Station for cleaning robot and control method thereof

Abstract

A station to which a cleaning robot is docked disclosed herein, comprises: a cleaning chamber for cleaning a pad provided on the cleaning robot; a gray water chamber for storing water introduced from the cleaning chamber; a first pump for transferring water from the cleaning chamber to the gray water chamber; a second pump which is connected to the gray water chamber and a drain pipe and pumps water in the gray water chamber to discharge the water through the drain pipe; a no-load sensor for detecting a no-load state of the second pump; and a control unit which recognizes whether the state of the second pump is the no-load state on the basis of detection information detected by the no-load sensor during the operation of the first pump and the second pump, and controls to stop the first pump on the basis of the state of the second pump being the no-load state.

Description

Cleaning robot station and control method thereof

[0001] The present disclosure relates to a station for charging a battery of a cleaning robot and washing, sterilizing, and drying a pad of a cleaning robot, and a method for controlling the same.

[0002] A cleaning robot is a device that automatically cleans an area by autonomously navigating through the area to be cleaned and sucking up foreign substances, such as dust, from the floor surface without user operation.

[0003] The cleaning robot repeatedly performs cleaning tasks using a cleaning tool while driving over a cleaning area using at least two wheels rotatably mounted on the bottom surface of the main body. At this time, it detects obstacles or walls located within the cleaning area through obstacle sensors, etc., and performs cleaning by controlling the driving and operation of the cleaning tool based on the detection information.

[0004] Conventional cleaning robots perform floor cleaning using a dry method of sucking up dust from the floor surface. Cleaning robots that perform dry cleaning could not suck up foreign matter adhering to the floor surface or foreign matter larger than a certain size. As a result, there was a problem where foreign matter remained on the floor surface even after the cleaning operation was completed.

[0005] Recently, research and development are underway on cleaning robots capable of not only dry cleaning by sucking up dust but also wet cleaning by wiping the floor surface with water using a pad provided on the bottom surface of the cleaning robot's main body.

[0006] A cleaning robot capable of dry cleaning and wet cleaning received power from a station and performed charging based on docking to a station.

[0007] In addition, as the cleaning robot docked at the station, the cleaning robot's pad was received into the washing chamber, where washing, sterilization, and drying of the pad were performed. For such a cleaning robot, maintenance of the washing chamber provided at the station and the wastewater chamber that stores the wastewater generated by washing the cleaning robot's pad are necessary to ensure the hygiene and cleanliness of both the cleaning robot and the station.

[0008] One aspect disclosed in the present invention provides a cleaning robot station and a method for controlling the same, wherein the operation of a first pump that sucks in wastewater from a cleaning chamber for cleaning a pad of the cleaning robot is controlled, and the operation of a second pump connected to a wastewater chamber that stores wastewater pumped by the first pump and pumps and discharges wastewater from the wastewater chamber.

[0009] A station according to one aspect of the present disclosure comprises, in a station where a cleaning robot is docked, a cleaning chamber for cleaning a pad provided on the cleaning robot; a wastewater chamber for storing water introduced from the cleaning chamber; a first pump for introducing water from the cleaning chamber into the wastewater chamber; a second pump connected to the wastewater chamber and a drain pipe for pumping water from the wastewater chamber and discharging it through the drain pipe; a no-load sensor for detecting a no-load state of the second pump; and a control unit that, during the operation of the first pump and the second pump, recognizes whether the state of the second pump is a no-load state based on detection information detected by the no-load sensor, and controls the first pump to stop based on the fact that the state of the second pump is a no-load state.

[0010] A control unit of a station according to one aspect primarily recognizes whether the state of the second pump is in a no-load state during the operation of the first pump and the second pump, and when the time elapsed from the point in time when the state of the second pump is primarily recognized as a no-load state reaches a reference time, it secondarily recognizes whether the state of the second pump is in a no-load state based on detection information detected by a no-load sensor.

[0011] A control unit of a station according to one aspect controls the first pump to stop and maintain the operation of the second pump based on the first recognition that the state of the second pump is in a no-load state, and controls the operation of the first pump and controls the second pump to stop based on the second recognition that the state of the second pump is in a no-load state.

[0012] A control unit of a station according to one aspect recognizes the state of the second pump as a no-load state secondarily based on the fact that the state of the second pump is maintained in a no-load state for a reference time from the point in time when the state of the second pump is first recognized as a no-load state.

[0013] A control unit of a station according to one aspect controls the operation of the first pump based on the fact that the state of the second pump changes to a loaded state before the time elapsed from the point in time when the state of the second pump is initially recognized as a no-load state reaches a reference time.

[0014] A no-load sensor of a station according to one aspect includes a current sensor that detects the current of a second pump.

[0015] A control unit of a station according to one aspect recognizes the state of the second pump as a no-load state based on the fact that the current of the second pump detected by a current sensor is less than or equal to a first reference current, and recognizes the state of the second pump as a load state based on the fact that the current of the second pump detected by a current sensor exceeds the first reference current.

[0016] A control unit of a station according to one aspect recognizes the state of the second pump as a no-load state based on the fact that the current of the second pump detected by a current sensor is less than or equal to a first reference current, and recognizes the state of the second pump as a load state based on the fact that the current of the second pump detected by a current sensor is greater than or equal to a second reference current. The magnitude of the second reference current is greater than the first reference current.

[0017] A no-load sensor of a station according to one aspect includes a power sensor that detects the power of a second pump, a voltage sensor that detects the voltage of a second pump, or a rotational speed sensor that detects the rotational speed of an impeller provided in a second pump.

[0018] A station according to one aspect further includes a water supply chamber for storing water; and a water supply pump for supplying water stored in the water supply chamber to a washing chamber. A control unit of a station according to one aspect controls the operation of a first pump based on the operation of the water supply pump.

[0019] A station according to one aspect further includes a water level sensor for detecting the water level of a sewage chamber. A control unit of a station according to one aspect recognizes the water level of the sewage chamber based on water level information detected by the water level sensor and controls the operation of a second pump based on the fact that the recognized water level of the sewage chamber is above a reference water level.

[0020] A control method for a station according to another aspect is a control method for a station to which a cleaning robot equipped with a pad is docked, wherein the operation of a first pump is controlled so that water from a cleaning chamber for cleaning the pad flows into a wastewater chamber, the operation of a second pump is controlled to discharge water from the wastewater chamber into a drain pipe, the state of the second pump is recognized based on detection information detected by a no-load sensor, and the first pump is stopped and the operation of the second pump is maintained based on the fact that the state of the second pump is recognized as a no-load state.

[0021] Recognizing the state of the second pump includes, during the operation of the first pump and the second pump, primarily recognizing whether the state of the second pump is in a no-load state, and when the time elapsed from the point in time when the state of the second pump is primarily recognized as a no-load state reaches a reference time, secondarily recognizing whether the state of the second pump is in a no-load state based on detection information detected by the no-load sensor.

[0022] Stopping the first pump and maintaining the operation of the second pump includes stopping the first pump and maintaining the operation of the second pump based on the fact that the state of the second pump is primarily recognized as a no-load state.

[0023] A control method for a station according to another aspect further includes controlling the operation of the first pump and stopping the second pump based on the second being recognized as a no-load state.

[0024] Secondary recognition of the state of the second pump as a no-load state is based on the fact that the state of the second pump is maintained as a no-load state for a reference time from the point in time when the state of the second pump is first recognized as a no-load state.

[0025] A control method for a station according to another aspect further includes controlling the operation of the first pump based on the fact that the state of the second pump changes to a load state before the time elapsed from the point in time when the state of the second pump is primarily recognized as a no-load state reaches a reference time.

[0026] In a control method of a station according to another aspect, the no-load sensor includes a current sensor that detects the current of the second pump. Recognizing the state of the second pump includes recognizing the state of the second pump as a no-load state based on the fact that the current of the second pump detected by the current sensor is less than or equal to a first reference current, and recognizing the state of the second pump as a load state based on the fact that the current of the second pump detected by the current sensor exceeds the first reference current.

[0027] In a control method of a station according to another aspect, the no-load sensor includes a current sensor that detects the current of the second pump. Recognizing the state of the second pump involves recognizing the state of the second pump as a no-load state based on the fact that the current of the second pump detected by the current sensor is less than or equal to a first reference current, and recognizing the state of the second pump as a load state based on the fact that the current of the second pump detected by the current sensor is greater than or equal to a second reference current. The magnitude of the second reference current is greater than the first reference current.

[0028] Controlling the operation of the second pump includes recognizing the water level of the sewage chamber based on water level information detected by a water level sensor, and controlling the operation of the second pump based on the fact that the recognized water level of the sewage chamber is above a reference water level.

[0029] According to the present disclosure, by stopping the operation of the first pump based on the second pump being in a no-load state, it is possible to prevent wastewater from the washing chamber from being sucked into the wastewater chamber when the second pump is in a no-load state, and thereby prevent air from being filled in the second pump while it is operating in a no-load state.

[0030] The present disclosure prevents air from entering the second pump when the second pump is in a no-load state, thereby preventing the problem that the second pump cannot pump the wastewater in the wastewater chamber when wastewater is stored in the wastewater chamber. That is, the present disclosure can solve the problem that the second pump cannot pump and discharge the wastewater in the wastewater chamber due to air inside the second pump when the discharge of wastewater in the wastewater chamber is required.

[0031] The present disclosure can enhance the hygiene and cleanliness of the washing chamber and the wastewater chamber by discharging wastewater stored in the washing chamber and the wastewater chamber. Through this, the present disclosure can prevent the spread of bacteria and infections caused by the cleaning robot and the cleaning robot station.

[0032] The present disclosure can improve the quality and marketability of cleaning robots and cleaning robot stations, and furthermore, secure the competitiveness of cleaning robots and cleaning robot stations.

[0033] Figure 1 is an exemplary diagram of a cleaning system according to an embodiment.

[0034] FIG. 2 is an example of a cleaning system station according to an embodiment and a cleaning robot docked to the station.

[0035] Figure 3 is a detailed example of a cleaning robot of a cleaning system according to an embodiment.

[0036] FIG. 4 is an example of the front area among the internal areas of the station of the cleaning system according to an embodiment.

[0037] FIG. 5 is an example of the rear area of ​​the internal area of ​​the station of the cleaning system according to an embodiment.

[0038] FIG. 6 is an example of piping provided in a station of a cleaning system according to an embodiment.

[0039] FIG. 7 is an example diagram of a connection configuration related to a water supply chamber and a wastewater chamber provided in a station of a cleaning system according to an embodiment.

[0040] FIG. 8 is an exemplary diagram of the sewage chamber and the second pump of the cleaning system station according to an embodiment.

[0041] FIG. 9 is a control configuration diagram of a station of a cleaning system according to an embodiment.

[0042] FIG. 10 is a current table of the second pump of the cleaning system station according to an embodiment.

[0043] FIG. 11 is a control graph of the first pump and the second pump of the cleaning system station according to an embodiment.

[0044] FIG. 12 is a control flowchart of a station of a cleaning system according to an embodiment.

[0045] The embodiments described in this specification and the configurations illustrated in the drawings are merely preferred examples of the disclosed invention, and various modifications that may replace the embodiments and drawings of this specification may exist at the time of filing this application.

[0046] Additionally, the same reference numerals or symbols presented in each drawing of this specification represent parts or components that perform substantially the same function.

[0047] Additionally, the singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0048] Additionally, in this document, each of the phrases such as "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 the corresponding phrase, or all possible combinations thereof.

[0049] Additionally, the terms "part," "module," and "component" may be implemented in hardware or software. Depending on the embodiments, a plurality of "parts," "modules," and "components" may be implemented as a single component, or a single "part," "module," or "component" may include a plurality of components.

[0050] Furthermore, the terms used in this specification are for describing embodiments and are not intended to limit or / or restrict the disclosed invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0051] Additionally, terms including ordinal numbers, such as "first," "second," etc., used herein may be used to describe various components, but said components are not limited by said terms, and said terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any one of a plurality of related described items.

[0052] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0053] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0054] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0055] Meanwhile, terms such as "up-and-down direction" and "front-and-back direction" used in the following description are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0056] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0057] In the following, the +X direction indicated in the drawing may point to the front of the station, and the -X direction may point to the rear of the station. For example, the front of the station may be the direction in which the docked cleaning robot is located. The +Y direction indicated in the drawing may point to the left of the station, and the -Y direction may point to the right of the station. The +Z direction indicated in the drawing may point to the top of the station, and the -Z direction may point to the bottom of the station.

[0058] FIG. 1 is an exemplary diagram of a cleaning system according to an embodiment, which will be explained with reference to FIGS. 2 to 7.

[0059] FIG. 2 is an example of a cleaning system station according to an embodiment and a cleaning robot docked to the station, and FIG. 3 is a detailed example of a cleaning robot of a cleaning system according to an embodiment.

[0060] As illustrated in FIGS. 1 and 2, the cleaning system (1) may include a cleaning robot (100) and a station (200). The cleaning robot (100) may be referred to as a robot vacuum cleaner. The station (200) may be referred to as a cleaning robot station or a charging station.

[0061] The cleaning robot (100) can clean the floor surface of the cleaning area while moving along the floor surface of the cleaning area. The floor surface may be referred to as the surface to be cleaned.

[0062] The cleaning robot (100) can perform dry cleaning and wet cleaning. The cleaning robot (100) can also perform only wet cleaning.

[0063] When performing dry cleaning, the cleaning robot (100) can suck up dirt on the floor surface of the cleaning area. When performing wet cleaning, the cleaning robot (100) can wipe the floor surface of the cleaning area. The dirt on the floor surface can be wiped away by the cleaning robot wiping the floor surface. Here, dirt can be a general term for foreign substances such as dust, hair, and food crumbs.

[0064] The cleaning robot (100) can be mounted on the station (200). The cleaning robot (100) can be placed on the station (200). The cleaning robot (100) can be docked on the station (200).

[0065] When the cleaning robot (100) is docked at the station (200), at least a portion of the cleaning robot (100) can be placed in the receiving space (210a) formed at the station (200).

[0066] The cleaning robot (100) can move from the cleaning area to the station (200) while cleaning, or move from the cleaning area to the station (200) after cleaning is completed.

[0067] When the cleaning robot (100) moves from the cleaning area to the station (200), the state of the cleaning robot may include at least one of the following: a state requiring charging, a state requiring emptying of dirt from the dust collection chamber, a state where the water level of the water tank (116, FIG. 3) is below a reference level, a state where the moisture content of the pad (140) is below a reference moisture content, a state where the pad (140) needs to be washed, a state where the pad (140) needs to be sterilized, and a state where the pad (140) needs to be dried.

[0068] The station (200) can be arranged to dock with the cleaning robot (100).

[0069] The station (200) can charge the battery of the docked cleaning robot (100), collect dirt collected in the dust collection chamber of the docked cleaning robot (100), supply water to the water tank (116) of the docked cleaning robot (100), wash and sterilize the pad (140) of the docked cleaning robot (100), and allow the pad (140) of the docked cleaning robot (100) to dry.

[0070] Hereinafter, with reference to FIGS. 1, 2, and 3, a cleaning robot that interacts with the cleaning robot station of the present embodiment will be described.

[0071] As illustrated in FIG. 3, the cleaning robot (100) may include a first body (110). The first body (110) may be referred to as a vacuum cleaner body.

[0072] The first main body (110) can form the overall exterior of the cleaning robot (100). Components constituting the cleaning robot (100) can be accommodated inside the first main body (110).

[0073] The cleaning robot (100) may include a first suction port (111) provided on the lower surface of the first main body (110) for sucking up dirt on the floor surface. The first suction port (111) may be referred to as the first dirt suction port.

[0074] A cleaning robot (100) may include a first exhaust port (112) for discharging air sucked in through a first suction port (111) provided in a first main body (110). The first exhaust port (112) may be an air exhaust port. The first exhaust port (112) may be provided in multiple numbers. Each of the multiple first exhaust ports (112) may be composed of multiple holes.

[0075] The cleaning robot (100) may include a first suction motor (not shown) for generating suction force. Air and dirt may be sucked into the cleaning robot (100) through the first suction port (111) by the suction force generated by the first suction motor. Air and dirt sucked into the cleaning robot (100) by the suction force generated by the first suction motor may be filtered by a filter, and the air from which dirt has been removed may be discharged to the outside of the cleaning robot (100) through the first discharge port (112).

[0076] The first suction motor may be placed on the air passage formed between the first suction port (111) and the first discharge port (112). The filter may be placed on the air passage formed between the first suction port (111) and the first discharge port (112).

[0077] The cleaning robot (100) may include a dust collection chamber (115) that stores dirt and / or air sucked in through the first suction port (111).

[0078] The cleaning robot (100) may further include a water tank (116) that receives water from the station (200) and stores the supplied water when it is provided in the first main body (110) and docked to the station (200).

[0079] The cleaning robot (100) may include a water inlet (117) provided in the first main body (110). When the cleaning robot (100) is docked to the station (200), the water inlet (117) may be connected to the station (200) and may guide water from the station (200) to the water tank (116) of the cleaning robot (100).

[0080] The cleaning robot (100) may include a plurality of wheels that are provided on the first main body (110) and move the first main body (110). The plurality of wheels may include at least two wheels. In the present embodiment, the first wheel (121), the second wheel (122), and the third wheel (123) are described as examples of the plurality of wheels.

[0081] The cleaning robot (100) may further include a driving motor (not shown) connected to at least one of the first and second wheels (121, 122) and generating power to rotate at least one wheel.

[0082] At least one of the first and second wheels (121, 122) can receive power from a driving motor and rotate by the transmitted power, thereby allowing the cleaning robot (100) to move forward, backward, or change its direction of movement. The first and second wheels (121, 122) may be referred to as the main wheel (121).

[0083] A third wheel (123) may be provided for stable driving of the cleaning robot (100). The third wheel (123) may rotate in response to the movement of the first body (110). That is, the third wheel (123) may be provided so as not to be provided with separate power. The third wheel (123) may be referred to as an auxiliary wheel (122).

[0084] The cleaning robot (100) may include a brush (130) that strikes the floor surface to scatter dirt on the floor surface. The dirt scattered by the brush (130) may be introduced into the first suction port (111) along with air.

[0085] The brush (130) may include a first brush (131) disposed inside the first suction port (111) and rotatably provided relative to the first body (110), and a second brush (132) disposed adjacent to the edge of the first body (110) and rotatably provided. The first brush (131) may be referred to as the main brush (131). The second brush (132) may be referred to as the side brush (132).

[0086] The rotation axis of the second brush may be an axis perpendicular to the rotation axis of the first brush. For example, if the rotation axis of the first brush is an axis parallel to the bottom surface, the rotation axis of the second brush may be an axis perpendicular to the bottom surface.

[0087] The cleaning robot (100) may include a pad (140) provided on the lower surface of the first body (110) and provided on the first body (110). The cleaning robot (100) may include a pad motor (not shown) for rotating the pad (140).

[0088] The pad (140) can clean the floor surface by rotating it by a pad motor. The pad (140) can be detachably provided on the lower surface of the first main body (110).

[0089] The pad (140) may be rotatably provided with respect to the first main body (110). The pad (140) can wipe away dirt or stains from the bottom surface.

[0090] The pad (140) may be one or more, and there is no limit to the number of pads. The pad (140) may be referred to as a cleaning pad, a wet pad, a mop, or a wet mop.

[0091] The pad (140) can receive water from the water tank (116) when the cleaning robot is in a cleaning state or docking state.

[0092] When the cleaning robot (100) is docked at the station (200), the pad (140) can be supplied with water and steam from the station (200) and rotated by the pad motor. At this time, the pad (140) can be washed.

[0093] The cleaning robot (100) may include a battery (not shown) that supplies power required to operate the cleaning robot (100). The battery may be a rechargeable battery.

[0094] The cleaning robot (100) may include a first charging terminal (151). The first charging terminal (151) may be electrically connected to a battery. When the cleaning robot (100) is docked to the station (200), the first charging terminal (151) of the cleaning robot (100) may be electrically connected to the second charging terminal (218, see FIG. 4) of the station (200).

[0095] As the first charging terminal (151) is electrically connected to the second charging terminal (218), the battery of the cleaning robot (100) can be charged. As the cleaning robot (100) is electrically connected to the second charging terminal (218), the station (200) can recognize the docking of the cleaning robot and can charge the battery while the cleaning robot (100) is docked to the station (200).

[0096] The cleaning robot (100) may include an obstacle sensor (170) for detecting obstacles present in the cleaning area, provided in the first main body (110).

[0097] The obstacle sensor (170) can detect the location of an obstacle. The location of the obstacle may include the direction and distance of the obstacle.

[0098] The components of the cleaning robot corresponding to FIGS. 1, FIGS. 2, and FIGS. 3 are merely examples of components of the cleaning robot, and the components of the cleaning robot are not limited thereto.

[0099] Hereinafter, the station of the present embodiment will be described with reference to FIGS. 4, 5, 6, 7, and 8.

[0100] FIG. 4 is an example of a front area of ​​an internal area of ​​a cleaning system station according to an embodiment, and FIG. 5 is an example of a rear area of ​​an internal area of ​​a cleaning system station according to an embodiment.

[0101] FIG. 6 is an example diagram of piping provided in a station of a cleaning system according to an embodiment, FIG. 7 is an example diagram of a connection configuration related to a water supply chamber and a sewage chamber provided in a station of a cleaning system according to an embodiment, and FIG. 8 is an example diagram of a sewage chamber and a second pump of a station of a cleaning system according to an embodiment.

[0102] As illustrated in FIG. 4, the station (200) may include a second body (210) that forms the overall appearance of the station (200). The second body may be referred to as the station body and may be referred to as the body. The second body (210) may be provided with a receiving space (210a) for receiving at least a part of the cleaning robot (100).

[0103] The station (200) may further include a base (220) that guides the cleaning robot (100) so that at least a part of the cleaning robot (100) is accommodated in the receiving space (210a) of the station body (210).

[0104] The base (220) can be detachably coupled to the second body (210).

[0105] The base (220) may include a wheel mounting portion (223) on which the first and second wheels (121, 122) of the cleaning robot (100) are mounted. The cleaning robot (100) docked at the station (200) may not be detached from the station (200) by the wheel mounting portion (223).

[0106] The station (200) may include a second charging terminal (218) that is electrically connected to a first charging terminal (151) of the cleaning robot (100). As the second charging terminal (218) of the station (200) and the first charging terminal (151) of the cleaning robot (100) are electrically connected, the battery of the cleaning robot (100) can be charged. That is, the cleaning robot (100) can be charged while docked to the station (200).

[0107] The station (200) may include a second suction port (224) provided in the base (220). The second suction port may be referred to as a second dirt suction port. The second suction port (224) may be connected to the dust collection chamber (115) of the docked cleaning robot (100). Through the second suction port (224), dirt collected in the dust collection chamber (115) of the cleaning robot may move into the station (200).

[0108] The station (200) may include a second suction motor (225). The second suction motor (225) may generate a suction force to suck up dirt from the dust collection chamber (115). The second suction motor (225) may provide a suction force to the second suction port (224). By the suction force of the second suction motor (225), the dirt from the dust collection chamber (115) may move to the dirt chamber (303) along the second dirt suction port (224) and the dirt collection duct.

[0109] The station (200) may include a washing chamber (230).

[0110] The washing chamber (230) may be provided inside the receiving space (210a) of the second body (210). The washing chamber (230) may be provided in the base (220). The washing chamber (230) may be provided by at least a portion of the upper surface of the base (220) being recessed downward.

[0111] The cleaning chamber (230) may accommodate the pad (140) of the docked cleaning robot. The cleaning chamber (230) may be provided with a shape corresponding to the shape of the pad (140). The cleaning chamber (230) may be a space for cleaning the pad (140) of the docked cleaning robot.

[0112] The washing chamber (230) can receive water. The washing chamber (230) can receive water from the water supply chamber (301).

[0113] The station (200) may include a cleaning frame (240). The cleaning frame (240) may be detachably mounted to the cleaning chamber (230). The cleaning frame (240) may be arranged to contact the pad (140) of the docked cleaning robot.

[0114] The cleaning robot (100) can rotate the pad (140) based on cleaning the pad (140). As the pad (140) rotates while in contact with the cleaning frame (240), the pad (140) can be cleaned by friction between the pad (140) and a plurality of protrusions.

[0115] The station (200) may include a heating device (250) disposed inside the second main body (210).

[0116] The heating device (250) can generate high-temperature water and / or steam. For example, the heating device (250) can heat water to 40°C or higher, or heat it to 100°C or higher to turn it into steam. The high-temperature water and / or steam generated by the heating device (250) can be supplied to the washing chamber (230). The high-temperature water and / or steam supplied to the washing chamber (230) can wash and sterilize the pad (140) of the cleaning robot.

[0117] The station (200) may include a water supply pipe connected to an external water source and a drainage pipe connected to an external drainage channel.

[0118] The station (200) may include a water supply chamber (301) that is connected to a water supply pipe to receive water from an external water source and receives and stores the water supplied from the external water source.

[0119] The water stored in the water supply chamber (301) can be supplied to at least one of the water tank (116) of the cleaning robot (100), the pad (140) of the cleaning robot (100), the washing chamber (230), and the heating device (250).

[0120] The station (200) may include a first water supply unit (217) connected to a water supply chamber (301). The first water supply unit (217) can supply water from the water supply chamber (301) to the cleaning robot (100).

[0121] The first water supply unit (217) of the station (200) can be connected to the water inlet (117) of the docked cleaning robot (100). Water discharged from the first water supply unit (217) can be stored in the water tank (116) of the cleaning robot (100) after flowing into the water inlet (117).

[0122] The station (200) may include a second water supply unit (241) that communicates with the washing chamber (230). The second water supply unit (241) may receive water stored in the water supply chamber (301) and supply it to the washing chamber (230). Water discharged from the second water supply unit (241) may be received in the washing chamber (230). Water discharged from the second water supply unit (241) may be used to wash the pad (140). Here, water after washing the pad (140) of the cleaning robot or water discharged after being supplied to the pad (140) may be referred to as wastewater.

[0123] The station (200) may include a wastewater chamber (302) that transfers wastewater generated at the station (200) to an external drainage channel.

[0124] The wastewater chamber (302) can receive and store wastewater discharged from the washing chamber (230). The wastewater chamber (302) can be arranged to be separated from the water supply chamber (301).

[0125] The wastewater chamber (302) and the water supply chamber (301) can be detachably mounted on the second body (210).

[0126] The user can detach the water supply chamber (301) from the second main body (210) to add water to the water supply chamber (301) or to clean it. After adding water to the water supply chamber (301) or cleaning it, the user can attach the water supply chamber (301) to the second main body (210).

[0127] The user can detach the wastewater chamber (302) from the second main body (210) to empty or clean the wastewater chamber (302). After emptying or cleaning the wastewater chamber (302), the user can mount the wastewater chamber (302) onto the second main body (210).

[0128] The station (200) may include a dirt chamber (303). The dirt chamber (303) may store dirt collected from the dust collection chamber (115) of the cleaning robot (100).

[0129] The waste chamber (303) can be detachably mounted on the second body (210). The user can detach the waste chamber (303) from the second body (210) to empty or clean the waste chamber (303). After emptying or cleaning the waste chamber (303), the user can mount the waste chamber (303) back onto the second body (210).

[0130] As illustrated in FIG. 5, the station (200) may include a drying device (270) that generates drying air for drying the pad (140).

[0131] The drying device (270) can provide drying air to the washing chamber (230). The drying device (270) can supply drying air to the pad (140) placed in the washing chamber (230). The drying air may be referred to as hot air or drying air. For example, after washing and / or sterilizing the pad (140), the station (200) can supply drying air to the pad (140) placed in the washing chamber (230).

[0132] The station (200) may include a drying duct (271). The drying duct (271) may guide drying air. The drying duct (271) may guide air blown by a fan (272) and heated by a heater (273) to a base (220). The drying duct (271) may be in communication with the base (220). The drying duct (271) may be in communication with a drying air supply unit (242). The drying duct (271) may be in communication with a washing chamber (230) through the drying air supply unit (242).

[0133] As illustrated in FIGS. 5 and 6, the station (200) may include a water supply pump (311), a first pump (21) and a second pump (22), may include a plurality of pipes, and may include at least one valve.

[0134] The valve provided in the station of the present embodiment may include a first valve (23) and a second valve (24). Meanwhile, the first valve (23) and the second valve (24) are not limited by the ordinal numbers "first" and "second".

[0135] The plurality of pipes provided in the station of the present embodiment may include a first pipe (201), a second pipe (202), a third pipe (203), a fourth pipe (204), a fifth pipe (205), a sixth pipe (206), a seventh pipe (207), an eighth pipe (208), and a ninth pipe (209). Here, the ordinal numbers of "first," "second," "third," "fourth," "fifth," "sixth," "seventh," "eighth," and "ninth" do not limit the configuration of each pipe.

[0136] The water supply pump (311) can be connected to the water supply chamber (301), the first valve (23), the first pipe (201), and the second pipe (202).

[0137] The water supply pump (311) can be connected to the water supply chamber (301) through the first pipe (201). The water supply pump (311) can be connected to the first valve (23) through the second pipe (202).

[0138] The water supply pump (311) can be placed between the water supply chamber (301) and the first valve (23).

[0139] The water supply pump (311) can pump water stored in the water supply chamber (301). For example, power to flow water can be generated as the internal components (e.g., piston, rotor, or impeller) of the water supply pump (311) rotate.

[0140] Water pumped by the water supply pump (311) can be delivered to at least one of the washing chamber (230), the heating device (250), the pad (140) of the cleaning robot, and the water tank (116) of the cleaning robot.

[0141] The first valve (23) can be connected to the second pipe (202), the third pipe (203), and the sixth pipe (206).

[0142] The first valve (23) can connect the second pipe (202) and the sixth pipe (206), or connect the second pipe (202) and the third pipe (203). The first valve (23) can selectively open the sixth pipe (206) and the third pipe (203).

[0143] The first valve (23) may be provided to regulate the flow of water pumped by the water supply pump (311).

[0144] The second valve (24) can be connected to the third pipe (203), the fourth pipe (204), and the fifth pipe (205).

[0145] The second valve (24) can connect the third pipe (203) and the fourth pipe (204), or connect the third pipe (203) and the fifth pipe (205). The second valve (24) can selectively open the fourth pipe (204) and the fifth pipe (205).

[0146] The second valve (24) can control the flow of water guided by the third pipe (203). That is, the second valve (24) can cause the water guided by the third pipe (203) to flow to the second water supply unit (241) or the heating device (250).

[0147] I will explain the multiple pipes in more detail.

[0148] The first pipe (201) can connect the water supply chamber (301) and the water supply pump (311). The first pipe (201) can guide water flowing out from the water supply chamber (301) to the water supply pump (311).

[0149] The second pipe (202) can connect the water supply pump (311) and the first valve (23). The second pipe (202) can guide water flowing out from the water supply pump (311) to the first valve (23).

[0150] The third pipe (203) can be connected between the first valve (23) and the second valve (24). The third pipe (203) can be provided between the water supply pump (311) and the second valve (24).

[0151] The third pipe (203) can be pumped by the water supply pump (311) to guide water flowing out from the first valve (23) to the second valve (24).

[0152] The fourth pipe (204) can connect the second valve (24) and the second water supply unit (241). The fourth pipe (204) can guide water flowing out from the second valve (24) after being pumped by the water supply pump (311) to the washing chamber (230) through the second water supply unit (241). Thus, water stored in the water supply chamber (301) can flow to the washing chamber (230) through the fourth pipe (205).

[0153] The fifth pipe (205) can connect the second valve (24) and the heating device (250). The fifth pipe (205) can guide water flowing out from the second valve (24) after being pumped by the water supply pump (311) to the heating device (250). Thus, water stored in the water supply chamber (301) can flow to the heating device (250) through the fifth pipe (205).

[0154] In addition, a high-temperature pipe (205a) connecting the heating device (205) and the washing chamber (230) may be further included. In this case, water or steam heated by the heating device may flow to the washing chamber (230) through the high-temperature pipe (205a).

[0155] The sixth pipe (206) can connect the first valve (23) and the first water supply unit (217). The sixth pipe (206) can guide water flowing out from the first valve (23). The sixth pipe (206) can guide water flowing from the second pipe (202) to a cleaning robot (100) mounted on the station (200).

[0156] The seventh pipe (207) can connect the sewage chamber (302) and the first pump (21). The seventh pipe (207) can guide air flowing out of the sewage chamber (302).

[0157] The eighth pipe (208) can connect the first pump (21) and the base (220). The eighth pipe (208) can be provided to connect the first pump (21) and an air discharge hole (not shown). The eighth pipe (208) can guide air pumped by the first pump (21).

[0158] The ninth pipe (209) can connect the wastewater chamber (302) and the base (220). The ninth pipe (209) can guide wastewater in the washing chamber (230) to the wastewater chamber (302).

[0159] The first pump (21) can be connected to the sewage chamber (302), the seventh pipe (207), and the eighth pipe (208). The first pump (21) may be referred to as a suction pump.

[0160] The first pump (21) can be connected to the sewage chamber (302) through the seventh pipe (207).

[0161] The first pump (21) can be connected to the air discharge hole through the eighth pipe (208).

[0162] The first pump (21) can be placed between the sewage chamber (302) and the base (220).

[0163] The first pump (21) can pump air from the sewage chamber (302). The air inside the sewage chamber (302) can be discharged from the sewage chamber (302) by the first pump (21).

[0164] The wastewater in the washing chamber (230) can be collected by pumping the air inside the wastewater chamber (302) with the first pump (21). For example, when the air inside the wastewater chamber (302) is discharged to the outside, the inside of the wastewater chamber (302) becomes negative pressure, and the wastewater contained in the washing chamber (230) can flow into the wastewater chamber (302).

[0165] As illustrated in FIG. 7, the station (200) may include a water supply pipe (342) connected to an external water source and a water supply chamber (301), and a drain pipe (352) connected to an external drainage channel and a sewage chamber (302).

[0166] As illustrated in FIG. 8, the second pump (22) is connected to the drain pipe (352) and can be connected to an external drainage channel through the drain pipe (352). That is, the second pump (22) can be provided between the sewage chamber (302) and the drain pipe (352). The second pump (22) may be referred to as a drainage pump.

[0167] The second pump (22) is connected to the sewage chamber (302) and may be connected to the lower part of the sewage chamber (302). The second pump (22) can pump the sewage stored inside the sewage chamber (302) and discharge it to the external drain of the station (200).

[0168] The second pump (22) may include a motor (22a) provided inside the pump housing and an impeller (22b) connected to the shaft of the motor (22a) and rotating in conjunction with the rotation of the motor (22a).

[0169] The inlet of the pump housing of the second pump (22) can be connected to the discharge port (302c) of the wastewater chamber (302). The inlet of the pump housing may be a third suction port into which wastewater is sucked.

[0170] The impeller (22b) can be provided in the wastewater receiving space (22c) within the internal space of the pump housing, and by rotating in the wastewater receiving space (22c), it can generate a pumping force capable of sucking in wastewater stored in the wastewater chamber (302) and discharging the sucked-in wastewater.

[0171] The second pump (22) may include a third outlet (302d) that is provided in the wastewater receiving space (22c) and connected to the drain pipe (352). The third outlet (302d) may be a wastewater outlet.

[0172] The second pump (22) can perform pumping when wastewater is present in the wastewater receiving space (22c).

[0173] If there is no wastewater in the wastewater receiving space (22c), the second pump (22) may stop pumping due to a decrease in head caused by the air filling the wastewater receiving space (22c). The state in which there is no wastewater in the wastewater receiving space (22c) may be a no-load state of the second pump (22).

[0174] That is, the second pump (22) cannot generate pumping power and cannot discharge wastewater to the outside even if wastewater is present in the wastewater chamber (302) but not in the wastewater receiving space (22c). Accordingly, the state of the second pump (22) must be maintained in a load state where wastewater is always present in the wastewater receiving space (22c).

[0175] As illustrated in FIG. 7, the station (200) may further include a first cover (301a) that opens and closes the opening of the water supply chamber (301) and a second cover (302a) that opens and closes the opening of the wastewater chamber (302).

[0176] The station (200) may include a filter sensor (302b) provided in the wastewater chamber (302).

[0177] A filter sensor (302b) is provided at the opening of the sewage chamber (302) and can detect whether the sewage filter (not shown) is removed and / or reattached.

[0178] The filter sensor (302b) may include at least one sensor that detects mechanical and / or electrical changes when the wastewater filter is detached and / or reattached. In one example, the filter sensor (302b) may include a sensor that detects whether the wastewater filter is electrically connected to a wastewater chamber cover (302a) that is provided to cover the opening of the wastewater chamber. In another example, the filter sensor (302b) may include a sensor (e.g., an elastic sensor) that detects mechanical deformation when the wastewater filter is detached and / or reattached.

[0179] The station (200) may include a first water level sensor (345) and a second water level sensor (346) for detecting the height of water stored in the water supply chamber (301). The height of the water stored in the water supply chamber may be referred to as the water level or the water level.

[0180] The first water level sensor (345) may be a high-level sensor that detects whether the water level of the water supply chamber (301) is above a first constant water level. Based on the water level detected by the first water level sensor (345), the supply of water from outside the station (200) into the water supply chamber (301) may be stopped. Based on the water level detected by the first water level sensor (345), the pumping of the water supply pump (311) may be controlled.

[0181] The second water level sensor (346) may be a low water level sensor that detects whether the water level of the water supply chamber (301) is below a second constant water level. Based on the water level detected by the second water level sensor (346), the supply of water from outside the station (200) into the water supply chamber (301) may be started. Based on the water level detected by the second water level sensor (346), the discharge of water or cleaning solution, etc. from the water supply chamber (301) to the cleaning chamber (230), cleaning robot (100), and heating device (250), etc. may be controlled. The water supply of the water supply chamber may be controlled based on the water level detected by the second water level sensor (346).

[0182] The station (200) may include a water supply valve (343) connected inside the water supply chamber (301). The water supply valve (343) connects the water supply chamber (301) and the water supply pipe (342), and can control the inflow of water from a water source outside the station (200) into the water supply chamber (301) by opening or closing.

[0183] The station (200) may include a water level sensor (354) that is provided inside the sewage chamber (302) and detects the height of the sewage stored in the sewage chamber (302). The height of the sewage stored in the sewage chamber (302) may be referred to as the water level of the sewage or the level of the sewage. The water level sensor (354) that detects the height of the sewage may be referred to as a third water level sensor or a sewage level sensor.

[0184] Based on the fact that the water level of the sewage chamber (302) detected by the water level sensor (354) is above the reference water level, the sewage stored in the sewage chamber (302) can be discharged outside the station (200). Based on the fact that the water level of the sewage chamber (302) detected by the water level sensor (354) is above the reference water level, the station (200) can control the operation of the second pump (22).

[0185] FIG. 9 is a control configuration diagram of a station of a cleaning system according to an embodiment, which will be explained with reference to FIG. 10 and FIG. 11.

[0186] FIG. 10 is a current table of the second pump of the cleaning system station according to an embodiment, and FIG. 11 is a control graph of the first pump and the second pump of the cleaning system station according to an embodiment.

[0187] The station (200) may include a first pump (21), a second pump (22), a water supply pump (311), a water level sensor (354), a no-load sensor (360), and a control unit (400).

[0188] The first pump (21) can pump air from the sewage chamber (302) and discharge the pumped air to the outside of the sewage chamber (302). The first pump (21) may be a suction pump.

[0189] By pumping air inside the wastewater chamber (302) with the first pump (21), wastewater from the washing chamber (230) can be moved to the wastewater chamber (302). For example, when air inside the wastewater chamber (302) is discharged to the outside, the inside of the wastewater chamber (302) becomes negative pressure, and at this time, wastewater contained in the washing chamber (230) can flow into the wastewater chamber (302).

[0190] The second pump (22) is provided at the bottom of the sewage chamber (302) and can be connected to the drain pipe (352). The second pump (22) may be a drainage pump.

[0191] The second pump (22) can pump wastewater stored in the wastewater chamber (302) and discharge the pumped wastewater to the external drain of the station (200) through the drain pipe (352).

[0192] The water supply pump (311) can pump water stored in the water supply chamber (301).

[0193] The water supply pump (311) can supply pumped water to the washing chamber (230) or the heating device (250). In addition, water heated in the heating device (205) can be supplied to the washing chamber (230).

[0194] The station (200) may further include a first valve (23) and a second valve (24).

[0195] The first valve (23) can connect the second pipe (202) and the sixth pipe (206), or connect the second pipe (202) and the third pipe (203). The first valve (23) may include a three-way valve that switches the flow path.

[0196] The first valve (23) can allow water pumped by the water supply pump (311) to flow to the first water supply unit (217) through the sixth pipe (206) or to the second valve (24) through the third pipe (203).

[0197] The second valve (24) can connect the third pipe (203) and the fourth pipe (204), or connect the third pipe (203) and the fifth pipe (205). The second valve (24) may include a three-way valve that switches the flow path.

[0198] The second valve (24) can allow water pumped by the water supply pump (311) to flow into the washing chamber (230) through the fourth pipe (204) or into the heating device (205) through the fifth pipe (205).

[0199] The water level sensor (354) can detect the height of the wastewater stored in the wastewater chamber (302) and transmit water level information corresponding to the detected height of the wastewater to the control unit (400).

[0200] The water level sensor (354) can be implemented in a non-contact or contact manner.

[0201] Non-contact water level sensors may include radio wave water level sensors and ultrasonic water level sensors, but the types of non-contact water level sensors are not limited thereto.

[0202] Contact-type water level sensors may include float-type water level sensors, guide rope-type water level sensors, pressure-type water level sensors, capacitive-type water level sensors, differential pressure-type water level sensors, and electrode-type water level sensors, but the types of contact-type water level sensors are not limited thereto.

[0203] The station (200) may also include a weight sensor that detects the weight of the wastewater stored in the wastewater chamber (302) instead of a water level sensor.

[0204] A no-load sensor (360) can be provided in the second pump (22).

[0205] The no-load sensor (360) may be a sensor that detects whether the state of the second pump (22) is a no-load state. The no-load sensor (360) may transmit detection information corresponding to the no-load state to the control unit (400) based on the fact that the state of the second pump (22) is a no-load state, and may transmit detection information corresponding to the load state to the control unit (400) based on the fact that the state of the second pump (22) is a load state.

[0206] The state of the second pump (22) being in a no-load state may include a state in which there is no wastewater inside the second pump (22). The state of the second pump (22) being in a loaded state may include a state in which wastewater is contained inside the second pump (22).

[0207] For example, the no-load sensor (360) may include a current sensor that detects the current of the second pump (22). The current of the second pump (22) may include the current of the motor (22a) provided in the second pump (22). The current of the second pump (22) may be referred to as current information, current value, current magnitude, or current level.

[0208] As another example, the no-load sensor (360) may include a power sensor that detects the power of the second pump (22). The power of the second pump (22) may include the power of the motor (22a) provided in the second pump (22). The power of the second pump (22) may be referred to as power information, power value, power magnitude, or power level.

[0209] As another example, the no-load sensor (360) may include a voltage sensor that detects the voltage of the second pump (22). The voltage of the second pump (22) may include the voltage of the motor (22a) provided in the second pump (22). The voltage of the second pump (22) may be referred to as voltage information, voltage value, voltage magnitude, or voltage level.

[0210] As another example, the no-load sensor (360) may also include a rotational speed sensor that detects the rotational speed of the impeller (22b) provided in the second pump (22). The rotational speed sensor may be referred to as a rotation angle sensor or a rotation count sensor.

[0211] The no-load sensor (360) is a sensor for detecting the state of the second pump (22), and the types of the no-load sensor (360) are not limited to the examples above.

[0212] The control unit (400) can be electrically connected to various components of the station (200) and can control various components. That is, the control unit (400) can control the overall operation of the station (200).

[0213] The control unit (400) can recognize the water level of the water supply chamber (301) based on the first water level information detected by the first water level sensor and the second water level information detected by the second water level sensor.

[0214] The control unit (400) can control the opening of the water supply valve based on the water level of the recognized water supply chamber (301) being below a first constant water level and above a second constant water level, and can control the closing of the water supply valve based on the water level of the water supply chamber (301) being above the first constant water level.

[0215] The control unit (400) can recognize whether the cleaning robot is docked to the station based on at least one of voltage information, current information, or power information detected at the second charging terminal of the station.

[0216] The control unit (400) can control at least one of the performance of a cleaning mode and a sterilization mode of the pad (140) of the cleaning robot based on the recognition that the cleaning robot (100) is docked to the station (200).

[0217] The control unit (400) may also control at least one of the performance of the cleaning mode and the performance of the sterilization mode of the pad based on user input received at the user interface.

[0218] The control unit (400) may also control the performance of the cleaning mode of the cleaning chamber (230) based on a preset period.

[0219] The control unit (400) may also control the execution of a water discharge mode for discharging water from the water supply chamber (301) based on recognizing the storage time of water stored in the water supply chamber (301) and determining that the recognized storage time of the water exceeds the reference storage time.

[0220] When controlling the execution of the water discharge mode, the control unit (400) controls the operation of the water supply pump (311), the first valve (23), and the second valve (24) so ​​that the water stored in the water supply chamber (301) moves to the washing chamber (230) through the first valve (23) and the second valve (24), and controls the operation of the first pump (21) and the second pump (22) so that the water contained in the washing chamber (230) is discharged to the outside through the wastewater chamber (302) and the drain pipe (352).

[0221] The control unit (400) can control the operation of at least one of the water supply pump (311), the first valve (23), and the second valve (24) based on the performance of at least one of the performance of the cleaning mode of the pad (140), the sterilization mode of the pad (140), the cleaning mode of the cleaning chamber (230), and the water discharge mode of the water supply chamber (301).

[0222] When performing the cleaning mode of the pad (140), the cleaning mode of the cleaning chamber (230), or the water discharge mode of the water supply chamber (301), the control unit (400) can control the operation of the water supply pump (311). Based on supplying water from the water supply chamber (301) to the cleaning chamber (230), the control unit (400) can control the flow path of the first valve (23) so that the second pipe (202) and the third pipe (203) are connected, and control the flow path of the second valve (24) so ​​that the third pipe (203) and the fourth pipe (204) are connected.

[0223] When performing the sterilization mode of the pad (140), the control unit (400) can control the operation of the water supply pump (311). Based on supplying water heated in the heating device (230) to the washing chamber (230), the control unit (400) can control the flow path of the first valve (23) so that the second pipe (202) and the third pipe (203) are connected, and control the flow path of the second valve (24) so ​​that the third pipe (203) and the fifth pipe (205) are connected.

[0224] The control unit (400) can control the operation of the first pump (21) based on the operation of the water supply pump (311) so that water contained in the washing chamber (230) flows into the wastewater chamber (302).

[0225] If a sensor (not shown) for detecting water in the washing chamber (230) is provided, the control unit (400) may recognize whether water is contained in the washing chamber (230) based on the detection information detected by the sensor, and may control the operation of the first pump (21) based on the recognition that water is contained in the washing chamber (230).

[0226] Controlling the operation of the first pump (21) may include turning the first pump (21) on. Controlling the operation of the first pump (21) may include controlling the pumping operation of the first pump (21).

[0227] The control unit (400) recognizes the water level of the sewage chamber (302) based on the third water level information detected by the third water level sensor (354), and can recognize whether the recognized water level of the sewage chamber (302) is above a reference water level. The third water level sensor (354) may be a water level sensor provided in the sewage chamber (302).

[0228] The control unit (400) can stop the second pump (22) based on the fact that the water level of the sewage chamber (302) is below the reference water level during the operation of the first pump (21). The control unit (400) can maintain the second pump (22) in a stopped state based on the fact that the water level of the sewage chamber (302) is below the reference water level during the operation of the first pump (21). Maintaining the second pump (22) in a stopped state may include maintaining the second pump (22) in an off state.

[0229] The control unit (400) can control the operation of the second pump (22) based on the fact that the water level of the wastewater chamber (302) is above the reference water level during the operation of the first pump (21).

[0230] Controlling the operation of the second pump (22) may include turning the second pump (22) on. Controlling the operation of the second pump (22) may include controlling the pumping operation of the second pump (22).

[0231] The control unit (400) can control the operation of the second pump (22) so that the wastewater stored in the wastewater chamber (302) is discharged outside the station (200).

[0232] The control unit (400) can recognize whether the state of the second pump (22) is a no-load state or a load state based on detection information detected by the no-load sensor (360) during the operation of the second pump (22).

[0233] As shown in FIG. 10, according to the load test results of the second pump (22), it can be seen that when the second pump (22) is in a load state where water is present in the second pump (22), the current of the second pump is 0.5A or more and the power is 6W or more. Additionally, when the second pump (22) is in a no-load state where there is no water in the second pump (22), it can be seen that the current of the second pump is 0.3A or less and the power is 2.5W or less.

[0234] For example, if the no-load sensor is a current sensor, the control unit (400) recognizes whether the current of the second pump (22) is less than or equal to the first reference current based on the current information detected by the current sensor, recognizes the state of the second pump (22) as a no-load state based on the fact that the current of the second pump (22) is less than or equal to the first reference current, and recognizes the state of the second pump (22) as a load state based on the fact that the current of the second pump (22) exceeds the first reference current.

[0235] As another example, if the no-load sensor is a current sensor, the control unit (400) recognizes whether the current of the second pump (22) is below the first reference current or above the second reference current based on the current information detected by the current sensor, and recognizes the state of the second pump (22) as a no-load state based on the fact that the current of the second pump (22) is below the first reference current, and recognizes the state of the second pump (22) as a load state based on the fact that the current of the second pump (22) is above the second reference current. Here, the second reference current may be a current greater than the first reference current. For example, if the second reference current is 0.5A, the first reference current may be 0.3A.

[0236] In another example, if the no-load sensor is a power sensor, the control unit (400) recognizes whether the power of the second pump (22) is less than or equal to the first reference power based on power information detected by the power sensor, recognizes the state of the second pump (22) as a no-load state based on the fact that the power of the second pump (22) is less than or equal to the first reference power, and recognizes the state of the second pump (22) as a load state based on the fact that the power of the second pump (22) exceeds the first reference power.

[0237] As another example, if the no-load sensor is a power sensor, the control unit (400) recognizes whether the power of the second pump (22) is less than or equal to the first reference power or greater than or equal to the second reference power based on power information detected by the power sensor, recognizes the state of the second pump (22) as a no-load state based on the fact that the power of the second pump (22) is less than or equal to the first reference power, and recognizes the state of the second pump (22) as a load state based on the fact that the power of the second pump (22) is greater than or equal to the second reference power. Here, the second reference power may be a power greater than the first reference power.

[0238] The control unit (400) can maintain and control the operation of the second pump (22) and maintain and control the operation of the first pump (21) based on the fact that the state of the second pump (22) is recognized as a load state during the operation of the second pump (22).

[0239] The control unit (400) can maintain the operation of the second pump (22) and stop the first pump (21) based on the fact that the state of the second pump (22) is primarily recognized as a no-load state.

[0240] The control unit (400) can stop the operation of the second pump (22) and control the operation of the first pump (21) based on the fact that the state of the second pump (22) is first recognized as a no-load state and the state of the second pump (22) is secondarily recognized as a no-load state. Controlling the operation of the first pump (21) may include controlling the first pump (21) to switch from an off state to an on state.

[0241] The control unit (400) can recognize whether the state of the second pump (22) is maintained in a no-load state for a reference time period from the point in time when the state of the second pump (22) is recognized in a no-load state, and can secondarily recognize the state of the second pump (22) as a no-load state based on whether the state of the second pump (22) is maintained in a no-load state for a reference time period. This will be explained in more detail with reference to FIG. 11.

[0242] As illustrated in FIG. 11, the control unit (400) can primarily recognize the state of the second pump (22) as a no-load state based on the fact that the current of the second pump changes from a second reference current to a first reference current or lower during the operation of the second pump (22).

[0243] The control unit (400) can control the first pump (21) to switch from the on state to the off state based on the fact that the state of the second pump (22) is primarily recognized as a no-load state.

[0244] Controlling the first pump (21) from the on state to the off state may include controlling the pumping of the second pump (22) to stop.

[0245] For example, the control unit (400) can control the first pump (21) to switch from the ON state to the OFF state when the current of the second pump (22) reaches the first reference current.

[0246] The control unit (400) can control the first pump (21) to remain off based on the fact that the current of the second pump (22) is less than or equal to the first reference current.

[0247] The control unit (400) can monitor the state of the second pump (22) for a reference time from the point in time when the state of the second pump (22) is primarily recognized as a no-load state. That is, the control unit (400) can recognize whether the state of the second pump (22) is maintained in a no-load state for a reference time from the point in time when the state of the second pump (22) is primarily recognized as a no-load state based on detection information detected by the no-load sensor (360).

[0248] The control unit (400) can control the first pump (21) to remain off for a reference time (Tr).

[0249] The control unit (400) can secondarily recognize the state of the second pump (22) as a no-load state based on the fact that the state of the second pump is maintained in a no-load state during a reference time (Tr). For example, the control unit (400) can secondarily recognize the state of the second pump (22) as a no-load state based on the fact that the current of the second pump is maintained at or below a first reference current.

[0250] Secondarily recognizing the state of the second pump (22) as a no-load state may include finally recognizing the state of the second pump (22) as a no-load state.

[0251] The control unit (400) can prevent air binding from occurring inside the second pump (22) by keeping the first pump (21) in an off state until the state of the second pump (22) is finally recognized as being in a no-load state.

[0252] The control unit (400) can control the second pump (22) from an on state to an off state and control the first pump (21) from an off state to an on state based on secondarily recognizing the state of the second pump (22) as a no-load state.

[0253] The control unit (400) can control the pumping operation of the second pump (22) until there is no water in the wastewater chamber (302), thereby allowing the wastewater in the wastewater chamber (302) to be discharged to the outside.

[0254] The control unit (400) may recognize an error in the first recognition of the no-load state based on the fact that the state of the second pump (22) changes to a load state based on detection information detected by the no-load sensor (360) after the state of the second pump (22) is first recognized as a no-load state, before reaching the reference time (Tr).

[0255] For example, error recognition for primary recognition in a no-load state may include recognizing it as a signal disturbance.

[0256] The control unit (400) can control the first pump (21) to switch from an off state to an on state based on the fact that the state of the second pump (22) changes from an off state to a load state before reaching a reference time during the operation of the second pump (22).

[0257] For example, the control unit (400) can switch the first pump (21) to the ON state based on the fact that the current of the second pump (22) exceeds the first reference current before reaching a reference time while the first pump (21) is in the OFF state. Through this, the wastewater in the wastewater chamber (302) can be pumped by the second pump (22) and discharged to the outside.

[0258] The control unit (400) can switch the second pump (22) to the ON state based on the fact that the water level of the wastewater chamber (302) is above the reference water level when the second pump (22) is in the OFF state.

[0259] The control unit (400) can be electrically connected to various components of the cleaning robot (100) and can control various components. For example, the control unit (400) can control the charging of a battery provided in the cleaning robot. For another example, the control unit (400) can recognize whether the cleaning robot is in a docked state based on at least one of voltage information, current information, or power information detected at the second charging terminal of the station, and can control the supply of water to a water tank provided in the cleaning robot and control the collection of dirt in the dust collection chamber based on the recognition that the cleaning robot is in a docked state.

[0260] The control unit (400) may include at least one processor (401) for controlling the operation of the cleaning robot (100) and the station (200), and at least one memory (402) for storing a program and data for controlling the operation of the cleaning robot (100) and the station (200).

[0261] At least one processor (401) may include an algorithm for controlling the operation of internal components of the cleaning robot (100) and the station (200), at least one memory for storing data in the form of a program, and one or more processor chips that perform the aforementioned operation using data stored in at least one memory (402), or one or more processing cores.

[0262] At least one processor (401) can process various data and various signals using instructions, data, programs and / or software stored in memory (402).

[0263] At least one processor (401) may include one or more of a CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerated Processing Unit), MIC (Many Integrated Core), DSP (Digital Signal Processor), NPU (Neural Processing Unit), hardware accelerator, or machine learning accelerator.

[0264] The memory (402) can store data necessary for various embodiments.

[0265] The memory (402) can store information for recognizing the no-load state of the second pump. For example, the information for recognizing the no-load state of the second pump may include information about a reference current. For another example, the information for recognizing the no-load state of the second pump may include information about a reference power.

[0266] The memory (402) can store information about the reference time.

[0267] The memory (402) can store information about the reference water level of the wastewater chamber.

[0268] The memory (402) may be implemented in the form of a memory embedded in the station (200) or in the form of a memory that can be attached to the station (200), depending on the purpose of data storage. For example, data for operating the station (200) may be stored in a memory embedded in the station (200), and data for the expansion function of the station (200) may be stored in a memory that can be attached to the station (200).

[0269] Meanwhile, the memory embedded in the station (200) 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).

[0270] In addition, the memory that can be attached to and detached from the station (200) may be implemented in the form of a memory card (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), etc.) or an external memory that can be connected to a USB port (e.g., USB memory), but is not limited thereto.

[0271] The memory (402) may include one or more memory chips or one or more memory blocks.

[0272] The station (200) may further include a user interface (not shown) that receives input from a user or outputs operation information of the station (200) to the user.

[0273] The user interface may include an input unit that receives user input and transmits the received user input to a control unit (400), and a display unit that outputs operation information of the station (200).

[0274] For example, user input may include a docking command for the cleaning robot, a cleaning command for the cleaning robot, a washing command for the cleaning robot's pad, a sterilization command, and a drying command.

[0275] The operation information of the station (200) may include information on the pad's washing mode, sterilization mode, drying mode, and charging mode.

[0276] The operation information of the station (200) may include information on the washing mode of the washing chamber and the residual water discharge mode of the water supply chamber.

[0277] The input section may include hardware devices such as various buttons, switches, pedals, keyboards, mice, trackballs, various levers, handles or sticks, microphones, etc., for user input.

[0278] In addition, the input section may include a device that is a GUI (Graphical User Interface), i.e., software, such as a touch pad, for user input.

[0279] The display unit may be provided with a Digital Light Processing (DLP) panel, a Plasma Display Panel, a Liquid Crystal Display (LCD) panel, an Electro Luminescence (EL) panel, an Electrophoretic Display (EPD) panel, an Electrochromic Display (ECD) panel, a Light Emitting Diode (LED) panel, or an Organic Light Emitting Diode (OLED) panel, but is not limited thereto.

[0280] The user interface may also include a speaker that outputs operation information of the station (200).

[0281] The station (200) may further include a communication unit (not shown).

[0282] The communication unit may include various communication circuits for performing wired communication and / or wireless communication with an external device (e.g., a cleaning robot).

[0283] The communication unit can transmit information or data to the cleaning robot (100) or receive information or data from the cleaning robot (100). For example, the communication unit can transmit information about user input to the cleaning robot (100).

[0284] The communication unit may include at least one of a short-range communication circuit and a long-range communication circuit.

[0285] For example, the communications unit may support cellular communication, wireless local area network, home radio frequency (RF), infrared communication, ultra-wide band (UWB) communication, Wi-Fi, Wi-Fi Direct, Bluetooth, AD-HOC, and / or Zigbee. The communication technologies supported by the communications unit are not limited to those exemplified.

[0286] The communication unit may also communicate with the cleaning robot (100) through an access point (AP).

[0287] At least one component may be added or removed in response to the performance of the components of the station (200) illustrated in FIG. 9. Additionally, it will be readily understood by those skilled in the art that the relative positions of the components may be changed in response to the performance or structure of the station (200).

[0288] Each component illustrated in Fig. 9 refers to a software and / or hardware component such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

[0289] FIG. 12 is a control flowchart of a station of a cleaning system according to an embodiment.

[0290] The station can recognize whether water is supplied from the water supply chamber (301) to the washing chamber (230) based on at least one of the station's operating mode and user input.

[0291] The station can control the flow path switching of the first valve (23) and the second valve (24) based on the water supply from the water supply chamber (301) to the washing chamber (230).

[0292] The station can control the operation of the water pump (311) based on the water supply from the water supply chamber (301) to the washing chamber (230) (501).

[0293] The station can control the operation of the first pump (21) so that water contained in the washing chamber (230) flows into the wastewater chamber (302).

[0294] Controlling the operation of the first pump (21) may include controlling the first pump (21) to an ON state. Controlling the operation of the first pump (21) may include controlling the pumping operation of the first pump (21).

[0295] The station can recognize the water level of the sewage chamber (302) based on water level information detected by a water level sensor (354) provided in the sewage chamber (302) (502).

[0296] The station can recognize whether the water level of the recognized sewage chamber (302) is above the reference water level (503).

[0297] The station can keep the second pump (22) in a stopped state based on the fact that the water level of the sewage chamber (302) is below the reference water level during the operation of the first pump (21).

[0298] Maintaining the second pump (22) in a stopped state may include maintaining the second pump (22) in an off state.

[0299] The station can control the operation of the second pump (22) based on the fact that the water level of the sewage chamber (302) is above the reference water level during the operation of the first pump (21) (504).

[0300] Controlling the operation of the second pump (22) may include controlling the second pump (22) to an ON state. Controlling the operation of the second pump (22) may include controlling the pumping operation of the second pump (22).

[0301] The station can control the operation of the second pump (22) so that the wastewater stored in the wastewater chamber (302) is discharged outside the station (200) through the drain pipe.

[0302] The station can recognize whether the state of the second pump (22) is a no-load state or a load state based on detection information detected by the no-load sensor (360) during the operation of the first pump (21) and the second pump (22).

[0303] For example, the station can primarily recognize whether the state of the second pump is in a no-load state based on the current of the second pump (22) during the operation of the first pump (21) and the second pump (22). More specifically, the station can primarily recognize the state of the second pump (22) as a no-load state based on the fact that the current of the second pump (22) is recognized as being below a first reference current during the operation of the first pump (21) and the second pump (22).

[0304] Based on the fact that the state of the second pump (22) is primarily recognized as a no-load state (505), the station can stop the first pump (21) (506). Through this, the station can prevent wastewater from the washing chamber (230) from flowing into the wastewater chamber (302).

[0305] Stopping the first pump (21) may include switching the first pump (21) from an on state to an off state.

[0306] The station can maintain the second pump in an operating state based on the fact that the state of the second pump (22) is primarily recognized as a no-load state. Maintaining the second pump in an operating state may include maintaining the pumping operation through the second pump. Maintaining the second pump in an operating state may include maintaining the second pump in an ON state.

[0307] Hereinafter, the point in time when the state of the second pump (22) is first recognized as a no-load state is recorded as the first recognition point.

[0308] The station can monitor the status of the second pump (22) for a reference time from the first recognition point.

[0309] For example, the station can recognize whether the state of the second pump is maintained in a no-load state for a reference time from a first recognition point based on detection information detected by the no-load sensor (360). More specifically, the station can recognize whether the current of the second pump is maintained at or below a first reference current for a reference time from a first recognition point.

[0310] The station can maintain the off state of the first pump (21) and maintain the operation of the second pump (22) based on the fact that the state of the second pump is maintained in a no-load state during a reference time from the first recognition point.

[0311] The station can secondarily recognize the state of the second pump (22) as a no-load state based on the recognition that the state of the second pump has been maintained in a no-load state for a reference time from the first recognition time when a reference time has elapsed.

[0312] For example, the station can secondarily recognize the state of the second pump (22) as a no-load state based on the fact that the current of the second pump is maintained at or below the first reference current during the reference time from the first recognition point.

[0313] Secondarily recognizing the state of the second pump (22) as a no-load state may include finally recognizing the state of the second pump (22) as a no-load state.

[0314] Hereinafter, the point in time when the state of the second pump (22) is secondarily recognized as a no-load state is recorded as the second recognition point.

[0315] The station can prevent air binding from occurring inside the second pump (22) by keeping the first pump (21) in an off state until the second recognition point.

[0316] Based on the second recognition of the second pump (22) as being in a no-load state (507), the station can stop the second pump (22) and control the operation of the first pump (21) (508).

[0317] Stopping the second pump (22) may include controlling the second pump (22) from an on state to an off state. Controlling the operation of the first pump (21) may include switching the first pump (21) from an off state to an on state.

[0318] The station can control the pumping operation of the second pump (22) until the state of the second pump is finally recognized as a no-load state, thereby allowing the wastewater in the wastewater chamber (302) to be discharged to the outside.

[0319] The point in time when the state of the second pump is finally recognized as a no-load state may include the point in time when there is no water in the wastewater chamber (302).

[0320] Before the time elapsed from the first recognition point reaches the reference time, the station recognizes whether the state of the second pump (22) has changed to a load state based on the detection information detected by the no-load sensor (360), and recognizes the first recognition of the no-load state as an error based on the recognition that the state of the second pump (22) has changed to a load state.

[0321] For example, error recognition for primary recognition in a no-load state may include recognizing it as a signal disturbance.

[0322] The station can control the first pump (21) to switch from the off state to the on state based on the state of the second pump (22) changing to a load state after the first recognition point and before reaching the reference time from the first recognition point.

[0323] The station can control the operation of the first pump based on the second pump (22) being in a loaded state so that wastewater from the washing chamber flows into the wastewater chamber, and the wastewater flowing into the wastewater chamber can be pumped out by the second pump (22) and discharged to the outside.

[0324] The station can monitor the status of the second pump (22) during the operation of the first and second pumps (21, 22).

[0325] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0326] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0327] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively.

Claims

1. At the docking station where the cleaning robot is docked, A cleaning chamber for cleaning a pad provided in the above cleaning robot; A wastewater chamber for storing water introduced from the above washing chamber; A first pump that causes water from the washing chamber to flow into the wastewater chamber; A second pump connected to the sewage chamber and the drain pipe, which pumps water from the sewage chamber and discharges it through the drain pipe; A no-load sensor for detecting the no-load state of the second pump; and A station comprising a control unit that, during the operation of the first pump and the second pump, recognizes whether the state of the second pump is a no-load state based on detection information detected by the no-load sensor, and controls the first pump to stop based on the fact that the state of the second pump is a no-load state.

2. In claim 1, the control unit is, A station that, during the operation of the first pump and the second pump, primarily recognizes whether the state of the second pump is in a no-load state, and when the time elapsed since the point in time when the state of the second pump is primarily recognized as a no-load state reaches a reference time, secondarily recognizes whether the state of the second pump is in a no-load state based on detection information detected by the no-load sensor.

3. In claim 2, the control unit is, Based on the fact that the state of the second pump is primarily recognized as a no-load state, the first pump is controlled to stop and the operation of the second pump is controlled to maintain. A station that controls the operation of the first pump and controls the stop of the second pump based on the second recognition that the state of the second pump is in a no-load state.

4. In claim 2, the control unit is, A station that secondarily recognizes the state of the second pump as a no-load state based on the fact that the state of the second pump is maintained in a no-load state during the reference time from the point in time when the state of the second pump is first recognized as a no-load state.

5. In claim 2, the control unit is, A station that controls the operation of the first pump based on the change in the state of the second pump to a load state before the time elapsed from the point in time when the state of the second pump is primarily recognized as a no-load state reaches the reference time.

6. In Paragraph 1, The above-mentioned no-load sensor includes a current sensor that detects the current of the second pump, and The control unit is a station that recognizes the state of the second pump as a no-load state based on the fact that the current of the second pump detected by the current sensor is less than or equal to the first reference current, and recognizes the state of the second pump as a load state based on the fact that the current of the second pump detected by the current sensor exceeds the first reference current.

7. In Paragraph 1, A water supply chamber for storing water; and It further includes a water supply pump that supplies water stored in the water supply chamber to the washing chamber, The above control unit is a station that controls the operation of the first pump based on the operation of the water supply pump.

8. In Paragraph 1, It further includes a water level sensor for detecting the water level of the above wastewater chamber, The above control unit is a station that recognizes the water level of the sewage chamber based on water level information detected by the water level sensor and controls the operation of the second pump based on the recognized water level of the sewage chamber being above a reference water level.

9. A control method for a station to which a cleaning robot equipped with a pad is docked, Control the operation of the first pump so that water from the washing chamber for washing the pad flows into the wastewater chamber, and Control the operation of the second pump to discharge the water of the above sewage chamber into the drain pipe, and Recognizing the state of the second pump based on detection information detected by the no-load sensor, and A control method for a station that controls the first pump to stop and controls the operation of the second pump based on the fact that the state of the second pump is recognized as a no-load state.

10. In claim 9, recognizing the state of the second pump is, During the operation of the first pump and the second pump, the state of the second pump is primarily recognized as being in a no-load state, and When the elapsed time from the point in time when the state of the second pump is primarily recognized as a no-load state reaches a reference time, the state of the second pump is secondarily recognized as a no-load state based on the detection information detected by the no-load sensor, and A control method for a station further comprising controlling the operation of the first pump and stopping the second pump based on the second recognition that the state of the second pump is in a no-load state.

11. In claim 10, stopping control of the first pump and maintaining control of the operation of the second pump is, A control method for a station comprising stopping the first pump and maintaining the operation of the second pump based on the fact that the state of the second pump is primarily recognized as a no-load state.

12. In claim 10, recognizing the state of the second pump as a no-load state secondarily is, A control method for a station that secondarily recognizes the state of the second pump as a no-load state based on the fact that the state of the second pump is maintained in a no-load state during the reference time from the point in time when the state of the second pump is first recognized as a no-load state.

13. In Paragraph 10, A control method for a station further comprising controlling the operation of the first pump based on the change in the state of the second pump to a load state before the time elapsed from the point in time when the state of the second pump is primarily recognized as a no-load state reaches the reference time.

14. In Paragraph 9, The above-mentioned no-load sensor includes a current sensor that detects the current of the second pump, and A control method for a station comprising recognizing the state of the second pump, recognizing the state of the second pump as a no-load state based on the current of the second pump detected by the current sensor being less than or equal to a first reference current, and recognizing the state of the second pump as a load state based on the current of the second pump detected by the current sensor being greater than the first reference current.

15. In claim 9, controlling the operation of the second pump is, Recognizing the water level of the sewage chamber based on water level information detected by a water level sensor, and A method for controlling a station, comprising controlling the operation of the second pump based on the fact that the water level of the recognized sewage chamber is above a reference water level.

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