the location of the robot cleaner (10) may include information about the location between the station (20) and the robot cleaner (10) and / or the distance from the station (20).

[0069] The position detection sensor (170) can obtain information about the position between the station (20) and the robot cleaner (10) and / or the distance from the station (20) by converting the change in the magnetic field according to the change in the position between the Hall sensor and the magnet provided at the station (20) into an electric signal.

[0070] At this time, the position detection sensor (170) may be mounted on the main body (110). The position detection sensor (170) may be provided on the lower surface (110b) of the main body (110). For example, the position detection sensor (170) may be provided at a position adjacent to the mop (160) on the lower surface (110b) of the main body (110). The magnet provided on the station (20) may be provided so that the robot cleaner (10) is positioned at a preset distance from the position detection sensor (170) when the robot cleaner (10) is placed on the station (20).

[0071] Information about the position of the robot cleaner (10) may include the driving direction, rotation speed, and / or rotation angle of the robot cleaner (10). The position detection sensor (170) may convert a change in the magnetic field according to a change in the position between the Hall sensor and the magnet provided on the main wheel (121) of the robot cleaner (10) into an electric signal to obtain information about the driving direction, rotation speed, and / or rotation angle of the robot cleaner (10). At this time, the magnet provided on the main wheel (121) of the robot cleaner (10) may be attached to an encoder disk provided on the main wheel (121) of the robot cleaner (10). The encoder disk may be fixed to the shaft of the main wheel (121) or may be provided in a form mounted inside the main wheel (121).

[0072] At this time, the encoder disk may be attached to at least some of the pair of main wheels (121). When an encoder disk is provided for each of the pair of main wheels (121), the position detection sensor (170) can obtain information on the driving direction of the cleaning robot cleaner (10) by comparing the number of rotations of each wheel based on the change in the magnetic field between the Hall sensor and the magnet attached to each encoder disk.

[0073] Fig. 7 is a drawing illustrating a station (20) according to one embodiment.

[0074] Fig. 8 is a drawing showing the rear of the station (20) illustrated in Fig. 7.

[0075] Fig. 9 is a cross-sectional view of the station (20) along the line B-B' of Fig. 7.

[0076] 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).

[0077] The main body (210) may include a base (211) and a housing (212) that can be detachably coupled to the base (211).

[0078] The base (211) may include a robot cleaner mounting portion (2111) on which the robot cleaner (10) is mounted. The robot cleaner mounting portion (2111) may have a shape inclined from the surface to be cleaned so that the robot cleaner (10) may enter. For example, the robot cleaner mounting portion (2111) 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 robot cleaner mounting portion (2111) so that the robot cleaner (10) can easily climb the inclined surface of the robot cleaner mounting portion (2111). For example, an anti-slip protrusion (215) may be formed on the robot cleaner mounting portion (2111) to prevent the robot cleaner (10) mounted on the station (20) from slipping along the inclined surface of the robot cleaner mounting portion (2111). The robot cleaner (10) installed on the station (20) can be prevented from leaving the station (20) by the anti-slip barrier (215).

[0079] The vacuum cleaner mounting portion (2111) can be provided so that the robot vacuum cleaner (10) can be mounted thereon.

[0080] The vacuum cleaner mounting portion (2111) may include an upper cover (2111a) and a base plate (2111b). The upper cover (2111a) may cover the upper portion of the base plate (2111b) and may be configured to be coupled with the base plate (2111b). A robot vacuum cleaner (10) may be mounted on the upper cover (2111a).

[0081] The base plate (2111b) can be placed at the bottom of the upper cover (2111a). The base plate (2111b) can be coupled with the upper cover (2111a).

[0082] The station (20) may include a suction port (213). The suction port (213) may be formed in a robot cleaner mounting portion (2111). While the robot cleaner (10) is mounted on the station (20), the suction port (213) may be communicated with a dust collector (141) of the robot cleaner (10). The suction port (213) may be provided to suction waste collected in the dust collector (141). The suction port (213) may be referred to as a robot cleaner suction port (213).

[0083] Since the vacuum cleaner mounting portion (2111) is formed by combining a base plate (2111b) and an upper cover (2111a) to support the lower portion of the station housing (212), the suction port (213) can also be formed by combining a cover opening formed in the upper cover (2111a) and a ventilation opening formed in the base plate (2111b). The cover opening and the ventilation opening can be formed in shapes that correspond to each other.

[0084] That is, the suction port (213) can be formed by the cover opening and the flue opening being in contact with each other. However, in the following description, the cover opening or the flue opening may be used with the same meaning as the suction port (213).

[0085] The suction port (213) may be provided to correspond to the opening of the dust collector (141) when the robot cleaner (10) is installed on the cleaner mounting portion (2111) and opened by the opening link (140a) of the lever device (140) described later.

[0086] The shape of the suction port (213) may be provided in a roughly rectangular shape corresponding to the opening of the dust collector (141). However, the shape of the suction port (213) is not limited thereto. For example, the shape of the suction port (213) may be provided in various shapes such that the opening of the dust collector (141) is opened to connect the dust collector (141) and the guide portion (225a) of the waste collection duct (225) to effectively transmit the suction force of the suction motor (224).

[0087] The vacuum cleaner mounting portion (2111) may include a lever device (140). The lever device (140) may be provided to selectively connect the collection device (227) and the dust collection container (141) of the robot vacuum cleaner (10). The lever device (140) may selectively connect the collection device (227) and the dust collection container (141) of the robot vacuum cleaner (10) through an open link (140a).

[0088] For example, the processor (291) of the station (20) can control the lever device (140) to operate when the robot cleaner (10) is seated at a preset position among the cleaner mounting portions (2111).

[0089] Driving the lever device (140) may include opening the lower door (141a) of the dust collector (141) that is closing the opening of the dust collector (141) by rotating the opening link (140a) toward the suction port (213).

[0090] The open link (140a) may be provided with a multi-section link structure. One end of the open link (140a) may be provided to include a magnetic material, and the lower door (141a) may also be provided to include a magnetic material so as to be coupled to one end of the open link (140a) by attraction. Accordingly, the lever device (140) rotates the open link (140a) toward the suction port (213) to couple it with the lower door (141a) of the dust collector (141), and then rotates the open link (140a) in the opposite direction to the rotation to open the opening of the dust collector (141).

[0091] When the opening of the dust collector (141) is opened by the lever device (140), the dust collector (141) and the guide part (225a) of the waste collection duct (225) are connected to each other, so that the suction power of the suction motor (224) can be effectively transmitted.

[0092] The base (211) may include a side wall portion (2112) extending upward from the robot cleaner mounting portion (2111). The side wall portion (2112) may be provided to surround at least a portion of the robot cleaner mounting portion (2111).

[0093] The housing (212) may be provided to cover the side wall portion (2112) 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).

[0094] 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 of the robot cleaner (10). 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).

[0095] 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).

[0096] 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).

[0097] The waste collection container (223) may further include a waste bag accommodated inside the waste collection container (223). The waste bag may be detachably fastened to the waste collection container (223). When the waste bag is fastened to the waste collection container (223), waste transported through the waste collection duct (225) may be collected inside the waste bag. When the inside of the waste bag is full of waste, the waste bag may be separated from the waste collection container (223) and disposed of. When waste is transported through the waste collection duct (225) while the waste bag is separated from the waste collection container (223), the waste may be collected inside the waste collection container (223).

[0098] 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).

[0099] 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 container (223). The waste collection duct (225) may be arranged between the suction port (213) and the waste collection container (223). One end of the waste collection duct (225) may be connected to the suction port (213). The other end of the waste collection duct (225) may be connected to the waste collection container (223). That is, one end of the waste collection duct (225) may be connected to the suction port (213), and the other end may be connected to the waste collection container (223).

[0100] The waste collection duct (225) may include a guide portion (225a) communicating with the suction port (213), a connecting hose (225b) having one end detachably connected to the guide portion (225a), and a suction pipe (225c) having the other end of the connecting hose (225b) detachably connected and provided in the waste collection container (223).

[0101] That is, the guide part (225a) may be provided as a part of the waste collection duct (225). The guide part (225a) may be arranged inside the vacuum cleaner mounting part (2111). The guide part (225a) may be provided in an area adjacent to one end of the connection part connected to the suction port (213) among the inside of the vacuum cleaner mounting part (2111).

[0102] The waste in the dust collector (141) can be sucked into the suction port (213) by the suction force generated by the suction motor (224). The waste sucked into the suction port (213) can be transferred to the guide part (225a) that is connected to the suction port (213). The waste transferred to the guide part (225a) can be collected inside the waste collection container (223) through the connecting hose (225b) and the suction pipe (225c).

[0103] The guide portion (225a) may be designed to have a roughly rectangular shape, but this is merely an example, and any shape suitable for transporting waste may be adopted as the shape of the guide portion (225a). The guide portion (225a) may be designed to have a width that gradually narrows from the front toward the rear of the guide portion (225a). This is to increase the flow rate of gas flowing inside the guide portion (225a) by making the cross-sectional area of ​​the guide portion (225a) narrower toward the rear of the guide portion (225a).

[0104] The guide part (225a) may be provided to extend horizontally inside the cleaner mounting part (2111). One end of the guide part (225a) may be positioned forward (in the +X direction), and the other end of the guide part (225a) may be positioned rearward (in the -X direction). That is, the guide part (225a) may extend forward and backward inside the cleaner mounting part (2111). However, the forward and backward direction may be one of numerous horizontal directions that can be assumed based on the inside of the cleaner mounting part (2111). The guide part (225a) may include a communication opening formed at one end of the guide part (225a) located at the front, and a connecting hose fastening part (202) formed at the other end of the guide part (225a) located at the rear. The flue opening is connected to the suction port (213) so that waste sucked into the suction port (213) can be transferred to the guide path (250a).

[0105] The connecting hose (225b) can connect the guide portion (225a) and the suction pipe (225c). The two ends of the connecting hose (225b) can be detachably fastened to the guide portion (225a) and the suction pipe (225c), respectively. The connecting hose (225b) can be formed of a flexible material. The connecting hose (225b) can be accommodated inside the housing (212). The connecting hose (225b) can be formed of a flexible material so that the suction path (250b) connecting the guide path (250a) and the suction pipe (225c) inside the housing (212) can be optimized. The connecting hose (225b) can be provided as a stretch hose whose length can be adjusted.

[0106] Waste that is sucked into the suction port (213) and transferred to the guide path (250a) can be transferred to the suction pipe (225c) through the suction path (250b).

[0107] The suction pipe (225c) may be provided so that one end thereof is connected to the waste collection container (223) so that waste in the dust collection container (141) guided by the guide path (250a) of the guide part (210) is sucked into the waste collection container (223).

[0108] The station (20) may include a pressure sensor (270) provided on the inside of the waste collection duct (225). The pressure sensor (270) may be provided at a location adjacent to the suction port (213) on the inside of the waste collection duct (225). For example, the pressure sensor (270) may be provided on the inside of the guide portion (225a).

[0109] A first discharge port (115) may be formed in the housing (212). The first discharge port (115) may be provided to discharge air sucked by the suction motor (224) from the dust collector (141) of the robot cleaner (10) to the outside of the station (20). The first discharge port (115) may be referred to as a first station discharge port (115).

[0110] The station (20) may include an exhaust filter (226) arranged to filter air discharged through the exhaust port (214). The exhaust filter (226) may be arranged to filter air discharged from the suction motor (224). The exhaust filter (226) may be arranged adjacent to the first exhaust port (115). The exhaust filter (226) may be configured to include a HEPA filter (High Efficiency Particulate Air Filter).

[0111] The rear cover (117) may be provided with a second exhaust port (214) for exhausting air that has been exhausted through the first exhaust port (115) and filtered by the exhaust filter (226) to the outside of the station (20). A plurality of second exhaust ports (214) may be provided, and the plurality of exhaust ports (214) may be configured with a plurality of holes. The second exhaust port (214) may be referred to as a second station exhaust port (214).

[0112] At least a part of a collection device (227) for collecting waste collected in the dust collection chamber (16) of the robot cleaner (10) can be placed inside the station (20).

[0113] The collection device (227) may include a suction motor (224) and / or a waste collection bin (223).

[0114] The station (20) may include a suction motor (224). When the robot cleaner (10) is installed on the station (20), the suction motor (224) may generate a suction force to suck up the waste in the dust bin (141). By the suction force of the suction motor (224), the waste in the dust bin (141) may flow along the suction port (113) and the waste collection duct (225) and be collected in the waste collection bin (223). By the suction force generated by the suction motor (224), the discharge port (214) may suck in the air into the station (20) and discharge the air that has passed through the discharge filter (226) to the outside. The suction motor (224) may be referred to as a station suction motor (224).

[0115] 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.

[0116] The station (20) may include electrical components for charging the battery (150). For example, the station (20) may include a station power board (103). The station power board (103) may be configured to receive power from an external source and convert it to a power suitable for the station (20). The station power board (103) may be located at the lower rear side of the housing (212). The station power board (103) may be connected to a charging terminal (218) provided in the station (20). The charging terminal (218) of the station (20) may be provided in a form protruding from the housing (212). The charging terminal (218) of the station (20) may be electrically connected to the battery (150) of the robot cleaner (10) to supply power when the robot cleaner (10) is mounted on the cleaner mounting portion (2111). The charging terminal (218) of the station (20) can charge the battery of the robot cleaner (10) using a wireless charging method. The charging terminal (218) may be referred to as a station charging terminal (218).

[0117] The station (20) may include a first wheel mounting portion (2113) and a second wheel mounting portion (2114). The first wheel mounting portion (2113) and the second wheel mounting portion (2114) may be implemented as at least a portion of the robot cleaner mounting portion (2111a). The first wheel mounting portion (2113) or the second wheel mounting portion (2114) may be provided at a position where the robot cleaner (10) comes into contact with the main wheel (121) of the robot cleaner when the robot cleaner (10) is mounted on the cleaner mounting portion (2111). In other words, when the robot cleaner (10) is mounted on the cleaner mounting portion (2111), the main wheel (121) of the robot cleaner (10) can come into contact with the first wheel mounting portion (2113) or the second wheel mounting portion (2114). Since the main wheels (121) of the robot cleaner (10) are implemented as a pair, the first wheel mounting portion (2113) or the second wheel mounting portion (2114) can be provided at positions where they come into contact with each of the pair of main wheels (121) when the robot cleaner (10) is mounted on the cleaner mounting portion (2111).

[0118] Hereinafter, the position at which the robot cleaner (10) is seated when the main wheel (121) is seated on the first wheel seat (2113) is referred to as the 'first seated position', and the position at which the robot cleaner (10) is seated when the main wheel (121) is seated on the second wheel seat (2114) is referred to as the 'second seated position'.

[0119] When the robot cleaner (10) enters the station (20), the first wheel mounting portion (2113) may be provided in front of the second wheel mounting portion (2114).

[0120] In other words, when the robot cleaner (10) enters the station (20), it may come into contact with the second wheel mounting portion (2114) before the first wheel mounting portion (2113).

[0121] The first wheel mounting portion (2113) or the second mounting position (2114) may be implemented in a concave shape to correspond to the curvature of the main wheel (121) of the robot cleaner (10), but this is merely an example, and any shape capable of applying a fixing force when the robot cleaner (10) is mounted on the station (20) may be adopted in the shape of the first wheel mounting portion (2113) or the second mounting position (2114).

[0122] Hereinafter, with reference to FIGS. 11 and 12, the operation of the cleaning device (1) when the main wheel (121) of the robot cleaner (20) is seated on the first wheel seat (2113) or the second wheel seat (2114) will be described.

[0123] FIG. 10 schematically illustrates an enlarged view of a cleaning device (1) according to one embodiment when the main wheel (121) of the robot cleaner (10) is positioned on the first wheel mounting portion (2113) of the station (20).

[0124] According to one embodiment, when the robot cleaner (10) is seated on the station (20), the main wheel (121) of the robot cleaner (10) may be seated on the first wheel seat (2113). The seated main wheel (121) of the robot cleaner (10) on the first wheel seat (2113) may include the main wheel (121) of the cleaner (10) docking at the first seat position. In addition, the seated main wheel (121) of the robot cleaner (10) on the first wheel seat (2113) may include the main wheel (121) of the robot cleaner (10) coming into contact with the first seat position.

[0125] When the main wheel (121) of the robot cleaner (10) is seated on the first wheel mounting portion (2113), the charging terminal (151) of the robot cleaner (10) can be connected to the charging terminal (218) of the station (20). Connecting the charging terminal (151) of the robot cleaner (10) to the charging terminal (218) of the station (20) may include physical contact between the charging terminal (151) of the robot cleaner (10) and the charging terminal (218) of the station (20). The robot cleaner (10) can charge the battery (150) of the robot cleaner (10) by connecting the charging terminal (151) of the robot cleaner (10) and the charging terminal (218) of the station (20).

[0126] At this time, the processor (191) of the robot cleaner (10) can detect that the charging terminal (151) of the robot cleaner (10) is connected to the charging terminal (218) of the station (20). For example, the processor (191) of the robot cleaner (10) can determine that the charging terminal (151) of the robot cleaner (10) and the charging terminal (218) of the station (20) are connected when power is supplied through the charging terminal (151) of the robot cleaner (10).

[0127] When the main wheel (121) of the robot cleaner (10) is seated on the first wheel mounting portion (2113), the mop (160) of the robot cleaner (10) can come into contact with the washing frame (240) of the station (20). Accordingly, the mop (160) can be washed while being rubbed against the washing frame (240).

[0128] In other words, when the robot cleaner (10) is docked to the station (20), if the main wheel (121) of the robot cleaner (10) is settled at the first settling position (2113), the robot cleaner (10) can perform a charging process of the battery (150) and / or a washing process of the mop (160).

[0129] FIG. 11 schematically illustrates an enlarged view of a cleaning device (1) according to one embodiment when the main wheel (121) of the robot cleaner (10) is positioned on the second wheel mounting portion (2114) of the station (20).

[0130] According to one embodiment, when the robot cleaner (10) is seated on the station (20), the main wheel (121) of the robot cleaner (10) may be seated on the second wheel seat (2114). The seated position of the main wheel (121) of the robot cleaner (10) on the second wheel seat (2114) may include docking of the main wheel (121) of the cleaner (10) to the second seat position. In addition, the seated position of the main wheel (121) of the robot cleaner (10) on the second wheel seat (2114) may include contacting of the main wheel (121) of the robot cleaner (10) to the second seat position (2114).

[0131] When the main wheel (121) of the robot cleaner (10) is settled at the second settling position (2114), the lower door (141a) of the dust collection container (141) of the robot cleaner (10) can be opened by the lever device (140) of the station (20). Specifically, the opening of the lower door (141a) of the dust collection container (141) of the robot cleaner (10) by the lever device (140) is achieved by driving the lever device (140) by the processor (291) of the station (20) to rotate the opening link (140a) toward the suction port (213) so that the lower door (1141a) is coupled to one end of the opening link (140a) by mutual attraction, and the opening link (140a) is rotated in the opposite direction to the rotation (i.e., in the direction away from the suction port (213)) so as to open the opening of the dust collection container (141). In other words, when the robot cleaner (10) is docked to the station (20), the waste discharge process of the robot cleaner (10) can be performed when the main wheel (121) of the robot cleaner (10) is settled at the second settling position (2114).

[0132] Specifically, when the lower door (141a) of the dust collection box (141) of the robot cleaner (10) is opened, the collection device (227) and the dust collection box (141) of the robot cleaner (10) can be connected.

[0133] As the collection device (227) and the dust collector (141) of the robot cleaner (10) are connected, the processor (291) of the station (20) can drive the suction motor (224) of the collection device (227) to collect the dust collected in the dust collector (141) into the dust collector (223).

[0134] At this time, in order for the suction power of the suction motor (224) to be applied to the dust collected in the dust collector (141), the lower door (141a) of the dust collector (141) of the robot cleaner (10) must correspond exactly to the suction port (213) of the station (20) so that the lower door (141a) can be opened by a predetermined angle (Θ) or more by the lever device (140).

[0135] As described above with reference to FIGS. 11 and 12, a first and second settling positions at which the robot cleaner (10) can be settling on the station (20) can be distinguished depending on the process performed in the cleaning device (1). Accordingly, it is possible to prevent the cleaning water for performing the cleaning process from splashing into the suction port, thereby reducing the efficiency of dust suction.

[0136] Fig. 12 illustrates a control block diagram of a robot vacuum cleaner (10) according to one embodiment.

[0137] Referring to FIG. 12, a robot cleaner (10) according to one embodiment may include a position detection sensor (170), 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).

[0138] The position detection sensor (170) can obtain information about the position of the robot cleaner (10). Specifically, the information about the position of the robot cleaner (10) can include information about the position between the station (20) and the robot cleaner (10) and / or the distance from the station (20), the driving direction and / or the rotation angle of the robot cleaner (10).

[0139] The position detection sensor (170) may include a Hall sensor.

[0140] The robot cleaner processor (191) can obtain the current coordinates of the robot cleaner (10) in a two-dimensional plane based on information obtained from the position detection sensor (170).

[0141] 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).

[0142] The robot vacuum cleaner (10) may include a battery sensor that detects the charge level of the battery (150).

[0143] The robot cleaner processor (191) can detect whether the charging terminal (151) of the robot cleaner (10) is connected to the charging terminal (218) of the station (20) to charge the battery (150). For example, the robot cleaner processor (191) can detect whether the charging terminal (151) of the robot cleaner (10) is connected to the charging terminal (218) of the station (20) based on whether the charging terminal (151) of the robot cleaner (10) is powered on.

[0144] The robot cleaner processor (191) 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.

[0145] The user interface (181) may include an output interface and an input interface. The user interface (181) may be referred to as a robot vacuum cleaner user interface (181).

[0146] 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.

[0147] 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.

[0148] If the display includes a touch screen display, the touch screen display may be an example of both an output interface and an input interface.

[0149] 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).

[0150] At least one input interface can convert sensory information received from a user into an electrical signal.

[0151] At least one input interface may include a power button for turning on the robot vacuum cleaner (10).

[0152] Each button may include a visual indicator (e.g., text, an icon, etc.) that indicates its function.

[0153] 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.

[0154] 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.

[0155] 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).

[0156] In one embodiment, the user interface (181) may include an input interface for receiving a waste discharge command and / or a robot cleaner charging command.

[0157] For example, a user can obtain information from an output interface to determine whether it is necessary to discharge waste (e.g., dust, etc.) stored in a dust bin (141) of a robot vacuum cleaner (10), and if it is determined that it is necessary to discharge waste stored in the dust bin (141), a user can input a waste discharge command through an input interface.

[0158] The robot vacuum cleaner (10) can return to the station (20) when a waste discharge command is input through the input interface.

[0159] When a command to discharge waste is input through the input interface, the robot cleaner (10) can transmit a signal to drive the lever device (140) to the station (20) through the communication unit (182).

[0160] Accordingly, when the robot cleaner (10) returns to the station (20) and settles on the station (20), the station (20) can perform a waste discharge process. At this time, the station (20) can perform a charging process of the robot cleaner (10) and / or a mop (160) washing process together with the waste discharge process.

[0161] 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). The driving wheels (121, 122) may include a main wheel (121) and / or an auxiliary wheel (122).

[0162] 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.

[0163] 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.

[0164] 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).

[0165] 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.

[0166] Each of the left and right wheel motors can operate independently of each other according to a control signal from the processor (191) of the robot cleaner (10), and the main body (110) can move forward, backward, or rotate according to the operation of the left and right wheel motors. In addition, the wheel motors can operate so that the main wheel (121) and the auxiliary wheel (122) rotate independently according to a control signal from the processor (191) of the robot cleaner (10).

[0167] The processor (191) of the robot cleaner (10) can control the movement of the robot cleaner (10) by controlling the driving part (120) (e.g., wheel motor).

[0168] The brush motor (133) can rotate the brush (130).

[0169] The processor (191) of the robot vacuum cleaner (10) can control the brush motor (133) to rotate the brush (130) during dry cleaning, thereby causing foreign substances on the floor to be scattered by the brush (130).

[0170] 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).

[0171] The processor (191) of the robot cleaner (10) 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).

[0172] 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. The communication unit (182) may be referred to as a robot vacuum cleaner communication unit (182).

[0173] 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).

[0174] 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.

[0175] 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.

[0176] 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).

[0177] In one embodiment, the communication unit (182) can communicate wirelessly with the station (20).

[0178] The control unit (190) can control the overall operation of the robot cleaner (10). The control unit (190) may be referred to as a robot cleaner control unit (190).

[0179] 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). In this case, the processor (191) may be referred to as a robot cleaner processor (191), and the memory (192) may be referred to as a robot cleaner memory (192).

[0180] 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.

[0181] 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).

[0182] 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.

[0183] 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.

[0184] In one embodiment, the processor (191) can control the driving unit (120) according to certain conditions. Controlling the driving unit (120) may include moving the robot cleaner (10).

[0185] In one embodiment, the processor (191) can control the brush motor (133) and / or the suction motor (142) according to certain conditions.

[0186] Fig. 13 illustrates a control block diagram of a station (20) according to one embodiment.

[0187] Referring to FIG. 13, the station (20) may include a pressure sensor (270), a suction motor (224), a user interface (281), a communication unit (282), a lever device (140) and / or a control unit (290).

[0188] The pressure sensor (270) can obtain information about pressure changes according to air flow inside the waste collection duct (225) as the robot cleaner (10) is installed at the station (20) and the dust discharge process is performed.

[0189] The processor (291) of the station (20) can determine whether the pressure inside the waste collection duct (225) is higher than a preset reference pressure based on information obtained from the pressure sensor (270).

[0190] The processor (291) of the station (20) can determine that the lower door (141a) of the dust collection box (141) of the robot cleaner (10) is not opened by a predetermined angle or more by the lever device (140) when the pressure inside the waste collection duct (225) is lower than a preset reference pressure.

[0191] The processor (291) of the station (20) can determine that the main wheel (121) of the robot cleaner (10) is not seated on the second wheel seat (2114) when the robot cleaner (10) is seated on the station (20) if the lower door (141a) of the dust collection box (141) of the robot cleaner (10) is not opened beyond a predetermined angle. In other words, the processor (291) of the station (20) can determine that a suction port (213) blockage event has occurred when the pressure inside the waste collection duct (225) is lower than a preset reference pressure.

[0192] The suction motor (224) can generate suction force to suck up the waste in the dust collector (141).

[0193] The processor (291) of the station (20) can suck up waste from the dust collector (141) into the waste collection bin (223) by operating the suction motor (224).

[0194] The operation of the processor (291) of the station (20) to operate 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 waste suction process. When the station (20) performs the waste suction process by the processor (291) of the station (20), the robot cleaner (10) may perform the waste discharge process by the processor (191) of the robot cleaner (10). That is, the waste suction process of the station (20) may be performed simultaneously with the waste discharge process of the robot cleaner (10).

[0195] The user interface (281) may include an output interface and an input interface. The user interface (281) may be referred to as a station user interface (281).

[0196] At least one output interface can convey various information related to the operation of the station to the user by generating sensory information.

[0197] 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.

[0198] If the display includes a touch screen display, the touch screen display may be an example of both an output interface and an input interface.

[0199] 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.

[0200] At least one input interface can convert sensory information received from a user into an electrical signal.

[0201] At least one input interface may include a power button for turning on the station.

[0202] Each button may include a visual indicator (e.g., text, an icon, etc.) that indicates its function.

[0203] 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.

[0204] 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.

[0205] 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).

[0206] In one embodiment, the user interface (281) may include an input interface for receiving a dust ejection command.

[0207] If the user determines that it is necessary to discharge waste from the dust bin (141) of the robot vacuum cleaner (10), the user can input a waste discharge command through the input interface.

[0208] The station (20) can perform a waste suction operation in response to a waste discharge command input through the user interface (281).

[0209] The communication unit (282) can communicate with an external device (e.g., a server, a user device, a robot cleaner (10)) via wires and / or wirelessly. The communication unit (282) may be referred to as a station communication unit (282).

[0210] 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).

[0211] 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.

[0212] 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.

[0213] 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).

[0214] In one embodiment, the communication unit (282) can communicate wirelessly with the robot cleaner (10).

[0215] Various examples can be adopted as a method for communicating between the robot cleaner (10) and the station (20).

[0216] In one embodiment, the robot cleaner (10) and the station (20) can communicate directly via a short-range communication module.

[0217] 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).

[0218] In one embodiment, the robot cleaner (10) and the station (20) can communicate indirectly via an external server through a remote communication module.

[0219] 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).

[0220] The lever device (140) can selectively connect the collection device (227) and the dust collector (141) of the robot cleaner (10).

[0221] The processor (291) of the station (20) can drive the lever device (140) to control the open link (140a) to be selectively coupled to the lower door (141a) of the dust collector (141). In addition, the processor (291) of the station (20) can drive the lever device (140) to rotate the open link (140a) coupled to the lower door (141a) of the dust collector (141) toward the suction port or in the opposite direction to the suction port.

[0222] That is, the processor (291) of the station (20) can control the lever device (140) to allow the dust collector (141) and the guide portion (225a) of the waste collection duct (225) to communicate with each other.

[0223] The control unit (290) can control the overall operation of the station (20).

[0224] 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). In this case, the processor (291) may be referred to as a station processor (291), and the memory (292) may be referred to as a station memory (292).

[0225] 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.

[0226] 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).

[0227] 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.

[0228] 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 execute at least one instruction stored in the memory (292), thereby performing a method according to at least one embodiment of the present disclosure.

[0229] Fig. 14 illustrates a flow chart of a waste collection operation of a cleaning device (1) according to one embodiment.

[0230] Referring to FIG. 14, the robot cleaner (10) can perform a cleaning process (1401). The robot cleaner (10) can perform dry cleaning and / or wet cleaning. The robot cleaner (10) can clean a predetermined cleaning area according to a predetermined cleaning plan.

[0231] The robot cleaner (10) and / or station (20) can determine whether to initiate a waste discharge cycle and / or a waste suction cycle (1402).

[0232] For example, the robot cleaner (10) and / or station (20) can receive a command to discharge or suck up waste from a user through an input interface.

[0233] As another example, the robot cleaner (10) and / or station (20) may initiate a waste discharge stroke and / or a waste suction stroke depending on whether a preset condition is met.

[0234] The robot cleaner (10) may return to the station (20) (1403) as the waste discharge process is initiated (example of 1403). The robot cleaner (10) may return to the station (20) after completing the cleaning process. However, the present disclosure is not limited thereto, and the robot cleaner (10) may return to the station (20) even while cleaning. For example, the robot cleaner (10) may return to the station (20) even when the cleaning process is not completed, based on receiving a waste discharge command and / or a waste suction command from an external device (e.g., a user device, a server, a home appliance, the station (20), etc.).

[0235] While the robot cleaner (10) is stationed at the station (20), the waste collected in the dust collection bin (141) of the robot cleaner (10) can be moved to the waste collection bin (223) through the waste collection duct (225) (1404). Accordingly, the waste collected in the dust collection bin (141) can be removed.

[0236] At this time, the charging terminal (151) of the robot cleaner (10) is connected to the charging terminal (218) of the station (20), so that the charging process of the robot cleaner (10) and / or the washing frame (235) provided in the washing chamber (230) can be performed simultaneously or simultaneously while rubbing against the mop (160) and washing the mop (160).

[0237] Based on information acquired by various sensors provided in the cleaning device (1), the robot cleaner (10) and / or station (20) can determine whether the waste discharge and / or waste suction process is completed.

[0238] After the waste discharge and / or waste suction process is completed, the robot cleaner (10) may be arranged to wait at a station (20) (1405). The robot cleaner (10) may wait at the station (20) to establish the next cleaning plan.

[0239] Hereinafter, with reference to FIGS. 15 to 17, an example of a method for controlling a robot cleaner (10) and / or a station (20) of a cleaning device (1) so that the cleaning device (1) can perform a waste discharge and / or waste suction process at an accurate location will be described.

[0240] Fig. 15 illustrates an example of a method for controlling a robot cleaner (10) to perform a waste discharge operation at an accurate location. Hereinafter, the control operation performed by the processor (191) of the robot cleaner (10) may be performed by the processor (291) of the station (20).

[0241] According to one embodiment, the robot cleaner (10) may move to a first settling position while returning to the station (20) as the waste discharge process is initiated (1501). The moving of the robot cleaner (10) to the first settling position may include the robot cleaner (10) moving to a position where the main wheel (121) of the robot cleaner (10) is settling on the first wheel settling portion (2113). Specifically, the processor (191) of the robot cleaner (10) may control the driving unit (120) (e.g., wheel motor) to move the robot cleaner (10) to a position where the main wheel (121) is settling on the first wheel settling portion (2113). When the robot cleaner (10) is settling on the first settling position, a charging process of the battery (150) of the robot cleaner (10) and / or a washing process of the mop (160) may be performed.

[0242] The robot cleaner (10) can determine whether the main wheel (121) of the robot cleaner (10) is seated on the first wheel mounting portion (2113) (1502). Seating of the main wheel (121) on the first wheel mounting portion (2113) may include the main wheel (121) coming into contact with the first wheel mounting portion (2113).

[0243] Specifically, the processor (191) of the robot cleaner (10) can determine whether the main wheel (121) is seated on the first wheel mounting portion (2113) based on whether the charging terminal (151) of the robot cleaner (10) is connected to the charging terminal (218) of the station (20). For example, the processor (191) of the robot cleaner (10) can determine that the charging terminal (151) is connected to the charging terminal (281) of the station (20) when the charging terminal (151) of the robot cleaner (10) is in contact with the charging terminal (281) of the station (20) and is electrically connected.

[0244] In addition, the processor (191) of the robot cleaner (10) can determine whether the main wheel (121) of the robot cleaner is seated on the first wheel mounting portion (2113) based on information about the position of the robot cleaner (10) obtained from the position detection sensor (170) after determining whether the charging terminal (151) is connected to the charging terminal (281) of the station (20).

[0245] Specifically, the position detection sensor (170) may include a Hall sensor. The processor (191) of the robot cleaner (10) may obtain information about the position between the station (20) and the robot cleaner (10) and / or the distance from the station (20) from the position detection sensor (170). In addition, the processor (191) of the robot cleaner (10) may obtain information about the driving direction and / or rotation angle of the robot cleaner (10) from the position detection sensor (170). Accordingly, the processor (191) of the robot cleaner (10) may also calculate the current coordinates in a two-dimensional plane based on the information about the position of the robot cleaner (10) obtained from the position detection sensor (170).

[0246] According to one embodiment, the robot cleaner (10) determines whether the main wheel (121) of the robot cleaner (10) is seated on the first wheel mounting portion (2113), firstly, based on whether the charging terminal (151) of the robot cleaner (10) is connected to the charging terminal (281) of the station (20), whether the main wheel (121) is seated on the first wheel mounting portion (2113), and secondly, based on information about the position of the robot cleaner (10) obtained from the position detection sensor (170), whether the main wheel (121) is seated on the first wheel mounting portion (2113), thereby accurately adjusting the position of the robot cleaner (10).

[0247] The processor (191) of the robot cleaner (10) determines that the main wheel (121) of the robot cleaner (10) is seated on the first wheel seat (2113) (example of 1502), and the robot cleaner (10) can move to a second seat position (1503). The movement of the robot cleaner (10) to the second seat position may include the robot cleaner (10) moving to a position where the main wheel (121) of the robot cleaner (10) is seated on the second wheel seat (2114). Specifically, the processor (191) of the robot cleaner (10) can control the driving unit (120) (e.g., wheel motor) to move the robot cleaner (10) to a position where the main wheel (121) is seated on the second wheel seat (2114).

[0248] At this time, the processor (191) of the robot cleaner (10) can determine whether the robot cleaner (10) has completed moving to the second settling position based on information about the position of the robot cleaner (10) obtained from the position detection sensor (170). The information about the position of the robot cleaner (10) may include information about the position between the station (20) and the robot cleaner (10) and / or the distance from the station (20).

[0249] For example, the position detection sensor (170) may include a Hall sensor, and the position detection sensor (170) may convert a change in a magnetic field according to a change in the position between magnets provided in the station (20) into an electric signal to obtain information about the position between the station (20) and the robot cleaner (10) and / or the distance from the station (20). The processor (191) of the robot cleaner (10) may also calculate the current coordinates of the robot cleaner (10) in a two-dimensional plane based on the information about the position between the station (20) and the robot cleaner (10) and / or the distance from the station (20) obtained from the position detection sensor (170). Accordingly, the processor (191) of the robot cleaner (10) may compare the calculated current coordinates of the robot cleaner (10) in the two-dimensional plane with the coordinates of a preset second settling position to determine whether the robot cleaner (10) has completed moving to the second settling position.

[0250] The processor (191) of the robot cleaner (10) compares the current coordinates on the two-dimensional plane with the coordinates of the preset second settling position, and if it is determined that the robot cleaner (10) has not completed moving to the second settling position, the processor (191) may control the driving part (120) (e.g., wheel motor) of the robot cleaner (10) to move the robot cleaner (10) back to the position where the main wheel (121) is settling on the second wheel settling part (2114).

[0251] The robot vacuum cleaner (10) can initiate a waste discharge process based on the main wheel (121) being seated on the second wheel mounting portion (2114) (1504).

[0252] The processor (191) of the robot cleaner (10) can control multiple components of the robot cleaner (10) for the waste discharge process. For example, the processor (191) of the robot cleaner (10) can stop the operation of the suction motor (142) of the robot cleaner (10) to prevent the collected dust from spreading when the dust collection container (141) is opened. In addition, the processor (291) of the station (20) can start the operation of the suction motor (224) of the station (20). Accordingly, a flow of air containing contamination is generated in the waste collection duct (225), and waste collected in the dust collection container (141) of the robot cleaner (10) can move to the waste collection container (223) of the station (20).

[0253] The robot cleaner (10) can determine whether a suction inlet (213) blockage event has been received from the station (20) (1505).

[0254] Specifically, the processor (191) of the robot cleaner (10) communicates with the communication unit (282) of the station (20) via the communication unit (182) wired / wireless and can obtain data on whether a clogging event of the suction port (213) of the station (20) has occurred.

[0255] In addition, the processor (191) of the robot cleaner (10) receives data including information (e.g., information regarding a detection value of a pressure sensor (270)) for determining whether a clogging event of the suction port (213) of the station (20) has occurred through the communication unit (182), and can determine whether a clogging event of the suction port (213) has occurred based on the information received from the station (20).

[0256] The robot cleaner (10) can perform a waste discharge process until it receives a suction inlet (213) blockage event from the station (20) (No of 1505).

[0257] The robot cleaner (10) can stop the waste discharge process (1506) based on receiving an occurrence of a suction inlet (213) blockage event from the station (20) (example of 1505). After stopping the waste discharge process, the robot cleaner (10) can adjust its position to be located at the correct position (1507).

[0258] Adjusting the position of the robot cleaner (10) may include determining the driving speed and / or driving distance of the robot cleaner (10) and moving the robot cleaner so that the main wheel (121) of the robot cleaner (10) is seated on the second wheel seat (2114) (i.e., so that the robot cleaner (10) is seated at the second seat position).

[0259] At this time, the processor (191) of the robot cleaner (10) can determine the driving speed and driving distance of the robot cleaner (10) in order to place the main wheel (121) of the robot cleaner (10) on the second wheel mounting portion (2114). The processor (191) of the robot cleaner (10) can determine the driving speed and / or driving distance of the robot cleaner (10). For example, the processor (191) of the robot cleaner (10) can determine the driving speed and / or driving distance so that the main wheel (121) of the robot cleaner (10) moves to the second wheel mounting portion (2114) and then moves within a driving distance of about 10 mm at a driving speed of about 50 mm / s.

[0260] Accordingly, the processor (191) of the robot cleaner (10) can control the driving unit (120) to move the robot cleaner (10) according to the determined driving speed and / or driving distance.

[0261] The robot cleaner (10) can restart the waste discharge process as the position adjustment is completed (1508). The robot cleaner (10) can perform the waste discharge process and determine whether the waste discharge is complete (1509). For example, the robot cleaner (10) can determine that the waste discharge is complete when a preset time has elapsed after the waste discharge process is restarted. However, this is merely an example, and the method by which the robot cleaner (10) determines that the waste discharge process is complete may vary. For example, the robot cleaner (10) can determine that the waste discharge process is complete when it receives a signal from the station (20) indicating that the waste discharge (suction) process is complete.

[0262] If the robot vacuum cleaner (10) determines that waste discharge is not complete (No of 1509), it can perform the waste discharge process.

[0263] When the robot cleaner (10) determines that waste discharge is complete (example of 1509), the robot cleaner (10) can return to the first settling position (1510).

[0264] Returning the robot cleaner (10) to the first settling position may include moving the robot cleaner (10) to a position where the main wheel (121) of the robot cleaner (10) is settling on the first wheel settling portion (2113). After returning to the first settling position, the robot cleaner (10) may perform a preparation process to perform the next cleaning process. For example, the robot cleaner (10) may perform a charging process and / or a mop (160) washing process to charge the battery (150). In addition, the robot cleaner (10) may wait at the station (20) until the next cleaning process.

[0265] Figures 16 and 17 illustrate an example of a method for controlling a station (20) to perform a waste discharge operation at an accurate location according to one embodiment.

[0266] According to one embodiment, the station (20) may initiate a waste suction process (1601). The waste suction process of the station (20) may be performed simultaneously with the waste discharge process of the robot cleaner (10). For example, step 1504 of FIG. 15 and step 1601 of FIG. 16 may be operations performed at the same time.

[0267] Specifically, the processor (291) of the station (20) can control the lever device (140) to initiate a waste suction process so that the opening link (140a) can be coupled to the lower door (141a) of the dust collector (141) to open the lower door (141a). At this time, the processor (291) of the station (20) can control the lever device (140) so that the opening link (141a) coupled to the lower door (141a) rotates in a direction away from the suction port (213). Accordingly, the opening of the dust collector (141) can be formed at a position corresponding to the suction port (213) of the station (20). The processor (291) of the station (20) can control the station suction motor (224) to move the waste collected in the dust collector (141) to the waste collection container (223) of the collection device (227). At this time, as the station suction motor (224) is driven by the processor (291) of the station (20), an air flow according to the suction force of the suction motor (224) is generated in the waste collection duct (225), and air pressure may be generated inside the waste collection duct (225).

[0268] The station (20) can determine whether the detection value of the pressure sensor (270) is less than the reference pressure during the reference time (1602). At this time, the reference time and / or the reference pressure may be preset values. If the dust collector (141) of the robot cleaner (10) is not positioned at a position where the lever device (140) can open the lower door (141a) of the dust collector (141) by a predetermined angle or more, the cross-sectional area of ​​the suction port (213) may not be sufficiently secured, so that the detection value of the pressure sensor (270) may be measured as less than the reference pressure during the reference time.

[0269] Referring to Fig. 10, in order for the dust collector (141) of the robot cleaner (10) to open the lower door (141a) of the dust collector (141) by a predetermined angle or more by the lever device (140), the main wheel (121) must be seated on the second wheel seat (2114) when the robot cleaner (10) is seated on the station (20). Therefore, the detection value of the pressure sensor (270) being less than the reference pressure may include that the main wheel (121) of the robot cleaner (10) is not seated on the second wheel seat (2114).

[0270] Station (20) can continue to perform the waste suction process if the detection value of the pressure sensor (270) increases above the reference pressure during the reference time (No of 1602).

[0271] That is, when the detection value of the pressure sensor (270) increases above the reference pressure during the reference time, the processor (291) of the station (20) determines that the main wheel (121) of the robot cleaner (10) is seated on the second wheel mounting portion (2114), and can continue to perform the waste suction process.

[0272] On the other hand, the station (20) can determine that a suction port (213) blockage event has occurred if the detection value of the pressure sensor (270) does not increase above the reference pressure during the reference time (i.e., if the detection value of the pressure sensor (270) is less than the reference pressure during the reference time, example 1602) (1603).

[0273] Accordingly, the station (20) can transmit a signal indicating that a suction inlet (213) clogging event has occurred to the robot cleaner (10) by communicating with the robot cleaner (10) via the communication unit (282) via wired / wireless communication (1604). That is, step 1604 of FIG. 16 may correspond to the example of step 1505 of FIG. 15.

[0274] In addition, the station (20) can stop the waste suction process (1605). The occurrence of a blockage event may include that the main wheel (121) of the robot cleaner (10) is not seated on the second wheel mounting portion (2114). Accordingly, the station (20) can stop the waste suction process to prevent waste collected in the dust collector (141) from leaking out of the robot cleaner (10) as the waste suction process is performed when the position of the robot cleaner (10) is adjusted.

[0275] The station (20) can simultaneously or indirectly transmit a suction inlet (213) clogging event to the robot cleaner (10) and stop the waste suction process.

[0276] Referring to FIG. 17, the station (20) can perform a series of operations to close the opening of the dust collection container (141) in order to prevent the collected dust from leaking out of the robot cleaner (10) in addition to stopping the dust suction process.

[0277] The station (20) can control the lever device (140) to rotate the open link (140a) in a direction closer to the suction port (1607).

[0278] As described above, the processor (291) of the station (20) can control the lever device (140) to open the lower door (141a) of the dust collector (141) by initiating the waste suction process (i.e., step 1601). That is, the processor (291) of the station (20) maintains the opening link (141a) coupled with the lower door (141a) rotated by a predetermined angle in a direction away from the suction port (213).

[0279] At this time, the processor (291) of the station (20) can control the lever device (140) to close the suction port (213) based on the fact that the waste suction stroke has been stopped (1606).

[0280] The processor (291) of the station (20) can control the lever device (140) so that the open link (141a) coupled with the door (141a) rotates in a direction closer to the suction port (213).

[0281] Accordingly, the lower door (141a) of the dust collector (141) is closed, and the opening of the dust collector (141) can also be closed. That is, the processor (291) of the station (20) controls the lever device (140) to close the opening of the dust collector (141) before the robot cleaner adjusts its position (i.e., step 1507 of FIG. 15), thereby preventing the waste stored in the dust collector (141) from being dispersed to the outside.

[0282] The station (20) can control the lever device (140) to close the opening of the dust collector (141), and then determine whether the position adjustment of the robot cleaner (10) is complete (1607).

[0283] For example, the processor (291) of the station (20) communicates with the robot cleaner (10) via a communication unit (283) via wired / wireless communication, and can determine whether the position adjustment of the robot cleaner (10) is completed based on whether a position adjustment completion signal is received from the robot cleaner (10).

[0284] As another example, the station (20) can determine whether the position adjustment of the robot cleaner (10) is complete based on information about the position of the robot cleaner (10) acquired by the position detection sensor (170) of the robot cleaner (10) through communication with the robot cleaner (10).

[0285] As another example, the station (20) includes a physical switch (not shown) in the second wheel mounting portion (2114), and can determine whether the position adjustment of the robot cleaner (10) is complete based on the on / off of the physical switch.

[0286] The processor (291) of the station (20) can restart the waste suction process based on the determination that the position adjustment of the robot cleaner (10) is complete (1608).

[0287] The station (20) can control the lever device (140) to open the suction port (213) (1609).

[0288] Specifically, the processor (291) of the station (20) can control the lever device (140) in a direction in which the open link (140a) moves closer to the suction port (213) based on the determination that the position adjustment of the robot cleaner (10) is complete. Thereafter, the processor (291) of the station (20) can control the lever device (140) in a direction in which the open link (140a) moves away from the suction port (213) based on the combination of the open link (140a) and the lower door (141a). Accordingly, the suction port (213) is opened, and the dust collector (141) of the robot cleaner (10) and the waste collection container (223) of the station (20) can be connected through the waste collection duct (225).

[0289] Accordingly, the station (20) can prevent the cleaning device (1) and its surrounding environment from being contaminated by the dirt in the dust collector (141) by closing the suction port (213) when the robot cleaner (10) moves to a suitable position for performing the dirt suction process.

[0290] A cleaning device (1) according to one embodiment comprises a robot cleaner (10) including a driving unit (120) including a main wheel (121) and a wheel motor driving the main wheel (121) and a dust collector (141) having one side openable and storing waste; a station (20) including a dust collector (223), a suction port (213) through which waste is introduced from the dust collector (141), a mounting portion (2111) provided for mounting the robot cleaner (10), and a waste collection duct (225) having one end communicated with the suction port (213) and the other end communicated with the waste collector (223); And at least one processor (191, 291) for controlling the operation of the robot cleaner (10) and the station (20); wherein the robot cleaner (10) further includes a position detection sensor (170) for obtaining information about the position of the robot cleaner as the robot cleaner (10) moves by the driving unit (120), and the station (20); further includes a pressure sensor (270) for obtaining information about the pressure inside the waste collection duct (225), and the at least one processor (191, 291); can control the driving unit (120) to adjust the position of the robot cleaner (10) so that the opening of the dust collection container (141) corresponds to the suction port (213) based on information obtained from the position detection sensor (170) and the pressure sensor.

[0291] The above-mentioned mounting portion (2111) includes a first wheel mounting portion (2113) on which the main wheel (121) can be mounted, and a second wheel mounting portion (2114) spaced apart from the first wheel mounting portion (2113), and when the robot cleaner (10) enters the station (20), the first wheel mounting portion (2113) can be provided in front of the second wheel mounting portion (2114).

[0292] The robot cleaner (10); further includes a battery (150) and a robot cleaner charging terminal (151) for charging the battery (150), the station (20); further includes a station charging terminal (218) connectable to the robot cleaner charging terminal (151), and the at least one processor (191, 291); can determine that the main wheel (121) is positioned at the first wheel mounting portion (2113) based on the connection of the robot cleaner charging terminal (151) and the station charging terminal (218).

[0293] The above position detection sensor (170) may include a Hall sensor that detects a change in a magnetic field between a magnetic body located at a position spaced apart from the position detection sensor (170).

[0294] The above station (20) includes a magnetic body, and the at least one processor (191, 291) may include information about the position of the robot cleaner (10) obtained by the position detection sensor (170) including at least one of the position of the robot cleaner (10) based on the station (20) or the distance between the station and (20) and the robot cleaner (10).

[0295] The main wheel (121) includes an encoder disk and a magnetic body attached to the encoder disk, and information about the position of the robot cleaner (10) obtained by the position detection sensor (170) may include at least one of the driving direction, rotational speed, or rotational angle of the main wheel (121).

[0296] The at least one processor (191, 291) can determine whether the main wheel (121) is positioned at the first wheel mounting portion (2113) based on information about the position of the robot cleaner (10) obtained by the position detection sensor (170) after determining that the main wheel is positioned at the first wheel mounting portion (2113) based on the connection of the robot cleaner charging terminal (151) and the station charging terminal (218).

[0297] The at least one processor (191, 291) can move the main wheel (121) to the second wheel mounting portion (2114) based on determining that the main wheel (121) is located in the first wheel mounting portion (2113).

[0298] The at least one processor (191, 291) may determine at least one of a driving speed or a driving distance for moving the main wheel (121) to the second wheel mounting portion (2114) based on information about the position of the robot cleaner (10) obtained by the position detection sensor (170).

[0299] The above station (20); includes a station suction motor (224) that generates a suction force to transport the waste to the waste collection bin (223), and the at least one processor (191, 291); can determine whether the detection value of the pressure sensor (270) is less than a preset reference pressure for a preset reference time as the main wheel (121) is seated on the second wheel mounting portion (2114) and the suction motor (224) is driven.

[0300] The at least one processor (191, 291) can control the driving unit (120) to adjust the position of the robot cleaner (10) based on the detection value of the pressure sensor (270) being less than a preset reference pressure for a preset reference time.

[0301] The robot cleaner (10); further includes a lower door (141a) provided in the opening of the dust collection container (141), and the station (20); further includes an opening link (140a) coupled with the lower door (141a), and a lever device (140) that opens and closes the opening of the dust collection container (141) by rotating the opening link (140a), and the at least one processor (191, 291) can control the lever device (140) to close the opening of the dust collection container (141) to close the suction port (213) before controlling the driving unit (120) to adjust the position of the robot cleaner (10) based on the detection value of the pressure sensor (170) being less than a preset reference pressure for a preset reference time.

[0302] In a control method of a cleaning device (1) including a robot cleaner (10) according to one embodiment and a station (20) provided for the robot cleaner (10) to be installed, the method may include: when the robot cleaner (10) is installed in the station (20) and enters the station (20) to perform a waste discharge process, obtaining information about the position of the robot cleaner (10) from the position detection sensor (170), obtaining information about the pressure inside a waste collection duct (225) of the station (20) from a pressure sensor (270), and adjusting the position of the robot cleaner (10) based on the information obtained from the position detection sensor (170) or the pressure sensor (270) so that the opening of the dust collection container (141) of the robot cleaner (10) corresponds to the suction port (213) of the station (20) through which the waste flows in from the dust collection container (141).

[0303] The above station (20) includes a first wheel mounting portion (2113) on which the main wheel (121) of the robot cleaner (10) can be mounted, and a second wheel mounting portion (2114) spaced apart from the first wheel mounting portion (2113), and when the robot cleaner (10) enters the station (20), the first wheel mounting portion (2113) is provided in front of the second wheel mounting portion (2114), and it may further include determining that the main wheel (121) is mounted on the first wheel mounting portion (2113) based on the connection between the robot cleaner charging terminal (151) and the station charging terminal (218).

[0304] The position detection sensor (170) may further include a Hall sensor, obtain information about the position of the robot cleaner (10) from the position detection sensor (170), and detect a change in a magnetic field between a magnetic body located at a position spaced apart from the position detection sensor (170).

[0305] The above station (20) includes a magnetic body, and obtaining information about the position of the robot cleaner (10) from the position detection sensor (170) may include obtaining at least one of the position of the robot cleaner (10) based on the station (20) or the distance between the station (20) and the robot cleaner (10) from the position detection sensor (170).

[0306] The main wheel (131) includes an encoder disk and a magnetic body attached to the encoder disk, and obtaining information about the position of the robot cleaner (10) from the position detection sensor (170) may include obtaining at least one of the driving direction, rotational speed, or rotational angle of the main wheel (131).

[0307] The control method of the cleaning device (1) may further include re-determining whether the main wheel (131) is positioned on the first wheel mounting portion (2113) based on information about the position of the robot cleaner (10) acquired by the position detection sensor (170), after determining that the main wheel (131) is positioned on the first wheel mounting portion (2113) based on the connection of the robot cleaner charging terminal (151) and the station charging terminal (218).

[0308] The control method of the cleaning device (1) may further include moving the main wheel (131) to the second wheel mounting portion (2114) based on determining that the main wheel (131) is located at the first wheel mounting portion (2113).

[0309] The control method of the cleaning device (1) may further include determining at least one of a driving speed or a driving distance for moving the main wheel (131) to the second wheel mounting portion (2114) based on information about the position of the robot cleaner (10) obtained by the position detection sensor (170).

[0310] The above station (20) includes a station suction motor (224) that generates a suction force to transfer the waste to the waste collection bin (223), and the control method of the cleaning device (1) may further include determining whether the detection value of the pressure sensor (170) is less than a preset reference pressure for a preset reference time as the main wheel (131) is mounted on the second wheel mounting portion (2114) and the suction motor (224) is driven, and controlling the driving unit (120) of the robot cleaner to adjust the position of the robot cleaner (20) based on whether the detection value of the pressure sensor (170) is less than a preset reference pressure for a preset reference time.

[0311] A cleaning device (1) according to one aspect of the present disclosure can improve user convenience.

[0312] A cleaning device (1) according to one aspect of the present disclosure can improve cleaning efficiency.

[0313] A cleaning device (1) according to one aspect of the present disclosure can maintain cleanliness by guiding the robot cleaner to a position where the dust discharge port of the robot cleaner and the dust suction port of the station exactly correspond during the dust discharge operation of the robot cleaner to maintain a clean cleaning environment.

[0314] According to one aspect of the present disclosure, the robot cleaner (10) can be placed in a station (20) at a first settling position and a second settling position according to the process performed in the cleaning device (1), thereby preventing the cleaning water for performing the cleaning process from splashing into the suction port and reducing the efficiency of dust suction.

[0315] 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.

[0316] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0317] Computer-readable storage media include all types of storage media that store instructions that can be deciphered by a computer. Examples include read-only memory (ROM), random access memory (RAM), magnetic tape, magnetic disks, flash memory, and optical data storage devices.

[0318] Additionally, a computer-readable recording medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is permanently stored in the storage medium and cases where data is temporarily stored. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0319] According to one embodiment, the method according to various embodiments disclosed in the present document may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable recording medium (e.g., compact disc read only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored or temporarily generated on a machine-readable recording medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0320] The disclosed embodiments have been described with reference to the attached drawings as described above. Those skilled in the art will understand that the present invention can be implemented in forms other than the disclosed embodiments without altering the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

Claims

1. A robot vacuum cleaner comprising a driving unit including a main wheel and a wheel motor driving the main wheel, and a dust collector having one side openable and storing dust; A station to which the above robot vacuum cleaner is docked; and At least one processor controlling the operation of the robot cleaner and the station; The above station includes a waste collection bin, a suction port through which waste is drawn in from the dust collection bin, a mounting portion for mounting the robot cleaner in response to the robot cleaner being docked to the station, and a waste collection duct having one end communicated with the suction port and the other end communicated with the waste collection bin. The above robot cleaner further includes a position detection sensor that obtains information about the position of the robot cleaner as the robot cleaner moves by the driving unit, The above station further includes a pressure sensor for obtaining information about the pressure inside the waste collection duct, A cleaning device wherein at least one processor controls the driving unit to adjust the position of the robot cleaner so that the opening of the dust collector corresponds to the suction port based on information obtained from the position detection sensor and the pressure sensor.

2. In paragraph 1, The above-mentioned mounting portion further includes a first wheel mounting portion on which the main wheel can be mounted and a second wheel mounting portion spaced apart from the first wheel mounting portion, A cleaning device in which the first wheel mounting portion is provided in front of the second wheel mounting portion when the robot cleaner enters the station.

3. In paragraph 2, The above robot vacuum cleaner further includes a battery and a robot vacuum cleaner charging terminal for charging the battery, The above station further includes a station charging terminal connectable to the robot vacuum cleaner charging terminal, At least one processor; A cleaning device that determines that the main wheel is positioned in the first wheel mounting portion based on the connection of the robot cleaner charging terminal and the station charging terminal.

4. In paragraph 3, A cleaning device in which the position detection sensor includes a Hall sensor that detects a change in a magnetic field between a magnetic body located at a position spaced apart from the position detection sensor.

5. In paragraph 4, The above station includes a magnetic body, The at least one processor is a cleaning device in which information about the position of the robot cleaner obtained by the position detection sensor includes at least one of the position of the robot cleaner based on the station or the distance between the station and the robot cleaner.

6. In paragraph 4, The above main wheel includes an encoder disk and a magnetic body attached to the encoder disk, A cleaning device, wherein information about the position of the robot cleaner obtained by the position detection sensor includes at least one of the driving direction, rotational speed, or rotational angle of the main wheel.

7. In paragraph 5 or 6, The at least one processor; is a cleaning device that determines whether the main wheel is located in the first wheel mounting portion based on information about the position of the robot cleaner acquired by the position detection sensor after determining that the main wheel is located in the first wheel mounting portion based on the connection of the robot cleaner charging terminal and the station charging terminal.

8. In paragraph 7, A cleaning device wherein at least one processor moves the main wheel to the second wheel mounting portion based on determining that the main wheel is located in the first wheel mounting portion.

9. In paragraph 8, A cleaning device wherein the at least one processor determines at least one of a driving speed or a driving distance for moving the main wheel to the second wheel mounting portion based on information about the position of the robot cleaner obtained by the position detection sensor.

10. In paragraph 9, The above station includes a station suction motor that generates suction force to transport the waste to the waste collection bin, At least one processor; A cleaning device that determines whether the detection value of the pressure sensor is less than a preset reference pressure for a preset reference time as the main wheel is mounted on the second wheel mounting portion and the suction motor is driven.

11. In paragraph 10, At least one processor; A cleaning device that controls the driving unit to adjust the position of the robot cleaner based on the detection value of the pressure sensor being less than a preset reference pressure for a preset reference time.

12. In paragraph 11, The above robot vacuum cleaner further includes a lower door provided in the opening of the dust collector, The above station further includes an opening link coupled with the lower door, and a lever device for opening and closing the opening of the dust collector by rotating the opening link, A cleaning device in which the at least one processor; controls the lever device to close the opening of the dust collector to close the suction port before controlling the driving unit to adjust the position of the robot cleaner based on the detection value of the pressure sensor being less than a preset reference pressure for a preset reference time.

13. A method for controlling a cleaning device including a robot cleaner and a station on which the robot cleaner is installed, The robot cleaner enters the station to perform a waste discharge process by settling in the station, Obtain information about the location of the robot cleaner from the location detection sensor, Obtain information about the pressure inside the waste collection duct of the station from the pressure sensor, A method for controlling a cleaning device, comprising adjusting the position of the robot cleaner so that the dust collection box opening of the robot cleaner corresponds to the suction port of the station through which the waste flows in from the dust collection box based on information obtained from the position detection sensor or the pressure sensor.

14. In paragraph 13, The station includes a first wheel mounting portion on which the main wheel of the robot cleaner can be mounted, and a second wheel mounting portion spaced apart from the first wheel mounting portion, When the robot cleaner enters the station, the first wheel mounting portion is provided in front of the second wheel mounting portion, The method for controlling the above cleaning device is as follows: A control method of a cleaning device further comprising determining that the main wheel is seated on the first wheel mounting portion based on the connection of the charging terminal of the robot cleaner and the station charging terminal.

15. In paragraph 14, The above position detection sensor includes a Hall sensor, Obtain information about the location of the robot cleaner from the position detection sensor, A control method of a cleaning device further comprising detecting a change in a magnetic field between the position detection sensor and a magnetic body located at a distance apart from the position detection sensor.

Images