US20250134335A1

US20250134335A1 - Cleaning robot, maintenance station and cleaning system having them

Info

Publication number: US20250134335A1
Application number: US18/966,900
Authority: US
Inventors: Heeseung Choi; Jinsoo JEONG; Masato Suzuki; Youngdae KO; Daesoo Kim; Jinho Kim; Hyungmin SON
Original assignee: Samsung Electronics Co Ltd
Current assignee: Samsung Electronics Co Ltd
Priority date: 2023-10-31
Filing date: 2024-12-03
Publication date: 2025-05-01

Abstract

A cleaning system includes a cleaning robot including first and second driving wheels, a first coupling portion, a second coupling portion, a third coupling portion, and a fourth coupling portion, and a first processor configured to control a driving of the first and second driving wheels, and a maintenance station including a housing in which a storage space is provided, a lifting plate including a first fixing projection, a second fixing projection, a third fixing projection, and a fourth fixing projection, a door configured to open or close the storage space of the housing, and a second processor configured to control a driving of the lifting plate. The first fixing projection, the second fixing projection, the third fixing projection, and the fourth fixing projection are coupled to the first coupling portion, the second coupling portion, the third coupling portion, and the fourth coupling portions, respectively.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Application No. PCT/KR2024/016120 designating the United States, filed on Oct. 23, 2024, in the Korean Intellectual Property Receiving Office and claiming priority to Korean Patent Application Nos. 10-2023-00148160, filed on Oct. 31, 2023, and 10-2024-0058679, filed on May 2, 2024, in the Korean Intellectual Property Office, the disclosures of each of which are incorporated by reference herein in their entireties.

BACKGROUND

The disclosure relates to a cleaning robot, a maintenance station, and a cleaning system including them.
A cleaning robot can perform autonomous driving in substantial parts, and such autonomous driving may be implemented in various methods. A cleaning robot is a device that cleans dust on the bottom while driving in a cleaning area without a user's manipulation. Specifically, a cleaning robot can be used in vacuum cleaning and mopping, etc. in homes. Here, the dust may mean (soil) dust, specks, powder, debris, and other dust particles, etc. that can be collected by a vacuum cleaner or an automatic or a semi-automatic cleaning device.
Dust collected in a dust bin of a cleaning robot can be emptied manually by a user, or can be emptied automatically by a dust collecting device provided in a maintenance station.

SUMMARY

Aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments.
A maintenance station configured to store a cleaning robot according to an embodiment of the disclosure may include a housing in which a storage space is provided, a lifting plate configured to move the cleaning robot docked with the housing to the storage space of the housing, and a door configured to open or close the storage space of the housing. The lifting plate may include a plurality of fixing projections configured to fix the cleaning robot to the lifting plate based on the lifting plate moving between a first location in which the cleaning robot is configured to dock and a second location in the storage space of the housing.
The plurality of fixing projections may include: a first fixing projection configured to insert into a first coupling portion provided on a first side of a bottom surface of the cleaning robot; a second fixing projection configured to insert into a second coupling portion provided on a second side of the bottom surface of the cleaning robot; a third fixing projection adjacent to the first fixing projection and configured to insert into a third coupling portion on the bottom surface of the cleaning robot; and a fourth fixing projection adjacent to the second fixing projection and configured to insert into a fourth coupling portion on the bottom surface of the cleaning robot.
The first fixing projection may be configured to insert into the first coupling portion of the cleaning robot in a first direction in which the cleaning robot is configured to dock with the maintenance station, and the second fixing projection may be configured to insert into the second coupling portion of the cleaning robot in the first direction.
The first fixing projection may include a first head portion configured to interfere with the first coupling portion in a second direction toward the cleaning robot from the lifting plate, and the second fixing projection may include a second head portion configured to interfere with the second coupling portion in the second direction.
The third fixing projection may be configured to insert into the third coupling portion of the cleaning robot in the second direction, where the fourth fixing projection is configured to insert into the fourth coupling portion of the cleaning robot in the second direction.
The third fixing projection and the fourth fixing projection may be separated from the bottom surface of the cleaning robot based on the lifting plate being in the first location, where the third fixing projection and the fourth fixing projection project from a top surface of the lifting plate based on the lifting plate moving from the first location to the second location and are to be inserted into the third coupling portion and the fourth coupling portion.
The lifting plate may further include: a first lever rotatably connected to the lifting plate, elastically supported, and configured to project the third fixing projection from the top surface of the lifting plate to be inserted into the third coupling portion or separate the third fixing projection from the third coupling portion; and a second lever rotatably connected to the lifting plate, elastically supported, and configured to project the fourth fixing projection from the top surface of the lifting plate to be inserted into the fourth coupling portion or separate the fourth fixing projection from the fourth coupling portion.
The first lever and the second lever may be pressurized by an inner side surface of the door based on the lifting plate being in the first location, and separate the third fixing projection and the fourth fixing projection from the bottom surface of the cleaning robot, where, based on the lifting plate moving from the first location to the second location, the first lever and the second lever are configured to project the third fixing projection and the fourth fixing projection from the top surface of the lifting plate to be inserted into the third coupling portion and the fourth coupling portion.
The third fixing projection and the fourth fixing projection may have a pin shape.
The maintenance station may further include a locker configured to unlock the lifting plate in the first location, and lock the lifting plate in the second location by being interlocked with an operation of the door opening or closing the storage space.
The lifting plate may further include: a driving gear defining a rotation axis and configured to transmit a driving force to the lifting plate; and a first drive motor gear coupled with the driving gear and configured to drive the lifting plate.
The lifting plate may further include: a locker coupled to the driving gear and configured to unlock the lifting plate in the first location, and lock the lifting plate in the second location by being interlocked with an operation of the door opening or closing the storage space.
A cleaning robot configured to dock onto a lifting plate provided in a maintenance station according to an embodiment of the disclosure may include a body, a dust bin provided in the body, a brush provided in an opening of the body and configured to sweep dust into the dust bin, a first driving wheel and a second driving wheel provided on a bottom surface of the body, and a plurality of coupling portions provided on the bottom surface of the body, and configured to prevent detachment of the body in a direction away from the lifting plate of the maintenance station and a direction of gravity.
The plurality of coupling portions may include: a first coupling portion more adjacent to a rear part of the body than the first driving wheel; a second coupling portion more adjacent to the rear part of the body than the second driving wheel; a third coupling portion adjacent to the first coupling portion; and a fourth coupling portion adjacent to the second coupling portion.
The first coupling portion may be configured to couple with a first fixing projection provided on the lifting plate of the maintenance station based on the first fixing projection being inserted in a first direction in which the body docks with the maintenance station, where the first coupling portion includes: a first guide rib having a first guide groove configured to guide the first fixing projection in the first direction, where the second coupling portion is configured to couple with a second fixing projection provided on the lifting plate of the maintenance station based on the second fixing projection being inserted in the first direction, and where the second coupling portion includes: a second guide rib having a second guide groove configured to guide the second fixing projection in the first direction.
The third coupling portion may be configured to couple with a third fixing projection provided on the lifting plate of the maintenance station based on the third fixing projection being inserted in a second direction toward the bottom surface of the body from the lifting plate, where the fourth coupling portion is configured to couple with a fourth fixing projection provided on the lifting plate of the maintenance station based on the fourth fixing projection being inserted in the second direction.
A cleaning system according to an embodiment of the disclosure may include a cleaning robot including a first driving wheel and a second driving wheel, a first coupling portion, a second coupling portion, a third coupling portion, and a fourth coupling portion, and a first processor configured to control a driving of the first driving wheel and the second driving wheel, and a maintenance station including a housing in which a storage space is provided, a lifting plate including a first fixing projection, a second fixing projection, a third fixing projection, and a fourth fixing projection, a door configured to open or close the storage space of the housing, and a second processor configured to control a driving of the lifting plate. The first fixing projection, the second fixing projection, the third fixing projection, and the fourth fixing projection may be coupled to the first coupling portion, the second coupling portion, the third coupling portion, and the fourth coupling portion, respectively, and configured to prevent detachment of the cleaning robot in a direction away from the lifting plate and a direction of gravity. The second processor may control the lifting plate to move between a first location in which the cleaning robot docks with the housing and a second location in which the cleaning robot is stored in the storage space of the housing. In the first location, the first fixing projection and the first coupling portion may be coupled, and the second fixing projection and the second coupling portion may be coupled. Based on the lifting plate moving from the first location to the second location, the third fixing projection and the third coupling portion may be coupled, and the fourth fixing projection and the fourth coupling portion may be coupled.
The lifting plate may further include: a first driving motor configured to drive the lifting plate to move between the first location and the second location, where the door of the maintenance station further includes a second driving motor configured to control the door to move to an open state and a closed state, and where the second processor is further configured to control a driving signal of the first driving motor and a driving signal of the second driving motor.
In a state in which the cleaning robot is docked with the housing and the lifting plate is in the second location, the second processor is further configured to: control the maintenance station to perform at least one of a pad drying operation or a dust collecting operation.

BRIEF DESCRIPTION OF DRAWINGS

The above and other aspects, features, and advantages of certain embodiments of the present disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a diagram illustrating a cleaning system including a maintenance station and a cleaning robot according to an embodiment of the disclosure;

FIG. 2 is a diagram illustrating an example wherein a cleaning robot docks with a maintenance station according to an embodiment of the disclosure;

FIG. 3 is a diagram illustrating an example wherein a cleaning robot is stored in a maintenance station according to an embodiment of the disclosure;

FIG. 4 is a diagram illustrating an example wherein a storage space of a maintenance station is closed by a door according to an embodiment of the disclosure;

FIG. 5 is a block diagram illustrating a configuration of a maintenance station according to an embodiment of the disclosure;

FIG. 6 is a diagram illustrating a lifting assembly and a door assembly of a maintenance station according to an embodiment of the disclosure;

FIG. 7 is a diagram illustrating a lifting assembly of a maintenance station according to an embodiment of the disclosure;

FIG. 8 is a diagram illustrating a portion (the A portion in FIG. 8 ) of a lifting assembly of a maintenance station according to an embodiment of the disclosure;

FIG. 9 is a diagram illustrating a state wherein a first fixing projection of a lifting plate is separated from a first coupling portion of a cleaning robot according to an embodiment of the disclosure;

FIG. 10 is a diagram illustrating a state wherein a first fixing projection of a lifting plate is inserted into a first coupling portion of a cleaning robot according to an embodiment of the disclosure;

FIG. 11 is a diagram illustrating a configuration wherein a third fixing projection of a lifting assembly of a maintenance station is supported by a first lever according to an embodiment of the disclosure;

FIG. 12 is a diagram illustrating a door assembly of a maintenance station according to an embodiment of the disclosure;

FIG. 13 is a diagram illustrating a locker of a maintenance station according to an embodiment of the disclosure;

FIG. 14 is a diagram illustrating the inside of a maintenance station according to an embodiment of the disclosure;

FIG. 15 is a diagram illustrating an example of emptying a dust bin of a cleaning robot by a dust collecting assembly of a maintenance station according to an embodiment of the disclosure;

FIG. 16 is a block diagram illustrating a configuration of a cleaning robot according to an embodiment of the disclosure;

FIG. 17 is a bottom surface view of a cleaning robot according to an embodiment of the disclosure;

FIG. 18 is a flow chart illustrating a process wherein a cleaning robot is stored in a maintenance station according to an embodiment of the disclosure;

FIG. 19 is a diagram illustrating an example wherein a cleaning robot climbs onto a lifting plate in a first location according to an embodiment of the disclosure;

FIG. 20 is a diagram illustrating an example wherein a first fixing projection of a lifting plate is inserted into a first coupling portion of a cleaning robot according to an embodiment of the disclosure;

FIG. 21 is a diagram illustrating an example of detecting a third fixing projection of a lifting plate inserted into a third coupling portion of a cleaning robot according to an embodiment of the disclosure;

FIG. 22 is a diagram illustrating an example wherein a lifting assembly of a maintenance station lifts a cleaning robot as it is guided by a door assembly according to an embodiment of the disclosure;

FIG. 23 is a diagram illustrating an example wherein a lifting plate of a maintenance station transports a cleaning robot to a second location according to an embodiment of the disclosure;

FIG. 24 is a diagram illustrating an example wherein a door is closed when a lifting plate of a maintenance station is in a second location according to an embodiment of the disclosure;

FIG. 25 is a diagram illustrating an example wherein a cleaning robot is stored in a storage space of a maintenance station according to an embodiment of the disclosure; and

FIG. 26 is a diagram illustrating an example wherein a cleaning robot is in a storing location together with a lifting plate according to an embodiment of the disclosure.

DETAILED DESCRIPTION

Various modifications may be made to the embodiments of the disclosure, and there may be various types of embodiments. Accordingly, exemplary embodiments will be illustrated in drawings, and the embodiments will be described in detail in the detailed description. However, it should be noted that the various embodiments are example embodiments, and are not for limiting the scope of the disclosure, but the disclosure should be interpreted to include all modifications, equivalents, and/or alternatives of the embodiments described herein. Meanwhile, with respect to the detailed description of the drawings, similar components may be designated by similar reference numerals, and redundant descriptions thereof will be omitted.
Also, in case it is determined that in describing the disclosure, detailed explanation of related known functions or features may unnecessarily confuse the gist of the disclosure, the detailed explanation will be omitted.
In addition, the embodiments below may be modified in various different forms, and the scope of the technical idea of the disclosure is not limited to the embodiments below. Rather, these embodiments are provided to make the disclosure more sufficient and complete, and to fully convey the technical idea of the disclosure to those skilled in the art.
Further, the terms used in the disclosure are used only to explain exemplary embodiments, and are not intended to limit the scope of the disclosure. In addition, singular expressions include plural expressions, unless defined obviously differently in the context.
Also, in the disclosure, expressions such as “have,” “may have,” “include,” “may include,” “comprise,” “may comprise” and the like denote the existence of such characteristics (e.g.: elements such as numbers, functions, operations, and components), and do not exclude the existence of additional characteristics.
In addition, in the disclosure, the expressions “A or B,” “at least one of A and/or B,” or “one or more of A and/or B” and the like may include all possible combinations of one or more of the listed items. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” may refer to all of the following cases: (1) including at least one A, (2) including at least one B, or (3) including at least one A and at least one B.
Further, the expressions “first,” “second,” and the like used in the disclosure may describe various elements regardless of any order and/or degree of importance. Also, such expressions are used only to distinguish one element from another element, and are not intended to limit the elements.
Meanwhile, the description in the disclosure that one element (e.g.: a first element) is “(operatively or communicatively) coupled with/to” or “connected to” another element (e.g.: a second element) should be interpreted to include both the case where the one element is directly coupled to the another element, and the case where the one element is coupled to the another element through still another element (e.g.: a third element). In contrast, the description that one element (e.g.: a first element) is “directly coupled” or “directly connected” to another element (e.g.: a second element) can be interpreted to mean that another element (e.g.: a third element) does not exist between the one element and the another element.
Also, the expression “configured to” used in the disclosure may be interchangeably used with other expressions such as “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” and “capable of,” depending on cases. Meanwhile, the term “configured to” may not necessarily mean that a device is “specifically designed to” in terms of hardware. Instead, under some circumstances, the expression “a device configured to” may mean that the device “is capable of” performing an operation together with another device or component. For example, the phrase “a processor configured to perform A, B, and C” may mean a dedicated processor (e.g.: an embedded processor) for performing the corresponding operations, or a generic-purpose processor (e.g.: a CPU or an application processor) that can perform the corresponding operations by executing one or more software programs stored in a memory device.
Also, in the disclosure, ‘a module’ or ‘a part’ may perform at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. In addition, a plurality of ‘modules’ or ‘parts’ may be integrated into at least one module and implemented as at least one processor, excluding ‘a module’ or ‘a part’ that needs to be implemented as specific hardware.
Meanwhile, various elements and areas in drawings are illustrated schematically. Accordingly, the technical idea of the disclosure is not limited by the relative sizes or intervals illustrated in the accompanying drawings.
Hereinafter, embodiments of the disclosure will be described in detail with reference to the accompanying drawings, such that those having ordinary skill in the art to which the disclosure belongs can easily carry out the disclosure.
FIG. 1 is a diagram illustrating a cleaning system including a maintenance station and a cleaning robot according to an embodiment of the disclosure.
Referring to FIG. 1 , a cleaning system 1 may include a maintenance station 100 and a cleaning robot 300.
A housing 110 of the maintenance station 100 may include a storage space 111 storing the cleaning robot 300. The maintenance station 100 may include a lifting assembly 120 that lifts the cleaning robot 300 and moves it to the storage space 111 of the housing 110. The structure of the lifting assembly 120 will be described in detail below.
A lifting plate 121 of the lifting assembly 120 may move between a first location (refer to FIG. 2 ) wherein the cleaning robot 300 can dock with the maintenance station 100 and a second location (refer to FIG. 3 ) wherein the cleaning robot 300 is located in the storage space 111 of the housing 110. The lifting plate 121 may move from the first location to the second location, or move from the second location to the first location. A movable section of the lifting plate 121 may be a range from the first location to the second location. A regular trajectory may be shown while the lifting plate 121 moves from the first location to the second location. The lifting plate 121 may be arranged in parallel or arranged approximately in parallel to the bottom in the first location, or arranged perpendicularly or arranged approximately perpendicularly to the bottom in the second location.
In the first location, the bottom surface 121 j (refer to FIGS. 25 and 26 ) of the lifting plate 121 may be adjacent to the inner side surface 131 a (refer to FIG. 12 ) of the door 131 of the door assembly 130. The structure of the door assembly 130 will be described in detail below. The door 131 may be located on the lower side of the lifting plate 121 in a state of contacting the bottom. The top surface of the lifting plate 121 may have a gentle gradient such that the cleaning robot 300 can climb onto the top surface of the lifting plate 121.
In the second location, the lifting plate 121 may be arranged in a different posture from the first location so as to be located in the storage space 111 of the housing 110. For example, one end 121 a (refer to FIG. 1 ) of the lifting plate 121 may be located on the upper side of the storage space 111 of the housing 110, and the other end 121 b of the lifting plate 121 may be located on the lower side of the storage space 111 of the housing 110.
Referring to FIG. 1 , the maintenance station 100 may make the door 131 and the lifting plate 121 descend such that the cleaning robot 300 docks with the maintenance station 100. In this case, the storage space 111 of the housing 110 may be opened by the door 131. The maintenance station 100 may close the storage space 111 of the housing 110 while the cleaning robot 300 is cleaning a cleaning area, and may thereby prevent the storage space 111 of the housing 110 from being exposed to the outside.
FIG. 2 is a diagram illustrating an example wherein a cleaning robot docks with a maintenance station according to an embodiment of the disclosure.
Referring to FIG. 2 , the cleaning robot 300 may dock with the maintenance station 100 when cleaning ends or based on a user instruction.
The cleaning robot 300 may move along the top surface of the lifting plate 121 in the first location to dock with the maintenance station 100. In this case, the cleaning robot 300 may go backward toward the maintenance station 100 and dock with the maintenance station 100 such that the rear portion 300 b of the cleaning robot 300 can be located in the storage space 111 of the housing 110.
A user instruction may be input into the cleaning robot 300 by a remote controller that can communicate with the cleaning robot 300 wirelessly. Alternatively, a user instruction may be input into the cleaning robot 300 by a user by manipulating at least one button among a plurality of function buttons provided on the cleaning robot 300.
Cleaning pads 322 a, 322 b may be provided on the rear side of the bottom surface 303 of the cleaning robot 300. The bottom surface 303 of the cleaning robot 300 and the bottom surface 303 of the body 301 may have the same meaning.
When the cleaning robot 300 goes backward and docks with the maintenance station 100, the cleaning pads 322 a, 322 b coupled with the cleaning robot 300 may be aligned on a pad washing station 145 a, 145 b provided on the lower side of the storage space 111 of the housing 110. The maintenance station 100 may perform a pad washing operation in which the cleaning robot 300 docks with the maintenance station 100, and then washes the cleaning pads 322 a, 322 b of the cleaning robot 300 through a pad washing assembly 140. The pad washing assembly 140 will be described in detail below.
The location wherein the cleaning pads 322 a, 322 b are coupled in the cleaning robot 300 is not limited to the rear side of the bottom surface 303 of the cleaning robot 300. For example, the cleaning pads 322 a, 322 b may be coupled on the front side of the bottom surface 303 of the cleaning robot 300. In this case, the cleaning robot 300 may go forward toward the maintenance station 100 and dock with the maintenance station 100, such that the entire part 300 a of the cleaning robot 300 enters the storage space 111 of the housing 110.
The maintenance station 100 may omit a process of washing the cleaning pads 322 a, 322 b of the cleaning robot 300 based on a user instruction.
FIG. 3 is a diagram illustrating an example wherein a cleaning robot is stored in a maintenance station according to an embodiment of the disclosure.
Referring to FIG. 3 , the maintenance station 100 may move the lifting plate 121 to the second location, and store the cleaning robot 300 in the storage space 111 of the housing 110. The cleaning robot 300 may be fixed to the lifting plate 121 while moving to the storage space 111 of the housing 110. For example, a plurality of fixing projections 125, 126, 127, 128 that are provided on the top surface 121 c of the lifting plate 121 and a plurality of coupling portions 381, 382, 383, 384 that are provided on the bottom surface 303 of the cleaning robot 300 and correspond to each of the plurality of fixing projections 125, 126, 127, 128 may be coupled with one another. The cleaning robot 300 may be fixed to the lifting plate 121 steadfastly such that it does not move in a direction wherein the top surface of the lifting plate 121 and the bottom surface 303 of the cleaning robot 300 are distanced from each other (e.g.: the X axis direction in FIG. 3 ), the left-right direction of the lifting plate 121 (e.g.: the Y axis direction in FIG. 3 ), and the direction of gravity (e.g.: the Z axis direction in FIG. 3 ).
FIG. 4 is a diagram illustrating an example wherein a storage space of a maintenance station is closed by a door according to an embodiment of the disclosure.
Referring to FIG. 4 , when the cleaning robot 300 is stored in the storage space 111 of the housing 110 together with the lifting plate 121, the maintenance station 100 may close the storage space 111 of the housing 110 by rotating the door 131 of the door assembly 130 included in the maintenance station 100.
When the maintenance station 100 closes the storage space 111 of the housing 110 by the door 131, there may be no portion that projects or spreads to the front side of the maintenance station 100. Accordingly, the maintenance station 100 may maintain its overall shape, and as the inside of the maintenance station 100 is not visible, a feeling of cleanliness may be given to the user. The maintenance station 100 may be used by being installed in a built-in type wherein it is embedded in a wall structure.
The maintenance station 100 may perform a pad drying operation and/or a dust collecting operation while the door 131 is closed. For example, the maintenance station 100 may dry the cleaning pads 322 a, 322 b by supplying hot wind to the cleaning pads 322 a, 322 b. For example, the maintenance station 100 may suction the dust stored in the dust container 360 of the cleaning robot 300, and collect the dust in the dust collecting bin 165 provided in the maintenance station 100. The maintenance station 100 may simultaneously perform a pad drying operation and a dust collecting operation, or sequentially perform the operations. The maintenance station 100 may perform only any one of a pad drying operation and a dust collecting operation based on a user instruction, or both of the operations may be omitted.
In the disclosure, a user instruction may be input into the cleaning robot 300 by a remote controller that can communicate with the maintenance station 100 wirelessly. In this case, the remote controller may selectively communicate with the maintenance station 100 and the cleaning robot 300.
The maintenance station 100 may perform a pad drying operation and/or a dust collecting operation while the door 131 is closed, and thus noises that are generated at the time of a pad drying operation and/or a dust collecting operation can be improved.
Hereinafter, a configuration of a maintenance station according to an embodiment of the disclosure will be described in detail with reference to the drawings.
FIG. 5 is a block diagram illustrating a configuration of a maintenance station according to an embodiment of the disclosure.
Referring to FIG. 5 , the maintenance station 100 may include a lifting assembly 120, a door assembly 130, a pad washing assembly 140, a pad drying assembly 150, a dust collecting assembly 160, a sensor 170, a communication interface 180, a charging device 191, a power supplying device 195, memory 196, and a processor 197. However, not all of the components illustrated in FIG. 5 are essential components of the maintenance station 100. A person having ordinary knowledge in the technical field related to the disclosure would be able to understand that the maintenance station 100 may be implemented by more components than the components illustrated in FIG. 5 , or the maintenance station 100 may be implemented by fewer components than the components illustrated in FIG. 5 .
FIG. 6 is a diagram illustrating a lifting assembly and a door assembly of a maintenance station according to an embodiment of the disclosure.
Referring to FIG. 6 , the lifting assembly 120 may support the cleaning robot 300 such that the cleaning robot 300 can dock with the maintenance station 100. The lifting assembly 120 may lift the cleaning robot 300 that docked with the maintenance station 100, and transport it to the storage space 111 of the housing 110. The lifting assembly 120 may include a first driving motor 122 as a power source for driving the lifting plate 121.
The door assembly 130 may open and close the storage space 111 of the housing 110. When the cleaning robot 300 is transported to the storage space 111 of the housing 110 by the lifting assembly 120, the door assembly 130 may close the storage space 111 of the housing 110. The door assembly 130 may include a second driving motor 132 as a power source for driving the door 131.
The lifting assembly 120 and the door assembly 130 may be arranged to be adjacent to each other. For example, the lifting plate 121 of the lifting assembly 120 may be arranged to overlap with the door 131 of the door assembly 130 in the first location. A first lifting arm 123 and a second lifting arm 124 of the lifting assembly 120 connected to opposite sides of the lifting plate 121 may be arranged in parallel to a first guide rail 133 and a second guide rail 134 respectively provided on opposite sides of the door 131.
When the lifting plate 121 moves from the first location to the second location or from the second location to the first location, the other end 121 b of the lifting plate 121 may be slidably supported by the first guide rail 133 and the second guide rail 134 of the door assembly 130. In this case, on opposite sides of the other end 121 b of the lifting plate 121, a first roller 129 a and a second roller 129 b that rotate along the first guide rail 133 and the second guide rail 134 may be provided.
Hereinafter, the structure of the lifting assembly 120 of the maintenance station according to an embodiment of the disclosure will be described in detail with reference to FIG. 7 to FIG. 11 .
FIG. 7 is a diagram illustrating a lifting assembly of a maintenance station according to an embodiment of the disclosure. FIG. 7 does not illustrate some components of the door assembly 130 such that the components of the lifting assembly 120 can be clearly shown.
Referring to FIG. 7 , the lifting assembly 120 may include a lifting plate 121, a first lifting arm 123, a second lifting arm 124, a first driving motor 122, a first fixing projection 125, a second fixing projection 126, a third fixing projection 127, a fourth fixing projection 128, a first roller 129 a, and a second roller 129 b.
The lifting plate 121 may support the cleaning robot 300 such that it can dock with the maintenance station 100. The top surface 121 c of the lifting plate 121 may have a gentle gradient (e.g., about 8° to) 10° such that the cleaning robot 300 can climb onto the top surface of the lifting plate 121. On the top surface 121 c of the lifting plate 121, a first track 121 d and a second track 121 e may be provided such that the first driving wheel 311 and the second driving wheel 312 of the cleaning robot 300 may not slip when the cleaning robot 300 climbs onto the top surface 121 c of the lifting plate 121. The first track 121 d and the second track 121 e may include a plurality of slip preventing projections.
On the top surface 121 c of the lifting plate 121, a first wheel accommodating groove 121 f connected with the first track 121 d and a second wheel accommodating groove 121 g connected with the second track 121 e may be provided. In the first wheel accommodating groove 121 f and the second wheel accommodating groove 121 g, the first driving wheel 311 and the second driving wheel 312 of the cleaning robot 300 may respectively be accommodated. The first driving wheel 311 and the second driving wheel 312 of the cleaning robot 300 may move along the first track 121 d and the second track 121 e, and may then be respectively accommodated in the first wheel accommodating groove 121 f and the second wheel accommodating groove 121 g. Moving of the first driving wheel 311 and the second driving wheel 312 of the cleaning robot 300 accommodated in the first wheel accommodating groove 121 f and the second wheel accommodating groove 121 g in the left-right direction (e.g.: the Y axis direction in FIG. 7 ) of the lifting plate 121 may be limited.
The first lifting arm 123 and the second lifting arm 124 may be driven by power provided from the first lifting motor 122, and move the lifting plate 121 to the first location and the second location. One end of the first lifting arm 123 and one end of the second lifting arm 124 may respectively be hinge-coupled to the left side and the right side of the lifting plate 121. The other end of the first lifting arm 123 and the other end of the second lifting arm 124 may be hinge-coupled to a first hinge bracket 115 and a second hinge bracket 116 arranged in the bottom portion 113 of the housing 110.
On the inner side of the first hinge bracket 115, a first lifting gear G1 coupled to the rotation axis of the first lifting arm 123, and a second lifting gear G2 gear-coupled to the first lifting gear G1 may be arranged. The second lifting gear G2 may be gear-coupled with a connecting gear CG. The connecting gear GC may be gear-coupled with a driving gear DG connected with the rotation axis of the first driving motor 122.
On the inner side of the second hinge bracket 116, a third lifting gear G3 coupled to the rotation axis of the second lifting arm 124, and a fourth lifting gear G4 gear-coupled to the third lifting gear G3 may be arranged. The fourth lifting gear G4 may receive the driving force of the second lifting gear G2 through a first power transmission axis 117 a. The fourth lifting gear G4 may rotate in the same direction as the rotating direction of the second lifting gear G2.
When the first driving motor 122 is driven in a forward direction, the driving force of the first driving motor 122 may be sequentially transmitted to the second lifting gear G2 and the first lifting gear G1. The first lifting arm 123 may receive the driving force of the first lifting gear G1, and rotate in a counter-clockwise direction with the Y axis in FIG. 7 at the center. Also, the driving force of the first driving motor 122 may be sequentially transmitted to the fourth lifting gear G4 and the third lifting gear G3 through the first power transmission axis 117 a. The second lifting arm 124 may receive the driving force of the third lifting gear G3, and rotate in a counter-clockwise direction with the Y axis in FIG. 7 at the center.
The lifting plate 121 may have a gradient close to verticality (e.g., about 80° to) 85° as one end part of the lifting plate 121 is lifted in the upper direction by the rotation of the first lifting arm 123 and the second lifting arm 124 in a counter-clockwise direction. The lifting plate 121 may move from the first location to the second location by the first lifting arm 123 and the second lifting arm 124, and may move to the storage space 111 of the housing 110.
When the first driving motor 122 is driven in a reverse direction, the first lifting arm 123 and the second lifting arm 124 may rotate in a clockwise direction with the Y axis in FIG. 7 at the center. One end part of the lifting plate 121 may descend by the first lifting arm 123 and the second lifting arm 124, and the lifting plate 121 may return from the second location to the first location.
The first fixing projection 125 may be provided on the left side of one end 121 b of the lifting plate 121. The second fixing projection 126 may be provided on the right side of one end 121 b of the lifting plate 121. The first fixing projection 125 and the second fixing projection 126 may be arranged to be symmetrical to each other based on the central line of the lifting plate 121 (e.g.: a line parallel to the X axis in FIG. 7 ). The first fixing projection 125 and the second fixing projection 126 may be respectively coupled to the first coupling portion 381 and the second coupling portion 382 of the cleaning robot 300 when the cleaning robot 300 climbs onto the lifting plate 121 and docks with the maintenance station 100.
The third fixing projection 127 may be arranged to be adjacent to the first fixing projection 125, and may be arranged farther from one end of the lifting plate 121 than the first fixing projection 125. The third fixing projection 127 may be slidably inserted into a first guide hole 121 h provided on the lifting plate 121.
The fourth fixing projection 128 may be arranged to be adjacent to the second fixing projection 126, and may be arranged farther from one end of the lifting plate 121 than the second fixing projection 126. The fourth fixing projection 128 may be slidably inserted into a second guide hole 121 i provided on the lifting plate 121. The third fixing projection 127 and the fourth fixing projection 128 may be arranged to be symmetrical to each other based on the central line of the lifting plate 121 (e.g.: a line parallel to the X axis in FIG. 7 ).
FIG. 8 is a diagram illustrating an enlarged portion (the A portion in FIG. 8 ) of a lifting assembly of a maintenance station according to an embodiment of the disclosure. FIG. 9 is a diagram illustrating a state wherein a first fixing projection of a lifting plate is separated from a first coupling portion of a cleaning robot according to an embodiment of the disclosure. FIG. 10 is a diagram illustrating a state wherein a first fixing projection of a lifting plate is inserted into a first coupling portion of a cleaning robot according to an embodiment of the disclosure.
Referring to FIG. 8 , the first fixing projection 125 may include a column portion 125 a fixed to the lifting plate 121, and a head portion 125 b that extends to the upper side of the column portion 125 a. The width of the head portion 125 b (e.g.: the length in the Y axis direction in FIG. 8 ) may be formed to be bigger than the width of the column portion 125 a.
Referring to FIG. 9 , when the cleaning robot 300 moves to dock with the maintenance station 100, the first coupling portion 381 may move toward the first fixing projection 125. The guide rib 381 b of the first coupling portion 381 may include a slope surface 381 d that aligns the docking location of the cleaning robot 300, and a guide groove 381 e into which the column portion 125 a of the first fixing projection 125 is inserted.
Referring to FIG. 10 , in the docking location of the cleaning robot 300, the column portion 125 a of the first fixing projection 125 is inserted into the guide groove 381 e of the guide rib 381 b of the first coupling portion 381. The column portion 125 a of the first fixing projection 125 is interfered along the Y axis direction in FIG. 10 in the guide groove 381 e of the guide rib 381 b of the first coupling portion 381. Accordingly, moving of the cleaning robot 300 in the left-right direction on the lifting plate 121 may be limited.
Also, in the docking location of the cleaning robot 300, the head portion 125 b of the first fixing projection 125 may be inserted into an insertion groove 381 a of the first coupling portion 381. The head portion 125 b of the first fixing projection 125 may be interfered in the Z axis direction in FIG. 10 by the guide rib 381 b of the first coupling portion 381. Accordingly, moving of the cleaning robot 300 in a direction of being distanced from the lifting plate 121 may be limited.
By coupling between the first coupling portion 381 of the cleaning robot 300 and the first fixing projection 125 of the lifting plate 121, the cleaning robot 300 can be fixed on the lifting plate 121 steadfastly.
The second fixing projection 126 may have a substantially identical structure to the first fixing projection 125, and the second coupling portion 382 of the cleaning robot 300 may have a substantially identical structure to the first coupling portion 381.
FIG. 11 is a diagram illustrating a configuration wherein a third fixing projection of a lifting assembly of a maintenance station is supported by a first lever according to an embodiment of the disclosure.
Referring to FIG. 11 , the upper end of the third fixing projection 127 may be arranged in a location that corresponds to the top surface 121 c of the lifting plate 121, or may protrude a little more than the top surface 121 c of the lifting plate 121 so as not to be interfered by the bottom surface 303 of the cleaning robot 300 when the cleaning robot 300 moves along the top surface 121 c of the lifting plate 121 in the first location.
The third fixing projection 127 may protrude from the top surface 121 c of the lifting plate 121 by a specific length or return to its original location by a first lever 137 operably arranged on the inner side of the lifting plate 121.
The first lever 137 may be rotatably connected to the lifting plate 121 by a first hinge pin 138. One end 137 a of the first lever 137 may be rotatably connected to the third fixing projection 127 by a second hinge pin 138 b. A portion adjacent to the other end 137 b of the first lever 137 may be elastically supported by the lifting plate 121 by an elastic member 139 (e.g.: a coil spring).
The other end 137 b of the first lever 137 may be pressurized by the inner side surface 131 a of the door 131 in the first location as in FIG. 11 . In this case, one end 137 a of the first lever 137 may be moved to a location adjacent to the inner side surface 131 a of the door 131. The third fixing projection 127 may protrude from the top surface 121 c of the lifting plate 121 by a minimum protruding length by one end 137 a of the first lever 137. Here, the minimum protruding length means a length in which the bottom surface 303 of the cleaning robot 300 is not interfered by the third fixing projection 127 when the cleaning robot 300 moves along the top surface 121 c of the lifting plate 121.
In case one end of the lifting plate 121 ascends by driving of the first lifting arm 123 and the second lifting arm 124 and the gradient of the lifting plate 121 increases, the first lever 137 may rotate in a clockwise direction by an elastic force of the elastic member 139 while the lifting plate 121 moves from the first location to the second location. As the other end 137 b of the first lever 137 is pressurized by the inner side surface 131 a of the door 131 until a specific section, and is distanced from the inner side surface 131 a of the door 131 in sections exceeding the specific section, a pressurizing force by the inner side surface 131 a of the door 131 may be removed. The third fixing projection 127 may protrude from the top surface 121 c of the lifting plate 121 along a first through hole 122 h. In case the cleaning robot 300 is seated on the top surface 121 c of the lifting plate 121, the third fixing projection 127 may be inserted into the third coupling portion 383 of the cleaning robot 300.
The fourth fixing projection 128 may operate substantially identically to the third fixing projection 127 by the second lever 137-1 (refer to FIG. 25 ). As the structure of the second lever 137-1 is substantially identical to that of the first lever 137, explanation will be omitted.
FIG. 12 is a diagram illustrating a door assembly of a maintenance station according to an embodiment of the disclosure. FIG. 12 does not illustrate most components of the door assembly 130 such that the components of the door assembly 130 can be clearly shown.
Referring to FIG. 12 , the door assembly 130 may include a door 131, a second driving motor 132, a first guide rail 133, a second guide rail 134, and a locker 135.
The door 131 may rotate with a second power transmission axis 117 b parallel to the Y axis in FIG. 12 at the center by a driving force provided from the second driving motor 132, and open or close the storage space 111 of the housing 110. The door 131 may be located on the lower side of the lifting plate 121 in case the lifting plate 121 is in the first location. The door 131 may rotate in a counter-clockwise direction with the second power transmission axis 117 b at the center in case the lifting plate 121 is in the second location, and close the storage space 111 of the housing 110.
The first guide rail 133 and the second guide rail 134 may be provided to be parallel to each other on opposite sides of the door 131. The first guide rail 133 and the second guide rail 134 may guide the first roller 129 a and the second roller 129 b of the lifting plate 121 when the lifting plate 121 moves between the first location and the second location. In this case, the first roller 129 a and the second roller 129 b of the lifting plate 121 may rotate while moving along the top surfaces of the first guide rail 133 and the second guide rail 134.
The lengths of the first guide rail 133 and the second guide rail 134 may be lengths by which the first roller 129 a and the second roller 129 b of the lifting plate 121 may be guided while the lifting plate 121 moves between the first location and the second location.
The first guide rail 133 and the second guide rail 134 may respectively include a plurality of portions such that they may be modified in consideration of an operation of the door 131 of rotating in a clockwise direction or a counter-clockwise direction. For example, the first guide rail 133 may include a first portion 133 a arranged on the inner side surface 131 a of the door 131, a second portion 133 b arranged on the bottom portion 113 of the housing 110, and a third portion 133 c connecting the first portion 133 a and the second portion 133 b. The first portion 133 a, the second portion 133 b, and the third portion 133 c of the first guide rail 133 may be arranged in a same straight line. Accordingly, the first guide rail 133 may continuously guide the first roller 129 a of the lifting plate 121 without a discontinued section.
One end of the third portion 133 c of the first guide rail 133 may be rotatably connected to the second portion 133 b through a first connection axis 133 d. The other end of the third portion 133 c of the first guide rail 133 may be seated on the first portion 133 a of the first guide rail 133 in a separable state. Also, the other end of the third portion 133 c of the first guide rail 133 may be interfered by the first portion 133 a of the first guide rail 133 that moves together with the door 131 when the door 131 rotates in a counter-clockwise direction with the second power transmission axis 117 b parallel to the Y axis in FIG. 12 at the center, and rotate in a counter-clockwise direction around the first connection axis 133 d. Further, the other end of the third portion 133 c of the first guide rail 133 may rotate in a clockwise direction around the first connection axis 133 d by the self-load of the third portion 133 c when the door 131 rotates in a clockwise direction around the second power transmission axis 117 b. The first guide rail 133 may be modified into a form of being spread (refer to FIG. 12 ) and a form of being folded (refer to FIG. 26 ) according to a rotating direction of the door 131.
The second guide rail 134 may include a plurality of portions in a similar manner to the first guide rail 133. For example, the second guide rail 134 may include a first portion 134 a arranged on the inner side surface 131 a of the door 131, a second portion 134 b arranged on the bottom portion 113 of the housing 110, and a third portion 134 c connecting the first portion 134 a and the second portion 134 b. One end of the third portion 134 c of the second guide rail 134 may be rotatably connected to the second portion 134 b through a second connection axis 134 d.
The locker 135 may fix the lifting plate 121 such that the lifting plate 121 does not descend (e.g.: move to the first location) but maintains the second location even if the power of the maintenance station 100 is turned off. The locker 135 may lock the driving gear DG that transmits a driving force to the lifting plate 121 when the lifting plate 121 is in the second location.
The locker 135 may be arranged to be adjacent to one side of the first guide rail 133 along the longitudinal direction of the first guide rail 133. The locker 135 may move along the X axis direction in FIG. 12 by being interlocked with the rotation of the door 131. For example, the locker 135 may be distanced from the driving gear DG in a location wherein the door 131 opened the storage space 111 of the housing 110. When the door 131 rotates from a location wherein the storage space 111 of the housing 110 is opened to a location wherein the storage space 111 is closed, the locker 135 may move to the side of the driving gear DG by being interlocked with the rotation of the door 131, and may be coupled with a locking projection 135 a of the locker 135. The locker 135 may move linearly to lock the driving gear DG by using a rotating operation of the door 131 as a driving source without a separate electric driving source (e.g.: a driving motor, an electric actuator, etc.).
FIG. 13 is a diagram illustrating a locker of a maintenance station according to an embodiment of the disclosure.
Referring to FIG. 13 , to the front end of the locker 135, the locking projection 135 a may be elastically coupled. For example, the locking projection 135 a may be slidably inserted into an accommodating groove 135 b formed on the front end of the locker 135. In the accommodating groove 135 b of the locker 135, an elastic member 135 c (e.g.: a coil spring) may elastically support the locking projection 135 a. The accommodating groove 135 b may be closed by a cover 135 d.
Along the lower end of the locker 135, a plurality of guide projections 135 f may be provided. The plurality of guide projections 135 f may be slidably inserted into a guide slot 113 a provided on the bottom portion 113 of the housing 110.
To the rear end of the locker 135, an adapter 136 may be hinge-coupled. The adapter 136 may be coupled to one end of the first portion 133 a of the first guide rail 133 through the second power transmission axis 117 b. The adapter 136 may receive a driving force from the second driving motor 132, and transmit the driving force to the second power transmission axis 117 b. The second power transmission axis 117 b may rotate the door 131 in a clockwise direction or a counter-clockwise direction. The adapter 136 may include a cam projection 136 a eccentrically arranged on the second power transmission axis 117 b. The cam projection 136 a may be slidably connected to a long hole 135 e provided on the other end of the locker 135. The long hole 135 e may be arranged approximately vertically to the longitudinal direction of the locker 135. For example, when the adapter 136 rotates in a counter-clockwise direction with the second power transmission axis 117 b at the center, the locker 135 may move in a direction of getting closer to the driving gear DG. Meanwhile, when the adapter 136 rotates in a clockwise direction with the second power transmission axis 117 b at the center, the locker 135 may move in a direction of getting farther from the driving gear DG.
FIG. 14 is a diagram illustrating the inside of a maintenance station according to an embodiment of the disclosure.
A pad washing assembly 140 may be constituted to wash cleaning pads 322 a, 322 b coupled to the bottom surface 303 of the cleaning robot 300 that docked with the maintenance station 100. The pad washing assembly 140 may be constituted to spray steam when the cleaning robot 300 is in the first location. Referring to FIGS. 5 and 14 , the pad washing assembly 140 may include a pad washing station 141, a water pump 143, a steam device 145 and a plurality of steam spray nozzles 146, 147, a fresh water container 148, and a dirty water container 149.
The pad washing station 141 may be arranged in the lower part of the housing 110. For example, the lower part of the housing 110 wherein the pad washing station 141 is arranged may include a tub that can accommodate washing water sprayed from the plurality of steam spray nozzles 146, 147.
The water pump 143 may be arranged inside the housing 110. The water pump 143 may be connected with the fresh water container 148 by a first pipe, and connected with the dirty water container 149 by a second pipe, and connected with the tub wherein the pad washing station 141 is arranged by a third pipe, and connected with the steam device 145 by a fourth pipe. The steam device 145 may be connected with the plurality of steam spray nozzles 146, 147 through a fifth pipe.
The water pump 143 may suction the washing water stored in the fresh water container 148, and provide the washing water to the steam device 145. The steam device 145 may heat the washing water provided by the water pump 143, and provide steam of a high temperature to the plurality of steam spray nozzles 146, 147.
The plurality of steam spray nozzles 146, 147 may spray steam toward the cleaning pads 322 a, 322 b of the cleaning robot 300. The cleaning robot 300 may rotate the cleaning pads 322 a, 322 b while steam is being sprayed. The rotating cleaning pads 322 a, 322 b can separate foreign substances attached on the cleaning pads 322 a, 322 b easily as they contact the plurality of projections formed in the upper part of the pad washing station 141. In the tub, steam that was used for washing the cleaning pads 322 a, 322 b may be liquefied and stored as dirty water. The water pump 143 may suction the dirty water stored in the tub, and transport the water to the dirty water container 149.
In the upper part of the housing 110, a first mounting groove 118 a and a second mounting groove 118 b wherein the clean water container 148 and the dirty water container 149 are respectively accommodated to be separable may be provided. In the upper part of the housing 110, a dust collecting bin 165 may be separably accommodated on one side of the first mounting groove 118 a. The first mounting groove 118 a, the second mounting groove 118 b, and the third mounting groove 118 c of the housing 110 may be opened or closed by an upper cover 119. The upper cover 119 may form the exterior of the housing 110 as a part of the housing 110 when it is coupled to the housing 110.
The pad drying assembly 150 may dry the cleaning pads 322 a, 322 b by providing hot wind to the wet cleaning pads 322 a, 322 b while going through the washing process of the cleaning robot 300. The pad drying assembly 150 may be constituted to operate when the cleaning robot 300 is in the second location. Referring to FIGS. 5 and 14 , the pad drying assembly 150 may include a blowing fan 151, a heater 153, and a plurality of hot wind spray nozzles 156, 157.
The blowing fan 151 may be connected with the plurality of hot wind spray nozzles 156, 157 by a duct. The blowing fan 151 may suction the air outside the housing 110, and provide the air to the plurality of hot wind spray nozzles 156, 157. The heater 153 may be arranged inside the duct. The heater 153 may form hot wind by heating the air provided to the plurality of hot wind spray nozzles 156, 157 by the blowing fan 151.
The plurality of hot wind spray nozzles 156, 157 may be arranged to correspond to the cleaning pads 322 a, 322 b of the cleaning robot 300 in the second location. The plurality of hot wind spray nozzles 156, 157 may dry the cleaning pads 322 a, 322 b by spraying hot wind toward the cleaning pads 322 a, 322 b facing them.
The dust collecting assembly 160 may be constituted to empty the dust stored in the dust container 360 of the cleaning robot 300 by being connected to the cleaning robot 300 when the cleaning robot 300 is in the second location. Referring to FIGS. 5 and 14 , the dust collecting assembly 160 may include a suction motor 161, a dust suction nozzle 163, and a dust collecting bin 165.
The suction motor 161 may be arranged inside the housing 110. The suctioning side of the suction motor 161 may be connected with a dust suction nozzle 163 by a first dust transport pipe 162. The exhausting side of the suction motor 161 may be connected with the dust collecting bin 165 by a second dust transport pipe.
Referring to FIG. 14 , the dust suction nozzle 163 may protrude from a wall structure 112 surrounding the storage space 111 of the housing 110 by a specific length. While the cleaning robot 300 moves from the first location to the second location by the lifting plate 121 while being fixed to the top surface 121 c of the lifting plate 121, the dust suction nozzle 163 may be inserted into an exhaust hole 361 provided on the bottom surface 303 of the cleaning robot 300. In this case, a shutter 362 closing the exhaust hole 361 of the cleaning robot 300 may be rotated by the dust suction nozzle 163, and open the exhaust hole 361. The dust D stored in the dust container 360 of the cleaning robot 300 may be sucked into the dust suction nozzle 163 through an opening 360 a of the dust container 360 by a suction force according to driving of the suction motor 161. The dust D that got out of the dust container 360 may be collected in the dust collecting bin 165 of the dust collecting assembly 160 through the first dust transport pipe 162.
The sensor 170 may obtain sensing data for the maintenance station 100 to detect docking of the cleaning robot 300 and detect opening and closing of the door 131. The sensing data refers to data that is obtained through various sensors arranged in the maintenance station 100. For example, the sensor 170 may include a docking detection sensor 171 and a door detection sensor 173.
The docking detection sensor 171 may obtain data that is used for detecting the cleaning robot 300 that moved to the docking location of the maintenance station 100. The docking detection sensor 171 may be arranged in the wall structure 112 forming the storage space 111 of the housing 110. For example, the docking detection sensor 171 may be arranged in a specific location of the wall structure 112 corresponding to an approximate center of the rear portion 300 b of the cleaning robot 300 when the cleaning robot 300 docks with the maintenance station 100. The docking detection sensor 171 may include a proximity sensor. The proximity sensor may be an electrostatic responsive sensor or a photoelectric detection sensor that can detect the cleaning robot 300 in case the outer cover of the cleaning robot 300 includes a non-conductor such as plastic. Also, the proximity sensor may be an inductive sensor that can detect the cleaning robot 300 in case the outer cover of the cleaning robot 300 includes a metallic material.
The door detection sensor 173 may be arranged on the outer surface of the housing 110, and obtain data that is used for detecting the door 131 that closes the storage space 111 of the housing 110. The door detection sensor 173 may be arranged in a specific location of the outer surface of the housing 110 that faces a portion of the inner side surface 131 a of the door 131 when the door 131 is in a location wherein it closes the storage space 111 of the housing 110 (refer to FIG. 1 ).
The door detection sensor 173 may be a mechanical limit switch or an optical sensor. In case the door detection senor 173 is a mechanical limit switch, the door detection sensor 173 may detect the door 131 when physical pressurization is applied by the door 131 closes the storage space 111 of the housing 110.
The communication interface 180 may communicate with the cleaning robot 300. For example, the communication interface 180 may communicate with the communication interface 340 of the cleaning robot 300 wirelessly. In the disclosure, the communication interface 180 of the maintenance station 100 may be referred to as the first communication interface, and the communication interface 340 of the cleaning robot 300 may be referred to as the second communication interface.
Also, the communication interface 180 may communicate with an external device. For example, the communication interface 180 may transmit and receive data with a smartphone, a laptop computer, a tablet PC, a digital camera, a mobile terminal such as an e-book terminal and a terminal for digital broadcasting, a server device, or a home appliance such as a refrigerator and a washing machine.
The communication interface 180 may include a Bluetooth communicator, a Bluetooth Low Energy (BLE) communicator, a near field communication interface, a WLAN (Wi-Fi) communicator, a Zigbee communicator, an infrared Data Association (IrDA) communicator, a Wi-Fi Direct (WFD) communicator, an ultrawideband (UWB) communicator, an Ant+communicator, a mobile communicator, etc., but is not limited thereto.
Referring to FIG. 14 , a first charging terminal 191 a and a second charging terminal 191 b may respectively be arranged on a first structure 193 a and a second structure 193 b that protrude from a portion limiting the upper side of the storage space 111 of the housing 110 by a specific length. The first charging terminal 191 a and the second charging terminal 191 b may be electrically connected to the charging terminal of the cleaning robot 300 stored in the storage space 111 of the housing 110.
The power supplying device 195 may be arranged inside the housing 110. The power supplying device 195 may be constituted to receive power from the outside, and convert the power to be suitable for the maintenance station 100. The power supplying device 195 may provide power to a plurality of electronic devices provided in the maintenance station 100. The power supplying device 195 may be electrically connected to the first charging terminal 191 a and the second charging terminal 191 b.
The memory 196 may store various kinds of data such as an operating system (OS) for data processing of the processor 197 and control of the maintenance station 100, programs such as applications, and files, etc. The memory 196 may store at least one instruction and at least one program for processing and control by the processor 197. In the disclosure, the memory 196 of the maintenance station 100 may be referred to as first memory to be distinguished from the memory 371 of the cleaning robot 300, and the memory 371 of the cleaning robot 300 may be referred to as second memory.
The memory 196 may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, memory of a card type (e.g., SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, a magnetic disk, and an optical disk, but is not limited thereto.
The processor 197 may control the overall operations of the cleaning robot 300. The processor 197 may be implemented as one or more processors. The processor 197 may control the lifting assembly 120, the door assembly 130, the pad washing assembly 140, the pad drying assembly 150, the dust collecting assembly 160, the sensor 170, the communication interface 180, the charging device 191, the power supplying device 195, the memory 196, etc. on the whole by executing instructions stored in the memory 196.
The processor 197 may control the operations of the maintenance station 100 by executing programs/instructions. For example, the processor 197 may move the cleaning robot 300 that docked with the maintenance station 100 to the first location or the second location by controlling the lifting assembly 120. The processor 197 may generate a driving signal for controlling the lifting assembly 120, and output the driving signal to the lifting assembly 120. The lifting assembly 120 may move the lifting plate 121 from the first location to the second location, or move it from the second location to the first location through the first lifting arm 123 and the second lifting arm 124 by driving the first driving motor 122, based on the driving signal output from the processor 197. For example, in case the cleaning root 300 is fixed to the lifting plate 121, the lifting assembly 120 may move the cleaning robot 300 from the docking location to the storage space 111 of the housing 110, or move it from the storage space 111 of the housing 110 to the docking location, based on a driving signal output from the processor 197.
The processor 197 may close the door 131 to open or close the storage space 111 of the housing 110 by controlling the door assembly 130. The processor 197 may generate a driving signal for controlling the door assembly 130, and output the driving signal to the door assembly 130. The door assembly 130 may be driven to move the door 131 to the location wherein the storage space 111 of the housing 110 is opened or the location wherein it is closed by driving the second driving motor 132, based on the driving signal output from the processor 197.
The processor 197 may control the pad washing assembly 140 to spray steam for washing the cleaning pads 322 a, 322 b of the cleaning robot 300. The processor 197 may generate a driving signal for controlling the pad washing assembly 140, and output the driving signal to the pad washing assembly 140. The pad washing assembly 140 may drive the water pump 143 to transport water stored in the clean water container 148 to the steam device 145, and drive the steam device 145 to heat the washing water moving to the side of the plurality of steam spray nozzles 146, 147, and thereby generate steam, based on the driving signal output from the processor 197. The processor 197 may control the cleaning robot 300 that docked with the maintenance station 100 to rotate the cleaning pads 322 a, 322 b through the communication interface 180.
The processor 197 may control the pad drying assembly 150 to spray hot wind for drying the cleaning pads 322 a, 322 b of the cleaning robot 300. The processor 197 may generate a driving signal for controlling the pad drying assembly 150, and output the driving signal to the pad drying assembly 150. The pad drying assembly 150 may transport air to the plurality of hot wind spray nozzles 156, 157 by driving the blowing fan 151, and heat the air to be sprayed through the plurality of hot wind spray nozzles 156, 157 by driving the heater 153, based on the driving signal output from the processor 197.
The processor 197 may control the dust collecting assembly 160 to collect the dust stored in the dust container 360 of the cleaning robot 300. The processor 197 may generate a driving signal for controlling the dust collecting assembly 160, and output the driving signal to the dust collecting assembly 160. The dust collecting assembly 160 may drive the suction motor 161 to suction the dust stored in the dust container 360 of the cleaning robot 300 to the dust collecting bin 165 provided in the housing 110, based on the driving signal output from the processor 197.
The processor 197 may process data obtained by the sensor 170. The processor 197 may determine whether the cleaning robot 300 docked with the maintenance station 100 and whether the door 131 opened or closed the storage space 111 of the housing 110 from the data obtained by the sensor 170.
The processor 197 may control the driving of the cleaning robot 300 based on a user's input regarding a specific area received through the communication interface 180. The processor 197 may control the cleaning robot 300 to rotate and stop the cleaning pads 322 a, 322 b of the cleaning robot 300. The processor 197 may control the cleaning robot 300 to go backward during some sections wherein the lifting plate 121 moves from the first location to the second location. The cleaning robot 300 may deviate from a coupling location due to a backlash phenomenon shown in the first driving wheel 311 and the second driving wheel 312 and the self-load of the cleaning robot 300. Here, the coupling location means a location wherein the third coupling portion 383 and the fourth coupling portion 384 of the cleaning robot 300 correspond to the third fixing projection 127 and the fourth fixing projection 128 provided on the lifting plate 121. The processor 197 may control the cleaning robot 300 to go backward such that the cleaning robot 300 does not deviate from the coupling location while the lifting plate 121 is ascending.
FIG. 16 is a block diagram illustrating a configuration of a cleaning robot according to an embodiment of the disclosure.
Referring to FIG. 16 , the driving robot 300 may include a driving assembly 310, a cleaning assembly 320, a sensor 330, a communication interface 340, an input/output interface 350, a memory 371, and a processor 373. However, not all of the components illustrated in FIG. 16 are essential components of the cleaning robot 300. A person having ordinary knowledge in the technical field related to an embodiment of the disclosure would be able to understand that the cleaning robot 300 may be implemented by more components than the components illustrated in FIG. 16 , or the cleaning robot 300 may be implemented by fewer components than the components illustrated in FIG. 16 .
The driving assembly 310 may move the cleaning robot 300. The driving assembly 310 may include a first driving wheel 311 and a second driving wheel 312 respectively arranged on the left side and the right side of the bottom surface 303 of the body 301 of the driving robot 300. The first driving wheel 311 and the second driving wheel 312 may be arranged to be symmetrical to each other on the body 301 of the cleaning robot 300. The driving assembly 310 may include a wheel motor which applies a moving force to the first driving wheel 311 and the second driving wheel 312, and a caster 315 which is installed on the front side of the bottom surface 303 of the body 301, and of which angle changes as it rotates according to the state of the bottom surface on which the cleaning robot 300 moves. The driving assembly 310 may make the cleaning robot 300 go forward, go backward, and rotate by using the first driving wheel 311 and the second driving wheel 312.
The cleaning assembly 320 may perform an operation for cleaning while the cleaning robot 300 drives. For example, the cleaning assembly 320 may perform vibration cleaning, vacuum cleaning, and/or water cleaning.
The cleaning assembly 320 may include a pad rotating device 321 that rotates a pair of cleaning pads 322 a, 322 b that perform water cleaning of a specific area, a water container that stores water to be supplied to the pad rotating device 321, and a water supplying device 325 that is for supplying water to the pad rotating device 321. The pad rotating device 321 may include a holder that fixes the cleaning pads 322 a, 322 b, and a rotation motor that rotates the holder. The cleaning pads 322 a, 322 b may approximately be shaped as circles, and may include a fiber material such that they can absorb water supplied by the water supplying device 325 and perform water cleaning of the bottom.
The cleaning assembly 320 may include a tool that moves the cleaning pads 322 a, 322 b such that the cleaning pads 322 a, 322 b protrude to the outside of the cleaning robot 300, and the cleaning pads 322 a, 322 b that protruded to the outside are brought into the inside of the cleaning robot 300. For example, the cleaning assembly 320 may include a slider that moves the holder to which the cleaning pads 322 a, 322 b are fixed. As another example, the cleaning assembly 320 may include an arm of which one side is connected to the cleaning robot 300, and of which the other side is connected to the holder fixing the cleaning pads 322 a, 322 b. The cleaning assembly 320 may include a sensor and a guide that help the cleaning pads 322 a, 322 b that protruded to the outside of the cleaning robot 300 be brought into their regular positions.
The sensor 330 may obtain sensing data used for the cleaning robot 300 to drive and/or clean. The sensing data refers to data obtained through various sensors arranged in the cleaning robot 300. For example, the sensor 330 may obtain data used for the cleaning robot 300 to detect an obstacle during driving. As another example, the sensor 330 may detect a HALO signal generated from the maintenance station 100. As another example, the sensor 330 may detect the remaining amount of the battery of the cleaning robot 300. As another example, the sensor 330 may obtain data used for the cleaning robot 300 to explore an indoor space and generate a map of the indoor space. The indoor space means an area wherein the cleaning robot 300 can substantially move freely.
The sensor 330 may include an obstacle detection sensor 331, a location recognition sensor 333, and a fixing projection detection sensor 335. The obstacle detection sensor 331 may obtain data used for detecting an obstacle located on a driving route of the cleaning robot 300. The obstacle detection sensor 331 may include at least one sensor among an image sensor obtaining images, a 3D sensor, a LiDAR sensor, or an ultrasonic sensor. For example, the image sensor may obtain images of the surroundings and/or the ceiling that are used for detecting an obstacle located around the cleaning robot 300. The LiDAR sensor and/or the ultrasonic sensor may obtain data regarding a distance from an obstacle located around the cleaning robot 300. The 3D sensor may obtain 3D data regarding an area within a specific distance from the driving robot 300.
The location recognition sensor 333 may obtain data that recognizes the location of the cleaning robot 300 in an indoor space. The location recognition sensor 333 may recognize the location of the cleaning robot 300 based on at least one of image data, 3D data obtained by the 3D sensor, distance information from an obstacle obtained by the LiDAR sensor, or strength of a communication signal received from an AP and/or a home appliance. The location recognition sensor 333 may recognize the location of the cleaning robot 300 in a map of an indoor space. The map of an indoor space may include data regarding at least one of a navigation map, a simultaneous localization and mapping (SLAM) map, or an obstacle recognition map.
The fixing projection detection sensor 335 may obtain data that detects the third fixing projection 127 and the fourth fixing projection 128 of the lifting plate 121 that are inserted into the third coupling projection 383 and the fourth coupling projection 384 of the body 301 of the cleaning robot 300. The third coupling projection 383 and the fourth coupling projection 384 may be provided in forms of holes on the bottom surface 303 of the body 301 of the cleaning robot 300. The fixing projection detection sensor 335 may be an optical sensor.
The cleaning robot 300 that docked with the lifting plate 121 of the maintenance station 100 may perform control to drive the first driving wheel 311 and the second driving wheel 312 during a predetermined section among sections wherein the lifting plate 121 moves from the first location to the second location, and thereby prevent the cleaning robot 300 from slipping down on the lifting plate 121 when the gradient gradually increases as the lifting plate 121 is driven. If it is detected that the third fixing projection 127 and the fourth fixing projection 128 are inserted into the third coupling projection 383 and the fourth coupling projection 384, the cleaning robot 300 may perform control to stop the first driving wheel 311 and the second driving wheel 312.
The communication interface 340 may communicate with the maintenance station 100. For example, the communication interface 340 may communicate with the communication interface 180 of the maintenance station 100 wirelessly. The communication interface 340 may communicate with an external device. For example, the communication interface 340 may transmit and receive data with a smartphone, a laptop computer, a tablet PC, a digital camera, a mobile terminal such as an e-book terminal and a terminal for digital broadcasting, a server device, or a home appliance such as a refrigerator and a washing machine.
The communication interface 340 may include a Bluetooth communicator, a Bluetooth Low Energy (BLE) communicator, a near field communication interface, a WLAN (Wi-Fi) communicator, a Zigbee communicator, an infrared Data Association (IrDA) communicator, a Wi-Fi Direct (WFD) communicator, an ultrawideband (UWB) communicator, an Ant+communicator, a mobile communicator, etc., but is not limited thereto.
The input/output interface 350 is a hardware module and/or a device that receives a user's input, and outputs information. For example, the input/output interface 350 may include a display 351, an output device such as a speaker, an input device such as a microphone, a keyboard, a touch pad, and a mouse, and a combination of an output device and an input device (e.g., a touch screen). Also, the input/output interface 350 may receive a user's input for controlling the cleaning robot 300. The input/output interface 350 may output information regarding the state of the cleaning robot 300, and information regarding the operation mode of the cleaning robot 300.
The memory 371 may store various kinds of data such as an operating system (OS) for data processing of the processor 373 and control of the cleaning robot 300, programs such as applications, and files, etc. The memory 371 may store at least one instruction and at least one program for processing and control by the processor 373.
The memory 371 may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, memory of a card type (e.g., SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, a magnetic disk, and an optical disk, but is not limited thereto.
The processor 373 may control the overall operations of the cleaning robot 300. The processor 373 may be implemented as one or more processors. The processor 373 may control the driving assembly 310, the cleaning assembly 320, the sensor 330, the communication interface 340, the input/output interface 350, the memory 371, etc. on the whole by executing instructions stored in the memory 371.
The processor 373 may control the operations of the cleaning robot 300 by executing programs/instructions. For example, the processor 373 may control the driving of the cleaning robot 300 by controlling the driving assembly 310. The processor 373 may generate a driving signal for controlling the driving assembly 310, and output the driving signal to the driving assembly 310. The driving assembly 310 may drive each component of the driving assembly 310 based on the driving signal output from the processor 373. The processor 373 may set a driving route of the cleaning robot 300, and drive the driving assembly 310 to move the cleaning robot 300 along the driving route.
The processor 373 may control the cleaning assembly 320 such that the driving robot 300 cleans while driving. The processor 373 may generate a driving signal for controlling the cleaning assembly 320, and output the driving signal to the cleaning assembly 320. The cleaning assembly 320 may drive each component of the cleaning assembly 320 based on the driving signal output from the processor 373. The cleaning assembly 320 may control rotation and moving of the holder fixing the cleaning pads 322 a, 322 b, and supply of water to the cleaning pads 322 a, 322 b according to the driving signal output from the processor 373. The processor 373 may generate a driving signal by which the holder fixing the cleaning pads 322 a, 322 b moves such that the cleaning pads 322 a, 322 b are popped out to the outside of the cleaning robot 300. The processor 373 may generate a driving signal for moving the holder such that the popped-out cleaning pads 322 a, 322 b are popped in.
The processor 373 may process the data obtained by the sensor 330. The processor 373 may process an image obtained by the sensor 330 such that an obstacle is identified from the image. The processor 373 may identify an obstacle from the distance data obtained by the sensor 330. The processor 373 may generate and adjust a driving route by using the data regarding the location of the cleaning robot 300 obtained by the sensor 330.
The processor 373 may control the driving assembly 310 and the cleaning assembly 320 based on a control signal received through the communication interface 340. The processor 373 may control the driving assembly 310 such that the cleaning robot 300 moves to a specific area based on a user's input regarding the specific area received through the communication interface 340, and control the cleaning assembly 320 such that the cleaning robot 300 cleans the specific area.
The processor 373 may control the driving of the first driving wheel 311 and the second driving wheel 312 by driving the first driving motor 122 based on an instruction for driving the first driving wheel 311 and the second driving wheel 312 transmitted from the maintenance station 100 which was received through the communication interface 340. For example, the processor 373 may control the driving of the first driving wheel 311 and the second driving wheel 312 such that the cleaning robot 300 goes backward (e.g., moves in a direction toward the inner side of the housing 110 of the maintenance station 100) on a starting point of lifting of the lifting plate 121 of the maintenance station 100 based on the instruction for driving. As the cleaning robot 300 goes backward while the gradient of the lifting plate 121 of the maintenance station 100 increases, the cleaning robot 300 may maintain its position without being flown from the top surface of the lifting plate 121 of the maintenance station 100 to the direction of gravity due to a backlash phenomenon shown in the first driving wheel 311 and the second driving wheel 312 of the cleaning robot 300 and/or the self-load of the cleaning robot 300. The processor 373 may control the first driving wheel 311 and the second driving wheel 312 to stop by using the data wherein it was detected that the third fixing projection 127 and the fourth projection 128 were inserted into the third coupling portion 383 and the fourth coupling portion 384, which was obtained by the sensor 330. The cleaning robot 300 may not descend in the direction of gravity while it is being lifted in the upper direction by the lifting plate 121 of the maintenance station 100 by the third fixing projection 127 and the fourth projection 128, but may be fixed to the lifting plate 121 of the maintenance station 100 stably.
The processor 373 may control the driving assembly 310 and the cleaning assembly 320 based on a control signal received through the input/output interface 350. The processor 373 may control the driving assembly 310 such that the cleaning robot 300 moves to a specific area based on a user's input regarding the specific area received through the input/output interface 350, and control the cleaning assembly 320 such that the cleaning robot 300 cleans the specific area.
The processor 373 may identify the moisture content of the cleaning pads 322 a, 322 b from a load value of the rotation motor that applies a rotation force to the cleaning pads 322 a, 322 b. For example, the processor 373 may identify the moisture content of the cleaning pads 322 a, 322 b by using data wherein a load value of the rotation motor was matched to the moisture content of the cleaning pads 322 a, 322 b. The processor 373 may control the water supplying motor of the cleaning assembly 320 to supply water to the cleaning pads 322 a, 322 b based on the moisture content of the cleaning pads 322 a, 322 b. The cleaning robot 300 may supply water to the cleaning pads 322 a, 322 b based on a result of comparing the load value of the rotation motor according to the moisture content of the cleaning pads 322 a, 322 b and a reference load value of the cleaning pads 322 a, 322 b. The processor 373 may control the water supplying motor to supply water to the cleaning pads 322 a, 322 b based on the moisture content of the cleaning pads 322 a, 322 b that was obtained while driving.
The processor 373 may adjust the driving route based on the fact that the driving robot 300 supplied water to the cleaning pads 322 a, 322 b while driving. The processor 373 may readjust the driving route such that the driving robot 300 recleans the driven area while the driving robot 300 supplies water to the cleaning pads 322 a, 322 b.
FIG. 17 is a bottom surface view of a cleaning robot according to an embodiment of the disclosure.
Referring to FIG. 17 , the cleaning robot 300 may include a body 301, a first coupling portion 381 provided on the bottom surface 303 of the body 301, a second coupling portion 382, a third coupling portion 383, and a fourth coupling portion 384. When the cleaning robot 300 docks with the maintenance station 100, the first fixing projection 125 and the second fixing projection 126 provided on the lifting plate 121 may respectively be inserted into the first coupling portion 381 and the second coupling portion 382. While the lifting plate 121 moves from the first location to the second location, the third fixing projection 127 and the fourth fixing projection 128 provided on the lifting plate 121 may respectively be inserted into the third coupling portion 383 and the fourth coupling portion 384.
The first coupling portion 381 and the second coupling portion 382 may be arranged to be symmetrical to each other based on the central line of the body 301 (e.g.: a line parallel to the X axis in FIG. 15 ). The first coupling portion 381 and the second coupling portion 382 may be opened toward the side of the rear portion 300 b of the cleaning robot 300 such that the first fixing projection 125 and the second fixing projection 126 of the lifting plate 121 can be inserted when the cleaning robot 300 goes backward and docks with the maintenance station 100.
The third coupling portion 383 and the fourth coupling portion 384 may be arranged to be symmetrical to each other based on the central line of the body 301. The third coupling portion 383 and the fourth coupling portion 384 may be arranged farther from the rear portion 300 b of the body 301 than the first coupling portion 381 and the second coupling portion 382. The third coupling portion 383 and the fourth coupling portion 384 may be formed in shapes of holes having specific widths on the bottom surface 303 of the body 301 such that the third fixing projection 127 and the fourth fixing projection 128 in pin shapes are respectively inserted into them.
The cleaning robot 300 may include a first driving wheel 311, a second driving wheel 312, a caster 315, cleaning pads 322 a, 322 b, an exhaust hole 361, a shutter 362, a dust container 360, a cleaning brush 375, and a side brush 377.
The first driving wheel 311 and the second driving wheel 312 may be provided to be symmetrical to each other on opposite sides of the bottom surface 303 of the body 301. The first driving wheel 311 may be arranged farther from the rear portion 300 b of the cleaning robot 300 than the first coupling portion 381, and may be arranged to be adjacent to the third coupling portion 383. In this case, the first driving wheel 311 may be arranged to be more adjacent to the center of the body 301 than the third coupling portion 383. The second driving wheel 312 may be arranged farther from the rear portion 300 b of the cleaning robot 300 than the second coupling portion 382, and may be arranged to be adjacent to the fourth coupling portion 384. In this case, the second driving wheel 312 may be arranged to be more adjacent to the center of the body 301 than the fourth coupling portion 384.
The caster 315 is constituted to help with the driving of the cleaning robot 300 together with the first driving wheel 311 and the second driving wheel 312. The angle of the caster 315 may change as the caster 315 is installed on the front side of the bottom surface 303 of the body 301 and rotate according to the state of the bottom surface on which the cleaning robot 300 moves.
The cleaning pads 322 a, 322 b may be provided to be bilaterally symmetrical based on the central line of the body 301 on the bottom surface 303 of the cleaning robot 300. The cleaning pads 322 a, 322 b may be separably coupled to the pad rotating device 321 of the cleaning robot 300 such that replacement is possible. The cleaning pads 322 a, 322 b may be arranged between the first coupling portion 381 and the second coupling portion 382.
The exhaust hole 361 may be provided between the cleaning pads 322 a, 322 b and the cleaning brush 375. The exhaust hole 361 may correspond to the dust suction nozzle 163 when the cleaning robot 300 is arranged in the storage space 111 of the housing 110. The shutter 362 may be rotatably arranged on the inner side of the body 301, and open or close the exhaust hole 361. The shutter 362 may rotate by the dust suction nozzle 163 of the maintenance station 100 inserted into the exhaust hole 361, and open the exhaust hole 361.
The dust container 360 may be separably coupled to the mounting groove provided on the bottom surface 303 of the body 301. The dust container 360 may store dust collected from the bottom by the cleaning brush 375. The dust container 360 may be connected with the exhaust hole 361 inside the body 301 such that the stored dust can be suctioned into the dust collecting bin 165 of the maintenance station 100.
The cleaning brush 375 may be provided to be rotatable on the bottom surface 303 of the body 301 to collect dust on the ground surface. The cleaning brush 375 may be provided with a driving force from a power source (e.g.: a motor) arranged inside the body 301 and rotate. The cleaning brush 375 may be coupled to be separable from the bottom surface 303 of the body 301 for maintenance.
The side brush 377 may be rotatably located on one side of the bottom surface 303 of the body 301. The side brush 377 may be provided with a driving force from another power source (e.g.: a motor) arranged inside the body 301 and rotate. The end part of the side brush 377 may protrude more than the outer rim of the body 301 such that the side brush 377 can remove dust accumulated in a corner area which is the boundary between the bottom and the wall.
Hereinafter, a process wherein the cleaning robot is stored in the maintenance station according to an embodiment of the disclosure will be explained with reference to the drawings. For the convenience of explanation, the processor 197 of the maintenance station 100 will be referred to as a second processor 197, and the processor 373 of the cleaning robot 300 will be referred to as a first processor 373.
FIG. 18 is a flow chart illustrating a process wherein a cleaning robot is stored in a maintenance station according to an embodiment of the disclosure.
The cleaning robot 300 that finished cleaning returns to the maintenance station 100. The first processor 373 may control the driving assembly 310 such that the cleaning robot 300 moves to the front side of the maintenance station 100 based on a map stored in advance in the memory 371.
When the cleaning robot 300 arrives at the front side of the maintenance station 100, the first processor 373 may control the driving assembly 310 such that the rear portion 300 b of the cleaning robot 300 is toward the front surface of the maintenance station 100, in order that the cleaning robot 300 moves to the docking location of the maintenance station 100 by going backward (refer to FIG. 1 ).
FIG. 19 is a diagram illustrating an example wherein a cleaning robot climbs onto a lifting plate in a first location according to an embodiment of the disclosure. FIG. 20 is a diagram illustrating an example wherein a first fixing projection of a lifting plate is inserted into a first coupling portion of a cleaning robot according to an embodiment of the disclosure.
Referring to FIG. 19 , the first processor 373 may control the driving assembly 310 such that the cleaning robot 300 is made to go backward and climb onto the lifting plate 121 of the maintenance station 100 and move to the docking location (1801 in FIG. 18 ). It is explained that docking of the cleaning robot 300 may be controlled by the first processor 373, but the disclosure is not limited thereto. For example, the second processor 197 may transmit a driving signal to the communication interface 340 of the cleaning robot 300 through the communication interface 180 of the maintenance station 100. The first processor 373 may control the cleaning robot 300 to dock with the maintenance station 100 by going backward based on the driving signal of the second processor 197.
The cleaning pads 322 a, 322 b of the cleaning robot 300 arranged in the docking location may be located on the pad washing assembly 145 a. The second processor 197 may control the pad washing assembly 140 to selectively wash the cleaning pads 322 a, 322 b of the cleaning robot 300 before the cleaning robot 300 is lifted. For example, the second processor 197 may generate a driving signal for controlling the pad washing assembly 140, and output the driving signal to the pad washing assembly 140. The pad washing assembly 140 may spray steam through the plurality of steam spray nozzles 146, 147 by controlling the water pump 143 and the steam device 145 based on the driving signal output from the processor 197. The second processor 197 may transmit a driving signal to the first processor 373 through the communication interface 180. The first processor 373 may control the pad rotating device 321 of the cleaning robot 300 to rotate the cleaning pads 322 a, 322 b by the cleaning robot 300.
The pad washing assembly 140 may be constituted to wash the cleaning pads 322 a, 322 b coupled to the bottom surface 303 of the cleaning robot 300 that docked with the maintenance station 100. The pad washing assembly 140 may be constituted to spray stem when the cleaning robot 300 is in the first location.
Referring to FIG. 20 , while the cleaning robot 300 is moving to the docking location after entering the upper side of the lifting plate 121, the first fixing projection 125 of the lifting plate 121 may be inserted into the first coupling portion 381 of the cleaning robot 300. At the same time, the second fixing projection 126 of the lifting plate 121 may be inserted into the second coupling portion 382 of the cleaning robot 300.
The second processor 197 may generate a driving signal for controlling the lifting assembly 120, and output the driving signal to the lifting assembly 120. The lifting assembly 120 may lift the lifting plate 121 from the first location to the second location through the first lifting arm 123 and the second lifting arm 124 by driving the first driving motor 122, based on the driving signal output from the second processor 197 (1802 in FIG. 18 ).
As the gradient of the lifting plate 121 increases, the cleaning robot 300 may deviate from a coupling location due to a backlash phenomenon shown in the first driving wheel 311 and the second driving wheel 312 and the self-load of the cleaning robot 300. Here, the coupling location refers to a location wherein the third coupling portion 383 and the fourth coupling portion 384 of the cleaning robot 300 correspond to the third fixing projection 127 and the fourth fixing projection 128 provided on the lifting plate 121. The second processor 197 may control the driving assembly 310 of the cleaning robot 300 such that the cleaning robot 300 goes backward in order that the cleaning robot 300 does not deviate from the coupling location while the lifting plate 121 is ascending (1803 in FIG. 18 ).
The cleaning robot 300 may maintain its position without going beyond one end 121 a of the lifting plate 121 due to the gradient of the lifting plate 121 that gradually increases. For example, the first driving wheel 311 and the second driving wheel 312 may rotate without going beyond the first wheel accommodating groove 121 f and the second wheel accommodating groove 121 g.
FIG. 21 is a diagram illustrating an example of detecting a third fixing projection of a lifting plate inserted into a third coupling portion of a cleaning robot according to an embodiment of the disclosure.
Referring to FIG. 21 , as one end 121 a of the lifting plate 121 ascends, the other end 137 b of the first lever 137 is distanced from the inner side surface 131 a of the door 131. When the first lever 137 supporting the third fixing projection 127 rotates (e.g.: rotates in a counter-clockwise direction with the Y axis in FIG. 21 at the center), the third fixing projection 127 may be inserted into the third coupling portion 383 of the cleaning robot 300. The fixing projection detection sensor 335 of the cleaning robot 300 may obtain detection data of the third fixing projection 127 that is inserted into the third coupling portion 383 of the cleaning robot 300 (1804 in FIG. 18 ).
The first processor 373 may control the driving assembly 310 of the cleaning robot 300 to stop the cleaning robot 300 from going backward based on the detection data of the fixing projection detection sensor 335 (1805 in FIG. 18 ). The first processor 373 may transmit the detection data of the fixing projection detection sensor 335 to the second processor 197.
If the detection data of the third fixing projection 127 is not obtained by the fixing projection detection sensor 335 within a predetermined time (e.g.: one second to three seconds) after the lifting plate 121 ascended, the first processor 373 transmits a detection failure signal to the second processor 197.
The second processor 197 may control the lifting assembly 120 to stop lifting of the lifting plate 121 based on the detection failure signal (1806 in FIG. 18 ). The second processor 197 may control the lifting assembly 120 such that the lifting plate 121 is restored to its original location, i.e., the first location (1807 in FIG. 18 ).
In this case, the cleaning robot 300 may slip from the lifting plate 121 by its self-load, and deviate from the docking location. The second processor 197 and the first processor 373 may repeat the aforementioned steps 1801, 1802, 1803, and 1804 in FIG. 18 .
FIG. 22 is a diagram illustrating an example wherein a lifting assembly of a maintenance station lifts a cleaning robot as it is guided by a door assembly according to an embodiment of the disclosure.
Referring to FIG. 22 , when the first, second, third, and fourth fixing projections 125, 126, 127, 128 of the lifting plate 121 are respectively coupled to the first, second, third, and fourth coupling portions 381, 382, 383, 384 of the cleaning robot 300, the second processor 197 may control the lifting assembly 120 to continuously lift the lifting plate 121 to a predetermined second location.
The first driving motor 122 of the lifting assembly 120 may be driven in a counter-clockwise direction, and provide a driving force to the driving gear DG. The driving gear DG may transmit a driving force to the first lifting arm 123 and the second lifting arm 124 through the connecting gear CG. The first lifting arm 123 and the second lifting arm 124 may rotate in a counter-clockwise direction, and lift the lifting plate 121 in the upper direction. The first roller 129 a and the second roller 129 b provided on opposite sides of the other end 121 b of the lifting plate 121 may move along the top surfaces of the first guide rail 133 and the second guide rail 134. The gradient of the lifting plate 121 may gradually increase as the lifting plate 121 moves to the second location (the location wherein the cleaning robot 300 is stored in the storage space 111 of the housing 110).
The moving of the cleaning robot 300 in a direction of being distanced from the lifting plate 121 may be limited, and moving of the lifting plate 121 in the left-right direction may be limited by coupling between the first and second coupling portions 381, 382 and the first and second fixing projections 125, 126 of the lifting plate 121. Also, the moving of the cleaning robot 300 in the direction of gravity may be limited by coupling between the third and fourth coupling portions 383, 384 and the third and fourth fixing projections 127, 128 of the lifting plate 121. Accordingly, the cleaning robot 300 may be fixed to the top surface 121 a of the lifting plate 121 steadfastly while moving from the first location to the second location.
FIG. 23 is a diagram illustrating an example wherein a lifting plate of a maintenance station transports a cleaning robot to a second location according to an embodiment of the disclosure.
Referring to FIG. 23 , the second processor 197 may control the lifting assembly 120 to store the cleaning robot 300 in the storage space 111 of the housing 110 (1808 in FIG. 18 ).
FIG. 24 is a diagram illustrating an example wherein a door is closed when a lifting plate of a maintenance station is in a second location according to an embodiment of the disclosure.
Referring to FIG. 24 , the second processor 197 may control the door assembly 130 to close the storage space 111 of the housing 110 (1809 in FIG. 18 ). The second processor 197 may generate a driving signal for controlling the door assembly 130, and output the driving signal to the door assembly 130. The door assembly 130 may drive the second driving motor 132 and move the door 131 to a location wherein it closes the storage space 111 of the housing 110, based on the driving signal output from the second processor 197.
While the door 131 closes the storage space 111 of the housing 110, the locker 135 may be interlocked with the rotation of the door 131. The adapter 136 that rotates together with the door 131 may transmit the rotation force of the door 131 to the locker 135. The locker 135 may move linearly to the side of the driving gear DG by the adapter 136. The fixing projection 135 a of the locker 135 may be coupled to the driving gear DG by a gear-connected state. Accordingly, the lifting plate 121 may maintain the second location without descending (e.g.: moving to the first location) even if the power of the maintenance station 100 is turned off. The maintenance station 100 may not need to include a separate electric driving source for driving the locker 135.
FIG. 25 is diagram illustrating an example wherein a cleaning robot is stored in a storage space of a maintenance station according to an embodiment of the disclosure. FIG. 26 is a diagram illustrating an example wherein a cleaning robot is in a storing location together with a lifting plate according to an embodiment of the disclosure.
Referring to FIG. 25 and FIG. 26 , the cleaning pads 322 a, 322 b and the shutter 362 of the cleaning robot 300 located in the storage space 111 of the housing 110 may be exposed to the upper side of the lifting plate 121. The cleaning pads 322 a, 322 b may be in locations corresponding to the plurality of hot wind spray nozzles 156, 157 arranged in the wall structure 112 of the housing 110. The shutter 362 may be in a location corresponding to the dust suction nozzle 163.
While the door 131 closed the storage space 111 of the housing 110, the second processor 197 may control the pad drying assembly 150 to dry the cleaning pads 322 a, 322 b of the cleaning robot 300, and control the dust collecting assembly 160 to empty the dust container 360 of the cleaning robot 300.
The second processor 197 may generate a driving signal for controlling the pad drying assembly 150, and output the driving signal to the pad drying assembly 150. The pad drying assembly 150 controls the blowing fan 151 and the heater 153 to spray hot wind toward the cleaning pads 322 a, 322 b of the cleaning robot 300, based on the driving signal output from the second processor 197.
The second processor 197 may generate a driving signal for controlling the dust collecting assembly 160, and output the driving signal to the dust collecting assembly 160. The dust collecting assembly 160 may drive the suction motor 161 and suction the dust stored in the dust container 360 of the cleaning robot 300 to the dust collecting bin 165 provided in the housing 110, based on the driving signal output from the second processor 197.
Also, the second processor 197 may control the power supplying device 195 to charge the battery provided in the cleaning robot 300. The cleaning robot 300 may charge the battery while being electrically connected to the first charging terminal 191 a and the second charging terminal 191 b provided in the maintenance station 100.
A cleaning robot 300 according to embodiments of the disclosure may include a first processor 373. Furthermore, a maintenance station 100 according to embodiments of the disclosure may include a second processor 197. It should be understood that the first processor 373 and the second processor 197 may collectively be implemented as one or more processors. The one or more processors may include one or more of a central processing unit (CPU), a many integrated core (MIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a hardware accelerator, etc. The one or more processors may be able to perform control of any one or any combination of the other components of, and/or perform an operation or data processing relating to communication. The one or more processors execute one or more programs stored in a memory.
While exemplary embodiments of the disclosure have been shown and described, the disclosure is not limited to the aforementioned specific embodiments, and it is apparent that various modifications may be made by those having ordinary skill in the technical field to which the disclosure belongs, without departing from the gist of the disclosure as claimed by the appended claims. Further, it is intended that such modifications are not to be interpreted independently from the technical idea or prospect of the disclosure.

Claims

What is claimed is:

1. A maintenance station configured to store a cleaning robot, comprising:

a housing in which a storage space is provided;

a lifting plate configured to move the cleaning robot docked with the housing to the storage space of the housing; and

a door configured to open or close the storage space of the housing,

wherein the lifting plate comprises:

a plurality of fixing projections configured to fix the cleaning robot to the lifting plate based on the lifting plate moving between a first location in which the cleaning robot is configured to dock with the housing and a second location in the storage space of the housing.

2. The maintenance station of claim 1,

wherein the plurality of fixing projections comprise:

a first fixing projection configured to insert into a first coupling portion provided on a first side of a bottom surface of the cleaning robot;

a second fixing projection configured to insert into a second coupling portion provided on a second side of the bottom surface of the cleaning robot;

a third fixing projection adjacent to the first fixing projection and configured to insert into a third coupling portion on the bottom surface of the cleaning robot; and

a fourth fixing projection adjacent to the second fixing projection and configured to insert into a fourth coupling portion on the bottom surface of the cleaning robot.

3. The maintenance station of claim 2,

wherein the first fixing projection is configured to insert into the first coupling portion of the cleaning robot in a first direction in which the cleaning robot is configured to dock with the maintenance station, and

wherein the second fixing projection is configured to insert into the second coupling portion of the cleaning robot in the first direction.

4. The maintenance station of claim 3,

wherein the first fixing projection comprises a first head portion configured to interfere with the first coupling portion in a second direction toward the cleaning robot from the lifting plate, and

wherein the second fixing projection comprises a second head portion configured to interfere with the second coupling portion in the second direction.

5. The maintenance station of claim 4,

wherein the third fixing projection is configured to insert into the third coupling portion of the cleaning robot in the second direction, and

wherein the fourth fixing projection is configured to insert into the fourth coupling portion of the cleaning robot in the second direction.

6. The maintenance station of claim 5,

wherein the third fixing projection and the fourth fixing projection are configured to be separated from the bottom surface of the cleaning robot based on the lifting plate being in the first location, and

wherein the third fixing projection and the fourth fixing projection project from a top surface of the lifting plate based on the lifting plate moving from the first location to the second location and are to be inserted into the third coupling portion and the fourth coupling portion.

7. The maintenance station of claim 6,

wherein the lifting plate further comprises:

a first lever rotatably connected to the lifting plate, elastically supported, and configured to project the third fixing projection from the top surface of the lifting plate to be inserted into the third coupling portion or separate the third fixing projection from the third coupling portion; and

a second lever rotatably connected to the lifting plate, elastically supported, and configured to project the fourth fixing projection from the top surface of the lifting plate to be inserted into the fourth coupling portion or separate the fourth fixing projection from the fourth coupling portion.

8. The maintenance station of claim 7,

wherein the first lever and the second lever are configured to be pressurized by an inner side surface of the door based on the lifting plate being in the first location, and separate the third fixing projection and the fourth fixing projection from the bottom surface of the cleaning robot, and

wherein, based on the lifting plate moving from the first location to the second location, the first lever and the second lever are configured to project the third fixing projection and the fourth fixing projection from the top surface of the lifting plate to be inserted into the third coupling portion and the fourth coupling portion.

9. The maintenance station of claim 6,

wherein the third fixing projection and the fourth fixing projection have a pin shape.

10. The maintenance station of claim 1, further comprising:

a locker configured to unlock the lifting plate in the first location, and lock the lifting plate in the second location by being interlocked with an operation of the door opening or closing the storage space.

11. A cleaning robot configured to be fixed to a lifting plate provided in a maintenance station, comprising:

a body;

a dust bin provided in the body;

a brush provided in an opening of the body and configured to sweep dust into the dust bin;

a first driving wheel and a second driving wheel provided on a bottom surface of the body; and

a plurality of coupling portions provided on the bottom surface of the body, and configured to prevent detachment of the body in a direction away from the lifting plate of the maintenance station and a direction of gravity.

12. The cleaning robot of claim 11,

wherein the plurality of coupling portions comprise:

a first coupling portion more adjacent to a rear part of the body than the first driving wheel;

a second coupling portion more adjacent to the rear part of the body than the second driving wheel;

a third coupling portion adjacent to the first coupling portion; and

a fourth coupling portion adjacent to the second coupling portion.

13. The cleaning robot of claim 12,

wherein the first coupling portion is configured to couple with a first fixing projection provided on the lifting plate of the maintenance station based on the first fixing projection being inserted in a first direction in which the body docks with the maintenance station,

wherein the first coupling portion comprises:

a first guide rib comprising a first guide groove configured to guide the first fixing projection in the first direction,

wherein the second coupling portion is configured to couple with a second fixing projection provided on the lifting plate of the maintenance station based on the second fixing projection being inserted in the first direction, and

wherein the second coupling portion comprises:

a second guide rib comprising a second guide groove configured to guide the second fixing projection in the first direction.

14. The cleaning robot of claim 13,

wherein, the third coupling portion is configured to couple with a third fixing projection provided on the lifting plate of the maintenance station based on the third fixing projection being inserted in a second direction toward the bottom surface of the body from the lifting plate, and

wherein the fourth coupling portion is configured to couple with a fourth fixing projection provided on the lifting plate of the maintenance station based on the fourth fixing projection being inserted in the second direction.

15. A cleaning system comprising:

a cleaning robot comprising:

a first driving wheel and a second driving wheel,

a first coupling portion, a second coupling portion, a third coupling portion, and a fourth coupling portion, and

a first processor configured to control a driving of the first driving wheel and the second driving wheel; and

a maintenance station comprising:

a housing in which a storage space is provided,

a lifting plate comprising a first fixing projection, a second fixing projection, a third fixing projection, and a fourth fixing projection,

a door configured to open or close the storage space of the housing, and

a second processor configured to control a driving of the lifting plate,

wherein the first fixing projection, the second fixing projection, the third fixing projection, and the fourth fixing projection are coupled to the first coupling portion, the second coupling portion, the third coupling portion, and the fourth coupling portion, respectively, and configured to prevent detachment of the cleaning robot in a direction away from the lifting plate and a direction of gravity,

wherein the second processor is configured to:

control the lifting plate to move between a first location in which the cleaning robot docks with the housing and a second location in which the cleaning robot is stored in the storage space of the housing,

wherein, based on the lifting plate being in the first location, the first fixing projection and the first coupling portion are coupled, and the second fixing projection and the second coupling portion are coupled, and

wherein, based on the lifting plate moving from the first location to the second location, the third fixing projection and the third coupling portion are coupled, and the fourth fixing projection and the fourth coupling portion are coupled.

16. The cleaning system of claim 15, wherein the lifting plate further comprises:

a first driving motor configured to drive the lifting plate to move between the first location and the second location,

wherein the door of the maintenance station further comprises a second driving motor configured to control the door to move to an open state and a closed state, and

wherein the second processor is further configured to control a driving signal of the first driving motor and a driving signal of the second driving motor.

17. The cleaning system of claim 15, wherein, in a state in which the cleaning robot is docked with the housing and the lifting plate is in the second location, the second processor is further configured to:

control the maintenance station to perform at least one of a pad drying operation or a dust collecting operation.

18. The maintenance station of claim 1, wherein the lifting plate further comprises:

a driving gear defining a rotation axis and configured to transmit a driving force to the lifting plate; and

a first drive motor gear coupled with the driving gear and configured to drive the lifting plate.

19. The maintenance station of claim 18, wherein the lifting plate further comprises:

a locker coupled to the driving gear and configured to unlock the lifting plate in the first location, and lock the lifting plate in the second location by being interlocked with an operation of the door opening or closing the storage space.