Robot cleaner, station, and cleaning device

Abstract

This cleaning device comprises: a robot cleaner; and a station on which the robot cleaner is mounted. The station comprises: a station body forming the exterior of the station; an accommodation space to be formed in the station body to accommodate the robot cleaner; and a shutter provided to open and close the accommodation space, and able to move between a first position, at which the shutter covers the accommodation space, and a second position, at which the shutter opens the accommodation space. The shutter is provided to be gradually accommodated further inside the accommodation space as the shutter moves from the first position to the second position.

Description

Robot vacuum cleaners, stations, and cleaning devices

[0001] The present disclosure relates to a robot vacuum cleaner, a station, and a cleaning device.

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

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

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

[0005] One aspect of the present disclosure provides a cleaning device capable of reducing operating noise.

[0006] One aspect of the present disclosure provides a cleaning device having improved appearance quality by covering a portion of a robot cleaner docked to a station so that a portion of the robot cleaner is not visible from the outside.

[0007] 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.

[0008] According to one embodiment, a cleaning device includes a robot cleaner and a station on which the robot cleaner is mounted, the station including a station body forming an exterior of the station, a receiving space formed in the station body to receive the robot cleaner, and a shutter provided to open and close the receiving space, the shutter being movable between a first position where the shutter covers the receiving space and a second position where the shutter opens the receiving space, and the shutter is provided such that the shutter is accommodated more and more inwardly in the receiving space as it moves from the first position to the second position.

[0009] According to one embodiment, a cleaning device includes a station including a robot cleaner, an accommodation space formed to accommodate the robot cleaner, a shutter provided to open and close the accommodation space, the shutter being movable between a first position where the shutter covers the accommodation space and a second position where the shutter opens the accommodation space, and the shutter being provided to be accommodated more and more inwardly within the accommodation space as it moves from the first position to the second position, a shutter driving unit for providing power to move the shutter between the first position and the second position, a shutter driving unit having a part of the shutter driving unit supported on the station and one end of the shutter driving unit coupled to the shutter, and a control unit for controlling the shutter driving unit to close the shutter before the station manages the robot cleaner while the robot cleaner is accommodated inside the station.

[0010] 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.

[0011] 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.

[0012] FIG. 3 is a diagram illustrating a station according to one embodiment.

[0013] Figure 4 is a schematic diagram of a portion of a cleaning device according to one embodiment.

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

[0015] FIG. 6 is a bottom perspective view of a portion of a cleaning device according to one embodiment.

[0016] FIG. 7 is a cross-sectional view showing a closed shutter of a cleaning device according to one embodiment.

[0017] FIG. 8 is a cross-sectional view showing an open shutter of a cleaning device according to one embodiment.

[0018] Figure 9 is a schematic diagram of a portion of a cleaning device according to one embodiment.

[0019] Figure 10 is a drawing showing a cut along line B-B' of Figure 9.

[0020] Figure 11 is a drawing showing a cut along line C-C' of Figure 9.

[0021] FIG. 12 is a drawing showing an exploded view of a shutter and shutter drive unit of a cleaning device according to one embodiment.

[0022] FIG. 13 is a drawing illustrating a shutter and a shutter driving unit according to one embodiment.

[0023] FIG. 14 is a cross-sectional view of a portion of a cleaning device according to one embodiment.

[0024] FIG. 15 is a drawing showing a control block diagram of a cleaning device according to one embodiment.

[0025] Fig. 16 is a drawing showing a control block diagram of a cleaning method of a cleaning device according to one embodiment.

[0026] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0027] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0028] 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.

[0029] 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.

[0030] The term “and / or” includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0031] 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.

[0032] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not limit the components in any other respect (e.g., importance or order).

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Meanwhile, the terms “front,” “back,” “left,” “right,” “upper,” and “lower” used in the description below are defined based on the drawing, and the shape and position of each component are not limited by these terms.

[0038] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0039] FIG. 1 is a drawing showing a state in which a robot cleaner (10) is out of a station (20) in a cleaning device (1) according to one embodiment, FIG. 2 is a drawing showing a state in which a robot cleaner (10) is seated in a station (20) in a cleaning device (1) according to one embodiment, FIG. 3 is a drawing showing a station (20) according to one embodiment, FIG. 4 is a schematic diagram of a part of a cleaning device (1) according to one embodiment, and FIG. 5 is a bottom perspective view of a robot cleaner (10) according to one embodiment.

[0040] Referring to FIGS. 1 to 5, 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.

[0041] 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.

[0042] The robot cleaner (10) can be installed 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 a receiving space (210a) formed on the station (20).

[0043] The robot vacuum cleaner (10) can move to the station (20) during cleaning and / or after cleaning is completed.

[0044] For example, the robot vacuum cleaner (10) may move to the station (20) when charging is required, when the dust bin needs to be emptied, when the water in the water tank is low, 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.

[0045] 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).

[0046] For example, while the robot cleaner (10) is seated on the station (20), the station (20) can charge the battery of the robot cleaner (10). For example, while the robot cleaner (10) is seated on the station (20), the station (20) can collect the waste collected in the dust bin of the robot cleaner (10). For example, while the robot cleaner (10) is seated on the station (20), the station (20) can supply water to the water tank of the robot cleaner (10). For example, while the robot cleaner (10) is seated on the station (20), the station (20) can wet the mop (160) with water and / or steam.

[0047] A robot cleaner (10) may include a cleaner body (110). The cleaner body (110) may form the overall appearance of the robot cleaner (10). Components of the robot cleaner (10) may be accommodated inside the cleaner body (110). Electrical components may be arranged inside the body.

[0048] 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 cleaner body (110). The suction port (111) may be formed at the lower portion of the cleaner body (110). The suction port (111) may be formed to penetrate the lower surface of the cleaner body (110). Dirt on the surface to be cleaned may be sucked into the interior of the cleaner body (110) through the suction port together with air. The suction port (111) may be referred to as a cleaner suction port (111).

[0049] 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.

[0050] 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 cleaner body (110). The rotation axis of the first brush (131) may be an axis extending approximately along a horizontal direction. The first brush (131) may be referred to as a main brush.

[0051] The robot cleaner (10) may include a second brush (132) positioned adjacent to the lower edge of the cleaner body (110). The second brush (132) may guide dirt around the cleaner body (110) that the first brush (131) cannot sweep away to the suction port. The second brush (132) may be rotatably mounted relative to the cleaner body (110). The rotation axis of the second brush (132) may be an axis extending approximately along a vertical direction. The second brush (132) may be referred to as a side brush.

[0052] The robot vacuum cleaner (10) may include a dust collector. Dirt and / or air sucked in through the suction port (111) may travel to the dust collector. Dirt sucked in through the suction port (111) may be collected in the dust collector. Air sucked in through the suction port (111) may be filtered as it passes through the dust collector. Dirt and air sucked in through the suction port (111) may be separated from the dust collector.

[0053] The robot cleaner (10) may include an exhaust port (112). The exhaust port (112) may be formed in the cleaner body (110). The exhaust port (112) may be formed on the rear side of the cleaner body (110). Air sucked in through the suction port 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 (112) may be configured with a plurality of holes. The exhaust port (112) may be referred to as a cleaner exhaust port (112).

[0054] The robot cleaner (10) may include a suction motor. The suction motor may generate suction force. By the suction force generated by the suction motor, the suction inlet may suck in dirt and / or air. By the suction force generated by the suction motor, 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 may be disposed on an air path formed between the suction inlet (111) and the exhaust port (112). The suction motor may be referred to as a vacuum cleaner suction motor.

[0055] The robot cleaner (10) may include a driving device (120) for driving the robot cleaner (10). The driving device (120) may be mounted on the main body and may move the cleaner main body (110). For example, the driving device (120) may include a pair of main wheels (121). For example, the driving device (120) may further include at least one auxiliary wheel (122) for stable driving of the robot cleaner (10).

[0056] The robot vacuum cleaner (10) may include a battery. The battery may be configured to be rechargeable. The battery may provide the power required to operate the robot vacuum cleaner (10).

[0057] The robot cleaner (10) may include a cleaner charging terminal (151). The cleaner charging terminal (151) may be electrically connected to a battery. While the robot cleaner (10) is docked on the station (20), the cleaner charging terminal (151) of the robot cleaner (10) may be electrically connected to the station charging terminal (218) of the station (20). As the cleaner charging terminal (151) is electrically connected to the station charging terminal (218), the battery of the robot cleaner (10) may be charged. That is, the battery may be charged while the robot cleaner (10) is docked on the station (20).

[0058] The robot cleaner (10) may include a mop (160). The mop (160) may be detachably mounted on the lower part of the main body. 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. The mop (160) may be referred to as a wet pad.

[0059] The mop (160) can be supplied with moisture from the water tank of the robot cleaner (10). The mop (160) can be supplied with moisture from the station (20). For example, if the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, water stored in the water tank can be supplied to the mop (160). For example, if the moisture content of the mop (160) decreases while the robot cleaner (10) is cleaning, the robot cleaner (10) can return to the station (20) and be seated on the station (20). At this time, the station (20) can supply water to the water tank or spray water and / or steam toward the mop (160).

[0060] The robot cleaner (10) may include a water charging unit (140). The water charging unit (140) may be formed in the cleaner body (110). The water charging unit (140) may be formed on the rear side of the cleaner body (110). While the robot cleaner (10) is mounted on the station (20), the water charging unit (140) may receive water provided from the station (20). The water supplied to the robot cleaner (10) through the water charging unit (140) may be stored in a water tank. While the robot cleaner (10) is mounted on the station (20), the water charging unit (140) of the robot cleaner (10) may be docked with a water supply spray unit (217) of the station (20).

[0061] The robot vacuum cleaner (10) may include an obstacle detection sensor (170). The obstacle detection sensor (170) may be configured to detect the location of an obstacle or the distance to the obstacle. The obstacle detection sensor (170) may be mounted on the vacuum cleaner body (110). For example, the obstacle detection sensor (170) may protrude from the upper surface of the vacuum cleaner body (110).

[0062] The station (20) may include a base (214) and a station body (210) that can be detachably coupled to the base (214). The station body (210) may form the overall appearance of the station (20). The station body (210) may form a receiving space (210a) for receiving at least a portion of the robot cleaner (10). The station body (210) may include a first station body (211), a second station body (212), and a third station body (213). The first station body (211), the second station body (212), and the third station body (213) are not necessarily formed separately, and some or all of them may be formed integrally. For example, the second station body (212) and the third station body (213) may be formed integrally.

[0063] The base (214) may include a cleaner mounting portion (214a) on which the robot cleaner (10) is mounted. The cleaner mounting portion (214a) may have a shape inclined from the surface to be cleaned so that the robot cleaner (10) may enter. For example, the cleaner mounting portion (214a) may include a shape inclined upward along the direction in which the robot cleaner (10) enters the station (20). For example, an anti-slip portion (216) may be formed on the cleaner mounting portion (214a) so that the robot cleaner (10) can easily climb the inclined surface of the cleaner mounting portion (214a). For example, an anti-slip protrusion (215) may be formed on the cleaner mounting portion (214a) to prevent the robot cleaner (10) mounted on the station (20) from slipping along the inclined surface of the cleaner mounting portion (214a). The robot cleaner (10) installed on the station (20) can be prevented from leaving the station (20) by the anti-slip barrier (215).

[0064] 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 a water tank of the robot cleaner (10) or to a washing chamber (230) of the station (20). That is, the water stored in the water tank (221) may be used to provide moisture to a mop (160) or to wash the mop (160). The water tank (221) may be detachably mounted on the station body (210). For example, a user may hold the water tank handle (221a) to detach the water tank (221) from the body or attach the water tank (221) to the station body (210).

[0065] 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 obtained by washing the mop (160) may be stored in the waste tank (222). The waste tank (222) may be detachably mounted on the station body (210). For example, a user may detach the waste tank (222) from the station body (210) or attach the waste tank (222) to the station body (210) by grasping the waste tank handle (222a).

[0066] 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 bin of the robot cleaner (10). The waste collection bin (223) may be detachably mounted on the station body (210). For example, a user may hold the waste collection bin handle (223a) to detach the waste collection bin (223) from the station body (210) or attach the waste collection bin (223) to the station body (210).

[0067] 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, but there is no restriction on the positions of the sewage tank (222), the water supply tank (221), and the sewage collection tank (223).

[0068] The station (20) may include a steam generating device (250). The steam generating device (250) may generate steam. The steam generating device (250) may generate steam using water stored in a water tank (221). The steam generating device (250) may receive water stored in the water tank (221) to generate steam.

[0069] The steam generator (250) may be placed below the water tank (221). When supplying water from the water tank (221) to the steam generator (250), the pump can pump the water from the water tank (221) with relatively low power with the help of gravity.

[0070] The steam generator (250) may include a steam tank capable of receiving water delivered from a water supply tank (221).

[0071] The steam generating device (250) may include a heater configured to heat water contained in a steam container. Steam may be generated as the water within the steam container is heated by the heater. For example, the heater may heat the water using vibration and / or electrical resistance. However, the present disclosure is not limited to the above-described examples, and the type of heater is not limited as long as it can heat water and generate steam.

[0072] The station (20) may include a drying device, although not shown. The drying device may be configured to generate air for drying the mop (160). The drying device may be configured to supply dry air to the cleaning chamber (230). While the robot cleaner (10) is mounted on the station (20), dry air discharged from the drying device may be directed toward the mop (160).

[0073] The station (20) may include a washing chamber (230). While the robot cleaner (10) is mounted on the station (20), the washing chamber (230) may be provided to correspond to the mop (160). The washing chamber (230) may be defined as a space where the mop (160) is washed. The washing chamber (230) may be provided to receive water delivered from a water tank (221). The washing chamber (230) may have a shape for containing water. While the robot cleaner (10) is mounted on the station (20), the mop (160) can be washed by the water received in the washing chamber (230).

[0074] The washing chamber (230) may be formed in the base (214) of the station (20). The washing chamber (230) may be provided to be sunken from the cleaner mounting portion (214a).

[0075] 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 to 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.

[0076] The station (20) may include a station charging terminal (218). While the robot cleaner (10) is docked on the station (20), the station charging terminal (218) may be electrically connected to the cleaner charging terminal (151). As the station charging terminal (218) and the cleaner charging terminal (151) are electrically connected, the battery of the robot cleaner (10) may be charged. That is, the robot cleaner (10) may be charged while docked on the station (20).

[0077] The station (20) may include a water supply nozzle (217). The water supply nozzle (217) may receive water stored in a water tank (221) and supply it to the robot cleaner (10).

[0078] While the robot cleaner (10) is mounted on the station (20), the water supply nozzle (217) of the station (20) can be connected to the water charging nozzle (140) of the robot cleaner (10). Water flowing out from the water supply nozzle (217) can flow into the water charging nozzle (140). Water flowing in through the water charging nozzle (140) can be stored in a water tank.

[0079] The cleaning device (1) may generate noise during the process of managing the robot cleaner (10) within the station (20). The noise within the cleaning device (1) may cause discomfort to the user. To prevent this, the station (20) may include a shutter (260) for opening or closing the receiving space (210a). For example, the process of managing the robot cleaner (10) may include processes such as washing the mop (160) of the robot cleaner (10), emptying dust, dehydrating the mop (160), and drying the mop (160).

[0080] The shutter (260) may be formed in a roughly rectangular plate shape. When the shutter (260) is opened, the robot cleaner (10) can move between the outside and inside of the receiving space (210a). When the shutter (260) is closed, the robot cleaner (10) is inside the receiving space (210a) or cannot enter from the outside to the inside of the receiving space (210a).

[0081] The first station body (211), the second station body (212), the third station body (213), and the shutter (260) can prevent noise generated from the space inside the station (20) from being transmitted to the outside of the station (20). For example, noise generated during the maintenance process of the robot cleaner (10) can be prevented from being transmitted to the outside by the station body (210) and the shutter (260) in which the receiving space for accommodating the robot cleaner (10) is formed.

[0082] Fig. 6 is a bottom perspective view of a portion of a cleaning device (1) according to one embodiment. Specifically, Fig. 6 is a drawing showing a third station body (213) viewed from the bottom of the station body (210) with the shutter (260) open.

[0083] The cleaning device (1) may include a shutter drive unit (300) that provides power to move the shutter (260) between a first position covering the receiving space (210a) and a second position opening the receiving space (210a). The shutter drive unit (300) may be supported on a part of the station (20) to move the shutter (260).

[0084] The station (20) may include a guide portion (270) that protrudes from the inner wall of the station body (210) and guides the movement of the shutter (260). The guide portion (270) may include a first guide rail (271) and a second guide rail (272). The first guide rail (271) may guide the movement of the shutter (260) in the forward and backward direction. The second guide rail (272) may guide the movement of the shutter (260) in the forward and backward and up and down directions.

[0085] The shutter (260) may include a shutter body (263) forming the exterior of the shutter (260), a first guide protrusion (261) and a second guide protrusion (262) that are supported by a part of the station (20) and guide the movement of the shutter (260), and a rotation rib (273) connected to the shutter driving unit (300).

[0086] The shutter body (263) may be formed in a roughly rectangular plate shape. While the shutter (260) moves from the first position to the second position, the shutter body (263) may be gradually accommodated into the accommodation space (210a). This prevents the shutter (260) from being exposed to the outside of the station (20).

[0087] The first guide protrusion (261) may be formed to correspond to the first guide rail (271). The first guide protrusion (261) may be supported on a part of the first guide rail (271). The first guide protrusion (261) may be formed on both sides of the shutter body (263). The first guide protrusion (261) may prevent the shutter (260) from deviating from the path together with the first guide rail (271).

[0088] The second guide protrusion (262) may be formed to correspond to the second guide rail (272). The second guide protrusion (262) may be supported on a part of the second guide rail (272). The second guide protrusion (262) may be formed on both sides of the shutter body (263). The second guide protrusion (262) may prevent the shutter (260) from deviating from a specific path together with the second guide rail (272).

[0089] The first guide rail (271) may be formed in a rail shape extending in a roughly straight line. The second guide rail (272) may be formed in a rail shape extending in a roughly curved shape.

[0090] The shutter driving unit (300) may have one end of the shutter driving unit (300) coupled to the shutter (260). The shutter driving unit (300) and the shutter (260) may be detachably coupled. For example, one end of the shutter driving unit (300) may be detachably coupled to the rotary rib (273) of the shutter (260).

[0091] The station (20) may include a mounting rib (281) provided to allow the shutter driving unit (300) to be mounted. The mounting rib (281) may be formed to protrude from the inner wall of the station body (210) at the upper portion of the receiving space (210a) in a direction toward the receiving space. The mounting rib (281) may support a portion of the shutter driving unit (300) and guide the movement of the shutter driving unit (300).

[0092] Fig. 7 is a cross-sectional view illustrating a closed shutter (260) of a cleaning device (1) according to one embodiment, and Fig. 8 is a cross-sectional view illustrating an open shutter (260) of a cleaning device (1) according to one embodiment. Specifically, Fig. 7 is a view illustrating a state in which the shutter (260) is in a first position, and Fig. 8 is a view illustrating a state in which the shutter (260) is in a second position. Figs. 7 and 8 are views illustrating a closed shutter (260) or an open shutter (260) taken along line A-A' of Fig. 6.

[0093] Referring to FIGS. 7 and 8, the shutter (260) can move between a first position and a second position along a roughly curved movement path. When the shutter drive unit (300) operates while the shutter (260) is in the first position, the shutter drive unit (300) can move one end of the shutter (260) toward the rear of the station (20).

[0094] The guide portion (270) may include a separation rib (274) that separates the first guide rail (271) and the second guide rail (272). When the shutter (260) moves from the first position to the second position, the separation rib (274) may contact the second guide protrusion (262) at the second position, thereby preventing the shutter (260) from being further accommodated into the accommodation space (210a) at the second position.

[0095] The shutter (260) may be configured to be gradually accommodated inwardly of the receiving space (210a) as it moves from the first position to the second position. For example, as the shutter (260) moves from the first position to the second position, the center of the shutter body (263) may gradually move inwardly of the receiving space (210a). This prevents the shutter (260) from being exposed to the outside of the station main body (210). However, not all parts of the shutter (260) are necessarily accommodated in the receiving space (210a), and a portion of the shutter (260) may be exposed to the outside of the receiving space (210a).

[0096] FIG. 9 is a schematic diagram of a part of a cleaning device (1) according to one embodiment, FIG. 10 is a drawing showing a cut along line B-B' of FIG. 9, FIG. 11 is a drawing showing a cut along line C-C' of FIG. 9, and FIG. 12 is a drawing showing a disassembled view of a shutter (260) and a shutter drive unit (300) of a cleaning device (1) according to one embodiment.

[0097] The shutter driving unit (300) may include a driving source (310) and a power transmission unit (320) that transmits the power of the driving source (310) to the shutter (260). The driving source (310) may provide power to move the shutter (260). The shutter driving unit (300) may convert the rotational power of the driving source (310) into a curved motion of the shutter (260).

[0098] The driving source (310) may be a motor. The driving source (310) may provide rotational force. The shaft of the driving source (310) may be coupled with a pinion gear (330). The pinion gear (330) may rotate together as the driving source (310) rotates.

[0099] The power transmission unit (320) can convert the rotational power of the driving source (310) into linear motion. The power transmission unit (320) can include a transmission body (321) that can receive the power of the driving source (310), a support rib (322) protruding from one side surface of the transmission body (321), and a coupling rib (323) protruding from the other side surface of the transmission body (321).

[0100] The transmission body (321) may be formed in a roughly flat bar shape. One end of the transmission body (321) may be accommodated in a mounting rib (281). The other end of the transmission body (321) may be coupled to a shutter (260). The mounting rib (281) may prevent the power transmission unit (320) from being separated from the space between the mounting ribs (281) provided on the upper side of the accommodation space (210a). The shape of the transmission body (321) is not limited to the above-described example. It is sufficient if the transmission body (321) is formed so as to be able to transmit the power of the driving source (310) to the shutter (260).

[0101] The support rib (322) may be formed to protrude from one side of the transfer body (321). For example, the support rib (322) may be formed to protrude from both side surfaces of one side of the transfer body (321).

[0102] The coupling rib (323) may be formed to protrude from the side surface of the other end of the transfer body (321). For example, the coupling rib (323) may be formed to protrude from both side surfaces of the other end of the transfer body (321). The coupling rib (323) may be inserted into a coupling groove (273a) formed in the rotation rib (273).

[0103] The rotary rib (273) can rotate the shutter (260) around a rotation axis while being coupled with the coupling rib (323). The rotation axis can be included in the coupling rib (323) or the rotation rib (273). When the shutter (260) moves between the first position and the second position, the rotary rib (273) needs to not be easily separated from the coupling rib (323).

[0104] According to this necessity, the coupling rib (323) can be formed in a roughly rectangular shape with rounded corners. That is, when the shutter (260) and the power transmission unit (320) form a predetermined angle, the coupling rib (323) can pass through the coupling groove (273a). In other words, when the shutter (260) and the power transmission unit (320) form a predetermined angle, the coupling rib (323) can be coupled to or separated from the rotation rib (273) by the coupling groove (273a) formed in the rotation rib (273). However, the shapes of the shutter (260) and the shutter driving unit (300) are not limited to the above-described example, and it is sufficient if they are formed so that the shutter (260) and the power transmission unit (320) do not separate as the shutter driving unit (300) operates.

[0105] Referring to Fig. 11, the shutter driving unit (300) can be mounted on the mounting rib (281). Specifically, the support rib (322) formed to protrude from both sides of the transmission body (321) can be mounted on the mounting rib (281).

[0106] The anchoring rib (281) may include a plurality of anchoring ribs (281) corresponding to a plurality of support ribs (322). The distance between the plurality of anchoring ribs (281) corresponding to the direction in which the transmission body (321) is anchored may be narrower than the width of the plurality of support ribs (322). That is, the shutter driving unit (300) and the anchoring rib (281) may be formed so that the shutter driving unit (300) does not come off the space created between the anchoring ribs (281).

[0107] Fig. 13 is a drawing illustrating a shutter (260) and a shutter driving unit (300) according to one embodiment. Referring to Fig. 13, the shutter driving unit (300) may include a driving source (310), a power transmission unit (320), and a wire (350).

[0108] The power transmission unit (320) may include a transmission body (321) that can receive power from a driving source (310), a support rib (322) protruding from one side surface of the transmission body (321), and a coupling rib (323) protruding from the other side surface of the transmission body (321).

[0109] The driving source (310) may be a motor. The rotational force of the driving source (310) may be transmitted to the power transmission unit (320). The power transmission unit (320) may convert the rotational force of the driving source (310) into linear motion. For example, as the driving source (310) rotates and the wire (350) is wound, the wire (350) may pull the shutter (260), so that the shutter (260) may move from the first position to the second position. For example, as the driving source (310) rotates, the wire (350) may be released, and the shutter (260) may move from the second position to the first position due to the weight of the shutter (260).

[0110] Fig. 14 is a drawing showing a cross-section of a portion of a cleaning device (1) according to one embodiment. Referring to Fig. 14, the cleaning device (1) according to one embodiment may include an elastic member (410) whose ends are coupled to the inner wall of the station body (210) and the shutter (260), and a magnet included in the shutter (260).

[0111] When the shutter (260) covers the receiving space (210a), a space may be formed at the edge of the shutter (260) through which noise inside the station body (210) may leak out. In addition, the shutter (260) may not be completely closed, thus not completely covering the receiving space (210a).

[0112] To prevent this, one end of the elastic member (410) may be coupled to the station body (210), and the other end of the elastic member (410) may be coupled to the shutter (260). The elastic member (410) may provide an elastic force in the direction of moving the shutter (260) from the second position to the first position. For example, one end of the elastic member (410) may be coupled to the inner wall of the third station body (213), and the other end of the elastic member (410) may be coupled to the second guide protrusion (262).

[0113] The shutter (260) may include a magnet (420). For example, the magnet may be included inside the first guide protrusion (261) or in the first guide protrusion (261). The third station body (213) may include a magnet that exerts an attractive force on the magnet (420) of the shutter (260). The magnet (420) of the shutter (260) and the magnet of the station (20) may provide an attractive force that allows the shutter (260) to be fixed in the first position.

[0114] The magnet included in the shutter (260) may be referred to as a shutter magnet (420). The magnet included in the station (20) may be referred to as a station magnet. For example, the shutter (260) magnet may be provided to be coupled to the first guide protrusion (261) or included in the first guide protrusion (261). For example, the shutter magnet (420) may be provided to be coupled to the shutter body (263). For example, the station magnet may be provided to be coupled to the station main body (210).

[0115] FIG. 15 is a drawing showing a control block diagram of a cleaning device (1) according to one embodiment, and FIG. 16 is a drawing showing a control block diagram of a cleaning method of a cleaning device (1) according to one embodiment.

[0116] Referring to FIG. 15, the cleaning device (1) may include a robot cleaner (10), a shutter driving unit (300), a departure sensor (31), an approach sensor (32), and a control unit (40). The cleaning device (1) may include a user interface (33) and a communication unit (34).

[0117] The control unit (40) can control components of the cleaning robot. The control unit (40) can include a processor (41) and a memory (42). The processor (41) is hardware and can include logic circuits and arithmetic circuits. The processor (41) can control components of the cleaning device (1) that are electrically connected using programs, instructions, and / or data stored in the memory (42) for the operation of the cleaning device (1). The control unit (40) can be implemented as a control circuit including circuit elements such as capacitors, inductors, and resistors. The processor (41) and the memory (42) can be implemented as separate chips or as a single chip. In addition, the control unit (40) can include a plurality of processors (41) and a plurality of memories (42).

[0118] The memory (42) can store programs, applications, and / or data for the operation of the cleaning device (1), and can store data generated by the processor (41). The memory (42) can include non-volatile memory such as ROM or flash memory for long-term storage of data. The memory (42) can include volatile memory such as S-RAM or D-RAM for temporarily storing data.

[0119] The departure sensor (31) can determine whether the robot cleaner (10) has departed from the station (20). For example, the departure sensor (31) may include at least one of a camera, a lidar sensor, and an ultrasonic sensor, but is not limited thereto.

[0120] The proximity sensor (32) can determine whether the robot cleaner (10) has approached the station (20) from a location away from the station (20) to within an approach distance. For example, the proximity sensor (32) may include at least one of a camera, a lidar sensor, and an ultrasonic sensor, but is not limited thereto.

[0121] A cleaning device (1) according to one embodiment may include a process in which a station (20) manages a robot cleaner (10). For example, the process in which the robot cleaner (10) is managed may include processes such as washing a mop (160) of the robot cleaner (10), emptying dust, dehydrating the mop (160), and drying the mop (160). Noise may be generated inside the station (20) due to the process in which the robot cleaner (10) is managed or the operation of other components. If the noise generated from the cleaning device (1) is transmitted to the outside, it may cause discomfort to the user.

[0122] To solve this problem, the control unit (40) can control the shutter drive unit (300) to close the shutter (260) before the station (20) manages the robot cleaner (10). However, the present disclosure is not limited thereto, and the control unit (40) can control the shutter drive unit (300) to close the shutter (260) before the station (20) performs an operation that generates noise.

[0123] Referring to FIG. 16, the cleaning device (1) can control the shutter drive unit (300) to open the shutter (260) (501). When cleaning begins, the robot cleaner (10) can be removed from the station (20) (502). When the robot cleaner (10) is removed from the station (20), the control unit (40) can control the shutter drive unit (300) to close the shutter (260) (503). For example, whether the robot cleaner (10) has been removed from the station (20) can be determined based on a removal detection signal generated by a removal sensor (31). However, the present disclosure is not limited thereto, and the shutter (260) may be maintained in an open state until the step of managing the robot cleaner (10).

[0124] The process of the robot cleaner (10) leaving and closing the shutter (260) may be based on a departure detection signal generated by the departure sensor (31). If the time at which the robot cleaner (10) leaves the station (20) is a preset time, that is, a first time, the shutter (260) may be controlled to open, and then close after the first time has elapsed.

[0125] The cleaning device (1) can determine whether the robot cleaner (10) has completed cleaning (504). Whether the robot cleaner (10) has completed cleaning can be determined through the approach sensor (32). For example, when the robot cleaner (10) approaches the station (20) and the distance between the robot cleaner (10) and the station (20) becomes less than the approach distance, the approach sensor (32) can detect this. When the robot cleaner (10) approaches the station (20) less than the approach distance and cleaning is completed, the control unit (40) can control the shutter drive unit (300) to open the shutter (260) to accommodate the robot cleaner (10) in the accommodation space (210a) of the station (20).

[0126] For example, the cleaning device (1) can determine that the robot cleaner (10) has completed cleaning when it detects that the robot cleaner (10) has completed cleaning the target cleaning area. For example, the cleaning device (1) can determine that the robot cleaner (10) has completed cleaning when the robot cleaner (10) has completed cleaning the target cleaning area and stops operating the brush (130). For example, the cleaning device (1) can determine that the robot cleaner (10) has completed cleaning when the robot cleaner (10) has completed cleaning the target cleaning area and stops operating the brush (130) and recognizes that the robot cleaner (10) has approached the station (20) within an approach distance or less through the approach sensor (32).

[0127] The opening condition of the shutter (260) of the cleaning device (1) according to one embodiment is not limited to the above-described example. For example, when the water tank of the robot cleaner (10) is insufficient, the control unit (40) may control the shutter drive unit (300) to open the shutter (260) when the robot cleaner (10) approaches the station (20). For example, when the moisture content of the mop (160) is high, the control unit (40) may control the shutter drive unit (300) to open the shutter (260) so that the robot cleaner (10) is accommodated in the station (20) for drying the mop (160). For example, when the battery of the robot cleaner (10) is insufficient, the control unit (40) may control the shutter drive unit (300) to open the shutter (260) so that the robot cleaner (10) is accommodated in the station (20) for charging.

[0128] The cleaning device (1) can detect (506) the closing condition of the shutter (260) when the robot cleaner (10) is accommodated in the station (20). When the closing condition of the shutter (260) is detected, the control unit (40) can control the shutter driving unit (300) to close the shutter (260) (507). For example, the closing condition of the shutter (260) can be based on a detection signal generated by the departure sensor (31). For example, the shutter (260) can be closed after a preset second time has elapsed since the opening step (505) of the shutter (260) after cleaning is completed. For example, after the robot cleaner (10) is accommodated in the station (20), the shutter (260) can be maintained in an open state until the maintenance step of the robot cleaner (10).

[0129] A cleaning device (1) according to one embodiment includes a robot cleaner (10) and a station (20) on which the robot cleaner (10) is mounted, and the station (20) includes a station body (210) forming an exterior of the station (20), an accommodation space (210a) formed in the station body (210) to accommodate the robot cleaner (10), and a shutter (260) provided to open and close the accommodation space (210a), wherein the shutter (260) is provided to be movable between a first position where the shutter (260) covers the accommodation space (210a) and a second position where the shutter (260) opens the accommodation space (210a), and the shutter (260) is provided to be accommodated more and more inwardly in the accommodation space (210a) as it moves from the first position to the second position. According to the present disclosure, a cleaning device (1) having improved appearance quality can be provided by having a shutter (260) of a station (20) cover a robot cleaner (10) docked inside the station (20) so that the robot cleaner (10) is not visible from the outside. In addition, noise generated from the robot cleaner (10) and the station (20) can be prevented from leaking outside the station (20).

[0130] A shutter driving unit (300) for providing power to move the shutter (260) between the first position and the second position, wherein a part of the shutter driving unit (300) is supported on the station (20) and one end of the shutter driving unit (300) is coupled to the shutter (260), and the station (20) may further include a guide unit (270) arranged on the inner wall of the station body (210) to guide the shutter (260) to move between the first position and the second position.

[0131] The shutter driving unit (300) includes a driving source (310) for providing power to move the shutter (260), and a power transmission unit (320) for receiving power from the driving source (310) and transmitting the power to the shutter (260), and the shutter (260) can be rotatably coupled to one end of the power transmission unit (320).

[0132] The above guide part (270) may include a first guide rail (271) for guiding the shutter (260) in the front-back direction between the first position and the second position, and a second guide rail (272) for guiding the shutter (260) in the front-back direction and up-down direction between the first position and the second position.

[0133] The shutter (260) may include a shutter body (263) provided to cover the receiving space (210a) when the shutter (260) is closed, a first guide protrusion (261) protruding from a side end of the shutter body (263) toward the first guide rail (271) so as to be accommodated in the first guide rail (271), and a second guide protrusion (262) protruding from a side end of the shutter body (263) toward the second guide rail (272) so as to be accommodated in the second guide rail (272).

[0134] The above station (20) further includes a fixing rib (281) protruding from the inner surface of the station (20) to prevent at least a part of the power transmission unit (320) from being separated from the upper side of the receiving space (210a), and the power transmission unit (320) may include a transmission body (321) that receives power from the driving source (310) and a support rib (322) protruding from a side surface of one end of the transmission body (321) to be fixed on the fixing rib (281).

[0135] The power transmission unit (320) further includes a coupling rib (323) that is detachably coupled to one end of the shutter (260) and protrudes from the side surface of the other end of the transmission body (321), and the shutter (260) may further include a shutter body (263) that is provided to cover the receiving space (210a) when the shutter (260) is closed, and a rotation rib (273) that is detachably coupled to at least a portion of the outer surface of the coupling rib (323) by protruding from one end of the shutter body (263).

[0136] The above rotary rib (273) may be provided so that, when the shutter (260) and the power transmission unit (320) form a predetermined angle, the coupling rib (323) is coupled or separated from the rotary rib (273) by a coupling groove (273a) formed in the rotary rib (273).

[0137] The above driving source (310) is a motor, the shutter driving unit (300) further includes a pinion gear (330) connected to the motor, and the power transmission unit (320) may further include a rack gear (340) that meshes with the pinion gear (330) and moves the shutter (260) as the pinion gear (330) rotates.

[0138] The driving source (310) is a motor, and the shutter driving unit (300) further includes a wire (350) connecting the driving source (310) and the power transmission unit (320), and the wire (350) may be wound or unwound as the power transmission motor rotates to move the shutter (260) between the first position and the second position.

[0139] The above guide part (270) may further include a separation rib (274) protruding from the inner wall of the station body (210) to separate the first guide rail (271) and the second guide rail (272) and prevent the shutter (260) from being received into the receiving space (210a) at the second position.

[0140] The above shutter (260) can be arranged at an angle with respect to the bottom surface of the station (20) at the second position.

[0141] The above shutter (260) may further include an elastic member (410) provided to apply an elastic force in a direction from the second position toward the first position, wherein one end of the elastic member (410) is coupled to the inner wall of the station body (210) and the other end of the elastic member (410) is coupled to the shutter (260).

[0142] The shutter (260) may further include a shutter magnet (420) provided to correspond to the inner wall of the station main body (210) to fix the shutter body (263) to the first position, and the station (20) may further include a station magnet provided to fix the shutter (260) to the first position through magnetic interaction with the shutter (260) magnet.

[0143] According to one embodiment, a cleaning device (1) comprises a station (20) including a robot cleaner (10), an accommodation space (210a) formed to accommodate the robot cleaner (10), and a shutter (260) provided to open and close the accommodation space (210a), wherein the shutter (260) is provided to be movable between a first position where the shutter (260) covers the accommodation space (210a) and a second position where the shutter (260) opens the accommodation space (210a), and the shutter (260) is provided to be accommodated more and more inwardly of the accommodation space (210a) as it moves from the first position to the second position, a shutter driving unit (300) for providing power to move the shutter (260) between the first position and the second position, a part of the shutter driving unit (300) being supported by the station (20) and one end of the shutter driving unit (300) being coupled to the shutter (260), and The control unit (40) controls the shutter drive unit (300) to close the shutter (260) before the step of the station (20) managing the robot cleaner (10) while the robot cleaner (10) is accommodated inside the station (20). According to the present disclosure, the appearance quality can be improved by making the robot cleaner (10) docked inside the station (20) invisible from the outside of the station (20), and the noise leaking outside the station (20) when a loud operation is performed inside the station (20) can be reduced.

[0144] The above control unit (40) can control the shutter (260) to be maintained in an open state from the stage where the robot cleaner (10) leaves the station (20) to the stage where the station (20) manages the robot cleaner (10).

[0145] The robot cleaner (10) further includes a departure sensor (31) that determines whether the robot cleaner (10) has departed from the station (20), and the control unit (40) can operate the shutter driving unit (300) to close the shutter (260) when the robot cleaner (10) departs from the station (20) based on a departure detection signal generated by the departure sensor (31) or when a first time, which is a preset time, has passed since the detection of the departure detection signal.

[0146] It further includes an approach sensor (32) that detects whether the robot cleaner (10) that has departed from the station (20) is within an approach distance to the station (20), and the control unit (40) can operate the shutter drive unit (300) to open the shutter (260) based on an approach detection signal of the robot cleaner (10) generated by the approach sensor (32).

[0147] The control unit (40) can operate the shutter driving unit (300) to close the shutter (260) when the robot cleaner (10) is accommodated in the station (20) based on a detection signal generated by the departure sensor (31) or when a preset second time has passed since the detection of an approach detection signal of the robot cleaner (10) by the approach sensor (32).

[0148] The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains from the description below.

[0149] The above illustrates and describes specific embodiments. However, the invention is not limited to the above-described embodiments, and those skilled in the art will readily appreciate that various modifications and implementations can be made without departing from the spirit and scope of the invention as set forth in the claims below.

Claims

1. Robot vacuum cleaner; and A station provided to mount the robot cleaner; The above station is, The station body forming the exterior of the above station, A receiving space formed in the station body to receive the robot cleaner; A shutter provided to open and close the above-mentioned accommodation space, comprising a shutter provided to be movable between a first position where the shutter covers the accommodation space and a second position where the shutter opens the accommodation space, A cleaning device in which the shutter is arranged to be accommodated inwardly of the accommodation space as it moves from the first position to the second position.

2. In paragraph 1, A shutter driving unit for providing power to move the shutter between the first position and the second position, wherein a part of the shutter driving unit is supported on the station and one end of the shutter driving unit is further included in the shutter driving unit, A cleaning device wherein the station further includes a guide portion disposed on an inner wall of the station body to guide the shutter to move between the first position and the second position.

3. In paragraph 2, The above shutter driving unit, A driving source for providing power to move the above shutter, It includes a power transmission unit that receives power from the above driving source and transmits it to the shutter, A cleaning device in which the above shutter is rotatably connected to one end of the power transmission unit.

4. In paragraph 3, The above guide part, A first guide rail for guiding the shutter in the forward and backward direction between the first position and the second position; A cleaning device including a second guide rail for guiding the shutter in the forward and backward directions and up and down directions between the first position and the second position.

5. In paragraph 4, The above shutter, A shutter body provided to cover the receiving space when the shutter is closed; A first guide projection protruding from the side end of the shutter body toward the first guide rail so as to be accommodated in the first guide rail; A cleaning device including a second guide protrusion protruding from a side end of the shutter body toward the second guide rail so as to be accommodated in the second guide rail.

6. In paragraph 3, The above station is, At least a portion of the power transmission unit is secured thereto, and further comprises a securing rib protruding from the inner surface of the station to prevent the power transmission unit from being dislodged from the upper side of the receiving space. The above power transmission unit, A transmission body that receives power from the above driving source, A cleaning device comprising a support rib protruding from one side of the transfer body so as to be seated on the above-described settling rib.

7. In paragraph 6, The power transmission unit further includes a coupling rib that is detachably coupled to one end of the shutter and protrudes from the side surface of the other end of the transmission body, The above shutter, A shutter body provided to cover the receiving space when the shutter is closed; A cleaning device further comprising a rotating rib protruding from one end of the shutter body and detachably coupled to at least a portion of the outer surface of the coupling rib.

8. In paragraph 7, The above rotating rib, A cleaning device in which, when the shutter and the power transmission unit form a predetermined angle, the coupling rib is provided so that the coupling rib is coupled or separated from the rotary rib through a coupling groove formed in the rotary rib.

9. In paragraph 3, The above driving source is a motor, The above shutter driving unit further includes a pinion gear connected to the motor, A cleaning device wherein the power transmission unit further includes a rack gear that meshes with the pinion gear and moves the shutter as the pinion gear rotates.

10. In paragraph 3, The above driving source is a motor, The shutter driving unit further includes a wire connecting the driving source and the power transmission unit, A cleaning device in which the wire is wound or unwound as the power transmission motor rotates to move the shutter between the first position and the second position.

11. In paragraph 4, A cleaning device wherein the guide portion further includes a separation rib protruding from the inner wall of the station body to separate the first guide rail and the second guide rail and prevent the shutter from being received into the receiving space at the second position.

12. In paragraph 11, The above shutter is a cleaning device arranged at an angle with the bottom of the station at the second position.

13. In paragraph 5, A cleaning device further comprising an elastic member configured to apply an elastic force in a direction from the second position to the first position to the shutter, wherein one end of the elastic member is coupled to the inner wall of the station body and the other end of the elastic member is coupled to the shutter.

14. In paragraph 5, The shutter further includes a shutter magnet provided to correspond to the inner wall of the station body to fix the shutter body to the first position, A cleaning device wherein the station further comprises a station magnet arranged to fix the shutter in the first position through magnetic interaction with the shutter magnet.

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