KR101985314B1 - Robot cleaning apparatus automatically - Google Patents

Abstract

The present invention relates to an automatic robot cleaning apparatus, comprising a docking station and a cleaning robot interacting therewith, wherein the docking station has a lifting means to enable the cleaning robot to stand up to minimize a docking space of the cleaning robot horizontally approaching a floor surface after the floor surface is cleaned. In the cleaning robot, a structure is formed to couple a cleaning robot body of the cleaning robot to the lifting means of the docking state to enable the cleaning robot to stand up. Moreover, through a standing-up docking structure of the cleaning robot and the docking state, in the cleaning robot, a collected foreign substance is discharged to the docking station.

Description

Fully automatic robot cleaning device {ROBOT CLEANING APPARATUS AUTOMATICALLY}

The present invention relates to a robot cleaning apparatus which can be mounted on a docking station by a cleaning robot in connection with charging and mounting of the cleaning robot, and more particularly, a structure in which the cleaning robot is docked to the docking station in an upright state. The present invention relates to a fully automatic robot cleaning device for automatically reducing the amount of foreign matter collected in a standing robot and reducing the amount of space to be automatically discharged into the foreign matter collection tank in the docking station.

As the spread of wired and wireless cleaners increases, cleaning operations for cleaning garbage, dirt, and dust (hereinafter, referred to as foreign matters) remaining on the floor are becoming easier.

On the other hand, apart from wired and wireless cleaners, so-called robot cleaners (ROBOT CLEANER), which collect and clean foreign substances remaining on the floor while driving on their own, have recently been developed and are increasingly used.

Unlike general wired or wireless cleaners, the robot cleaner does not need to be handled by the user, and the on-board automatic sensing and traveling system collects and cleans foreign substances on the floor while traveling by itself.

Therefore, from the user's point of view, since only the operating signal is input, the convenience of use according to the cleaning operation is very high. In fact, the use of robot cleaners is gradually increasing in that the robot cleaner is compact and beautiful in appearance.

However, in the case of a conventional robot cleaner, a lot of space is required as the robot is docked to the docking station in a horizontal state in order to mount and charge the robot that has been cleaned. It often causes interference, causing inconvenience. In particular, the sensor attached to the cleaning robot needs to install the docking station where there is no obstacle in order to improve the ability to detect the position of the docking station.

In addition, in the method of emptying the foreign matter collecting tank for storing the foreign substances collected by the cleaning robot, there is an inconvenience in that the user frequently emptyes the tank due to the capacity limit of the foreign matter collecting tank built in the cleaning robot.

On the other hand, in the conventional invention provided with a foreign matter collection tank in the docking station, the inconvenience of having to empty the foreign matter collecting tank in the cleaning robot every time can be eliminated, but the length of the foreign substance discharge path is increased due to the horizontal docking of the cleaning robot, thereby cleaning the robot. There is a need for a new concept of a fully automatic robot cleaning device to solve this problem in that the total volume of the T3 tends to increase.

Korean Patent Office Application No. 10-2006-0115649 Korean Patent Office Application No. 10-2015-0025553 Korean Patent Office Application No. 10-2015-0169463 Korean Patent Office Application No. 10-2017-0059143

The object of the present invention is to improve the docking method between the cleaning robot and the docking station of the robot cleaning apparatus as described above to minimize the space for charging and mounting and to remove the foreign matters stored in the foreign matter collecting tank of the cleaning robot. By devising an effective method of discharging to the collection tank, the usability of the robot cleaning device is improved.

The object includes a docking station and a cleaning robot interacting with the docking station, wherein the docking station includes lifting means for standing the cleaning robot to minimize the docking space of the cleaning robot approaching in a horizontal state after cleaning the floor. The cleaning robot has a structure that is coupled to the lifting means of the docking station to stand up the cleaning robot body of the cleaning robot, and the docking in the cleaning robot through the standing docking structure of the cleaning robot and the docking station. It is achieved by a full-automatic robot cleaning device, characterized in that to discharge the collected foreign matter to the station.

The cleaning robot may further include a controller for automatically controlling the operations of the cleaning robot and the docking station so that the cleaning operation, the docking operation standing up on the docking station, the docking operation, and the foreign matter discharge operation for discharging the foreign matter may be performed. have.

The cleaning robot, which performs a cleaning operation of collecting and cleaning foreign materials on the floor while driving the floor in a horizontal state, is provided in the cleaning robot body, and a foreign material collecting tank configured to form a place where foreign materials are collected and stored; A foreign material collecting path portion provided on one side of the cleaning robot body so as to communicate with the foreign material collecting tank, and forming a path in which the foreign material is collected into the foreign material collecting tank during the cleaning operation, and an end portion forming a foreign material collecting inlet; A foreign material leakage prevention jaw provided in the foreign material collecting tank and preventing foreign matters from flowing into the foreign material collecting path portion and the foreign substance collecting path portion; A flow path is formed separately from the foreign matter collecting path part, but is connected to the foreign material collecting tank and provided on the other side of the cleaning robot body, and the foreign material collected in the foreign material collecting tank is discharged during the foreign material removing operation. A collecting foreign substance discharge path portion formed at an end thereof to form a collecting substance discharge outlet; It is provided in the cleaning robot main body while being connected to the foreign material collecting tank, and when the cleaning operation is performed, the foreign material is driven to be collected into the foreign material collecting tank through the foreign material collecting path, and the collection is performed when the foreign material removing operation is performed. A suction and discharge drive unit configured to drive water to be discharged to the collection path through the foreign matter collection tank; Located in the foreign matter collecting path portion and the collecting foreign matter discharge path portion, respectively, when cleaning the foreign matter closes the collecting foreign matter discharge path to maintain the suction force in the foreign matter collecting tank, when the foreign matter discharge to close the foreign matter collecting path to prevent backflow of foreign matter Path part opening and closing plate to; And a hooking hole for standing which is formed in the cleaning robot body to be adjacent to the collecting object discharge outlet, and forms a place for the cleaning robot to be docked to the docking station.

The docking station, which stands in a horizontal state, forms a place where the cleaning robot stands and docks, and the foreign matter removing operation for removing foreign matter in the cleaning robot when the cleaning robot is docked is placed upright. Docking station body; It is integrally provided on one side of the lower end of the docking station main body, and formed longer than the width of the docking station main body, and one side of the upper end has an arc shape to guide the movement of the cleaning robot during the docking operation of the cleaning robot. A wheel guide for preventing the docking station body from falling down; A foreign matter collection tank provided in the docking station body and collecting and storing foreign matter discharged from the cleaning robot side during the foreign matter removing operation; The docking station main body is provided in communication with the foreign matter collection tank, and the foreign matter discharged from the cleaning robot side during the foreign material removal operation forms a path for collecting the foreign matter collection tank, and the foreign matter collection path at which the end forms the foreign matter collection inlet. part; A standing hook which is provided to be movable on one side of the docking station body and is supported by one side of the cleaning robot; A hook up / down driving unit provided in the docking station main body and configured to drive up / down of the standing hooks; A damper provided on a wall of the docking station body adjacent to the foreign material collection inlet, and providing a buffering function to the cleaning robot body and preventing foreign material leakage when the foreign material is discharged; It is provided on the docking station body, and is formed to prevent exposure of the foreign matter collection path portion when the cleaning robot is not docked or docked, and is up / down according to the up / down of the standing hook. (up / down) includes a foreign material collection path cover, the hook up / down drive unit, a drive roller; At least one driven roller disposed adjacent the drive roller; And a belt, one end of which is wound or unwound by the driving roller, and the other end of which is connected to the standing hook via the driven roller.

The cleaning robot, which performs a cleaning operation of collecting and cleaning foreign substances on the floor while driving the floor in a horizontal state, includes a pair of front wheels provided as a pair so as to be spaced apart from each other at the center of the cleaning robot body; A rear wheel provided at a center of a rear region of the cleaning robot body and moving the cleaning robot body together with the pair of front wheels; And a foreign material collecting roller which is rotatably provided, and forms a place where the cleaning robot in a horizontal state stands and docks, and removes foreign materials in the cleaning robot when the cleaning robot is docked. The docking station, which allows the removal operation to proceed, is provided in the docking station main body, and when the cleaning robot is docked to the docking station, the front wheel seat arrangement unit forming a place where the front wheel is disposed; A rear wheel seat arrangement unit provided in the docking station body and forming a place where the rear wheel is disposed when the cleaning robot is docked to the docking station; And a roller seat arranging unit provided at the docking station main body and forming a place where the foreign material collecting roller is seated when the cleaning robot is docked to the docking station.

Instead of the suction and discharge drive unit which drives the collection of foreign matters during cleaning and the discharge of foreign matters after docking, it replaces the suction drive unit which drives only the collection of the foreign matters when cleaning in the cleaning robot and in the docking station for the discharge of foreign matters. A separate discharge drive can be provided for selective use.

Instead of a standing hook, a tray up / down method may be selectively used as a method for standing the cleaning robot.

Therefore, the present invention, first, can save the mounting space of the cleaning robot by improving the docking method between the cleaning robot and the docking station, thereby minimizing copper interference with the user to reduce the inconvenience of living.

Second, as the docking method is improved, the foreign matter collecting tank in the standing cleaning robot and the foreign matter collecting tank in the docking station are shortened so that the discharge path of the foreign matter is shortened, which reduces the volume of the entire robot cleaning device and makes it more aesthetically pleasing. It has the advantage of giving a feeling.

1 is a schematic partial cross-sectional structural view of a robot cleaning robot cleaning apparatus according to an embodiment of the present invention.
FIG. 2 is a bottom view of FIG. 1.
3 is a partial cross-sectional structural view of the docking station of the robot cleaning apparatus according to an embodiment of the present invention.
4 is a front view of FIG. 3.
5 to 10 are views continuously showing a process in which the cleaning robot is docked to the docking station.
11 is a diagram illustrating a process of removing foreign matter after the cleaning robot is docked to the docking station.
12 is a control block diagram of a robot cleaning apparatus according to an embodiment of the present invention.
FIG. 13 is a view showing an air flow with respect to FIG. 11 as an arrow;
FIG. 14 is a detailed view of the area A of FIG. 13 and shows a structure at the time of foreign material discharge.
FIG. 15 is a detailed view of the area A of FIG. 13 and shows the structure of the floor during cleaning.
FIG. 16 is a view illustrating a robot cleaning apparatus according to another embodiment of the present invention, in which the suction driving unit and the discharge driving unit are separately provided.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms.

In this specification, this embodiment is provided to make the disclosure of the present invention complete, and to fully convey the scope of the invention to those skilled in the art. And the present invention is only defined by the scope of the claims.

Thus, in some embodiments, well known components, well known operations and well known techniques are not described in detail in order to avoid obscuring the present invention.

Like reference numerals refer to like elements throughout. And the terminology (discussed) used herein is for the purpose of describing the embodiments are not intended to limit the invention.

In the present specification, the singular also includes the plural unless specifically stated in the phrase. In addition, components and acts (acts) referred to as 'includes (or includes)' do not exclude the presence or addition of one or more other components and acts.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art.

In addition, terms that are defined in a commonly used dictionary are not ideally or excessively interpreted unless they are defined.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention.

1 is a schematic partial cross-sectional structural view of a robot cleaning apparatus of a robot cleaning apparatus according to an embodiment of the present invention, FIG. 2 is a bottom view of FIG. 1, and FIG. 3 is a robot cleaning apparatus according to an embodiment of the present invention. 4 is a front cross-sectional view of the docking station, FIG. 4 is a front view of FIG. 3, FIGS. 5 to 10 are views sequentially showing the process of docking the cleaning robot to the docking station, and FIG. 11 is a cleaning robot at the docking station. FIG. 12 is a view illustrating a process of discharging foreign matter after docking, FIG. 12 is a control block diagram of a robot cleaning apparatus according to an embodiment of the present invention, and FIG. 13 is a flow chart illustrating the flow of air in FIG. FIG. 14 is a detailed view of the area A of FIG. 13 showing the structure at the time of foreign matter discharge, FIG. 15 is a detailed view of the area A of FIG. 13 showing the structure of the floor cleaning, and FIG. Furnace according to another embodiment of the present invention As a drawing of the bot cleaning apparatus, it is a figure which shows the application example provided with the suction drive part and the discharge drive part separately.

Referring to these drawings, the robot cleaning apparatus according to the present embodiment, in addition to the cleaning operation to collect and clean the foreign material on the floor, all the docking operation, the foreign material discharge operation for discharging the foreign material can be performed automatically, thereby the convenience of use As this can be greatly improved, it may include a cleaning robot 110, the docking station 140 and the controller 180.

First, as shown in detail in FIGS. 1 and 2, the cleaning robot 110 carries out a cleaning operation of collecting and cleaning a foreign object on the floor while traveling by itself.

Here, the foreign matter refers to garbage, dirt, dust and the like remaining on the floor.

The cleaning robot 110 is equipped with an automatic sensing and traveling system so that the cleaning operation can be performed while traveling on the floor by itself. Automatic sensing and driving systems are conventional and detailed construction descriptions are avoided.

The cleaning robot 110 has a structure in which the respective components are mounted or formed on the cleaning robot body 111 forming the appearance.

First, wheels 112 and 113 are rotatably provided on the cleaning robot body 111 for moving the cleaning robot 110.

The wheels 112 and 113 are provided in a pair of front wheels 112 provided in a pair so as to be spaced apart from each other from the center of the cleaning robot body 111 and one in the center of the rear region of the cleaning robot body 111. It may include a rear wheel 113 for moving the cleaning robot body 111 with a pair of front wheels 112.

The cleaning robot main body 111 is provided with a foreign matter collection tank 114 to form a place where foreign substances on the floor are collected and stored during the cleaning operation. Here, the foreign matter collection tank 114 is preferably applied in a removable structure that can be removable. The foreign material collecting path portion 115 forming a path for collecting foreign matter in the foreign matter collecting tank 114 and the collecting foreign substance discharge path portion 117 forming a path for collecting the already collected foreign matter are connected by location. .

The foreign material collecting path portion 115 is provided on one side of the cleaning robot body 111 to communicate with the foreign material collecting tank 114, and forms a path in which the foreign material is collected into the foreign material collecting tank 114 during the cleaning operation. An end portion of the foreign matter collecting path portion 115 forms the foreign matter collecting inlet 115a.

The foreign material collecting roller 119 is rotatably provided in the foreign material collecting inlet 115a. The foreign material on the bottom flows into the foreign material collecting inlet 115a with the action of the foreign material collecting roller 119, and then moves along the foreign material collecting path 115 to be collected in the foreign material collecting tank 114.

At this time, the foreign matter collection path 115 and the foreign matter discharge path 117 is provided on one side of the foreign matter discharge prevention step 117 is provided. The foreign material leakage preventing jaw 116 serves to prevent the foreign matter collected in the foreign matter collecting tank 114 from moving in the opposite direction through the foreign matter collecting path 115 and the foreign substance collecting path 117. .

The collecting foreign matter discharge path 117 forms a flow path separately from the foreign matter collecting path 115 but is connected to the foreign matter collecting tank 114 and is provided on the other side of the cleaning robot body 111, and when removing the foreign matter. The foreign matter trapped in the foreign matter collecting tank 114 forms a path through which the foreign matter collected.

An end portion of the collecting substance discharge path 117 forms the collecting substance discharge outlet 117a.

In the cleaning robot body 111, the suction and discharge drive unit 118 is provided around the foreign matter collection tank 114. The suction and discharge driving unit 118 is provided in the cleaning robot body 111 while being connected to the foreign matter collecting tank 114, and when the cleaning operation is performed, foreign matter is collected in the foreign matter collecting path 114 through the foreign matter collecting path 115. Drive to be collected, and when the foreign matter removing operation is carried out, the collected foreign matter is driven to be discharged to the foreign matter collecting path 114 through the foreign matter collecting tank 114. Filters are applied to the suction and discharge drives 118 together.

One side of the cleaning robot body 111 is further provided with a hook insertion hole 121 for standing. The standing hook insertion hole 121 is formed in the cleaning robot body 111 to be adjacent to the collecting foreign matter discharge outlet 117a, and forms a place for the cleaning robot 110 to be docked to the docking station 140. The operation of the standing hook insertion hole 121 will be described later.

Next, the docking station 140 is provided separately from the cleaning robot 110, but as the cleaning robot 110 stands up and docked (docking) as shown in Figure 11, when the cleaning robot 110 is docked cleaning robot 110 It removes foreign material in). In other words, when the cleaning robot 110 is docked to the docking station 140 as shown in FIG. 11, the foreign matter in the cleaning robot 110 is removed while moving toward the docking station 140. Therefore, unlike the cleaning robot 110 moving itself, the docking station 140 has a fixed position.

3 and 4, the docking station 140 has a structure in which the respective components are mounted or formed on the docking station main body 141, which is formed to stand upright, but forms an appearance.

One side of the lower end of the docking station body 141 is provided with a wheel guide 142 to prevent the docking station body 141 to fall. The wheel guide 142 is integrally provided at one side of the lower end of the docking station body 141 and is formed longer than the width of the docking station body 141 and is cleaned during the docking operation of the cleaning robot 110 as shown in FIGS. 5 and 6. The robot body 111 guides the movement of the front wheel 112 and the rear wheel 113. That is, the wheel guide 142 guides the movement of the front wheel 112 and the rear wheel 113 so that the cleaning robot main body 111 entering the horizontal direction can be erected in the vertical direction. The wheel guide 142 has an arc shape at one side of an upper end thereof for a flexible guide, and also includes a function of preventing the docking station body 141 from falling.

The docking station body 141 is provided with a foreign matter collection tank 143 for collecting the foreign matter discharged from the cleaning robot 110 side during the foreign matter removal operation, and includes a filter. It is advantageous that the volume of the foreign matter collection tank 143 is larger than the volume of the foreign matter collection tank 114.

The foreign material collection path cover 148 is applied to the docking station body 141. 5, when the cleaning robot 110 is docked as shown in FIG. 10, the foreign material collection path cover 148 is opened and the foreign material collection proceeds.

The foreign matter collection path 144 is connected to the foreign matter collection tank 143. The foreign matter collection path 144 is provided in the docking station main body 141 so as to communicate with the foreign matter collection tank 143, the foreign substances discharged from the cleaning robot 110 side when the foreign matter removal operation is collected into the foreign matter collection tank 143. Form a path.

The foreign matter collection inlet 144a is formed at the end of the foreign matter collection path 144. Therefore, after the cleaning robot 110 is docked to the docking station 140 as shown in FIG. 11, the foreign matter collecting outlet 117a and the foreign matter collecting inlet 144a are disposed to face each other, and in this state, the foreign matter collecting tank 114 is disposed. The foreign matter within can be collected into the foreign matter collection tank 143 through the foreign matter discharge path 117, the foreign matter discharge outlet 117a, the foreign matter collection inlet 144a, and the foreign matter collection path 144. have.

One side of the docking station body 141 is provided with a pair of standing hooks 146 to be movable. The pair of standing hooks 146 allow the standing hook insertion holes 121 of the cleaning robot 110 to be caught and supported. The end of the standing hook 146 forms a bent portion 146a curved like a hook. Therefore, it can be caught well in the standing hook insertion hole 121.

For reference, the drawings are shown to stand in a hook manner, but may be variously changed, such as a tray up / down method, in addition to the hook method, all of which should be included in the scope of the present invention.

The pair of standing hooks 146 are capable of up / down operation. To this end, the hook up / down driving unit 150 is provided. The hook up / down driving unit 150 is provided in the docking station body 141 and serves to drive the upright hook 146 up / down.

In this embodiment, the hook up / down drive unit 150 includes a drive roller 151, at least one driven roller 152 disposed adjacent to the drive roller 151, and one end of the hook up / down drive unit 150. The other end may be unwound and may include a belt 153 connected to the standing hook 146 via the driven roller 152. The stand-up hook 146 is driven up / down by driving the hook up / down driving unit 150 while the pair of standing hooks 146 are supported by the upright hook insertion hole 121 of the cleaning robot 110. Can be operated down.

The docking station 140 is provided with a front wheel seat placement unit 155, a rear wheel seat placement unit 156, a roller seat placement unit 157, and a damper 147.

The front wheel seat arranging unit 155 is provided in the docking station body 141, and forms a place where the front wheel 112 is disposed when the cleaning robot 110 is docked to the docking station 140.

The rear wheel seat arranging unit 156 is provided in the docking station body 141, and forms a place where the rear wheel 113 is disposed when the cleaning robot 110 is docked to the docking station 140.

And the roller seat arrangement portion 157 is provided in the docking station body 141, when the cleaning robot 110 is docked to the docking station 140, forms a place where the foreign matter collecting roller 119 is placed. .

After the cleaning robot 110 is fully docked to the docking station 140, the front wheel 112, the rear wheel 113, and the foreign matter collecting roller 119 of the cleaning robot 110 are moved to the front wheel of the docking station 140. The seat arrangement part 155, the rear wheel seat placement part 156, and the roller seat placement part 157 take the state arrange | positioned, respectively.

The damper 147 is provided on the wall of the docking station body 141 to be adjacent to the foreign material collection inlet 144a, and when the cleaning robot 110 is docked to the docking station 140, It provides a function of preventing foreign substance leakage during buffering and foreign substance discharge.

As another example of discharging the foreign material, the suction and discharge drive unit 118 serves only as the suction drive unit 118b for the cleaning robot to perform the cleaning operation and a separate discharge drive unit for discharging foreign matter in the docking station ( A method of forming 145b) is also optionally applicable.

Finally, the controller 180 automatically controls the operations of the cleaning robot 110 and the docking station 140 so that the cleaning robot 110 performs a cleaning operation, a docking operation, or a foreign material removal operation.

Looking specifically, after the cleaning robot 110 to proceed to the cleaning operation to collect and clean the foreign material of the floor while driving the floor by itself, when the setting operation is completed cleaning robot 110 through the process of Figures 5 to 10 The docking station 140 is docked to the foreign matter removal operation, that is, the collection robot in the cleaning robot 110, the collection robot 140 and the operation of the docking station 140 so that the collection can be collected to the docking station 140 automatically Control

The controller 180 performing this role may include a central processing unit 181 (CPU), a memory 182 (MEMORY), and a support circuit 183 (SUPPORT CIRCUIT).

The central processing unit 181 is industrially used to automatically control the operations of the cleaning robot 110 and the docking station 140 so that the cleaning robot 110 performs the cleaning operation, the docking operation or the foreign matter removal operation in this embodiment. It can be one of various computer processors that can be applied.

The memory 182 is connected to the central processing unit 181. The memory 182 may be installed locally or remotely as a computer readable recording medium, and may be readily available, such as, for example, random access memory (RAM), ROM, floppy disk, hard disk, or any digital storage form. It may be at least one memory.

The support circuit 183 (SUPPORT CIRCUIT) is coupled with the central processing unit 181 to support typical operation of the processor. Such support circuit 183 may include a cache, a power supply, a clock circuit, an input / output circuit, a subsystem, and the like.

In this embodiment, the controller 180 automatically controls the operations of the cleaning robot 110 and the docking station 140 so that the cleaning robot 110 performs a cleaning operation, a docking operation, or a foreign material removal operation. Processes and the like may be stored in the memory 182. Typically software routines may be stored in memory 182. Software routines may also be stored or executed by other central processing units (not shown).

Although the process according to the invention has been described as being executed by software routines, at least some of the processes of the invention may be performed by hardware. As such, the processes of the present invention may be implemented in software running on a computer system, in hardware such as integrated circuits, or by a combination of software and hardware.

Hereinafter, the docking operation of the cleaning robot 110 will be described.

First, the cleaning robot 110 that receives the docking signal is guided by the wheel guide 142 of the docking station 140 as shown in FIGS. 5 and 6 and gets on the docking station body 141.

Then, the standing hook insertion hole 121 of the cleaning robot 110 is caught by the standing hook 146 as shown in FIG. 7, and thereafter, as the hook up / down driving unit 150 as shown in FIGS. 8 to 9. The cleaning robot 110 in a horizontal state is erected up (up).

When the up operation of the hook up / down driving unit 150 is completed, the cleaning robot 110 is completely docked to the docking station 140 as shown in FIG. 10. In this case, the front wheel of the cleaning robot 110 ( 112, the rear wheel 113 and the foreign matter collecting roller 119 to the front wheel seating unit 155, the rear wheel seating unit 156 and the roller seating unit 157 of the docking station 140, respectively. Take a seated state.

After the cleaning robot 110 is completely docked to the docking station 140 as shown in FIG. 10, the foreign matter is removed from the cleaning robot 110 to the docking station 140 while the air flow proceeds.

This will be described in more detail with reference to FIGS. 13 to 15.

In the basic application as shown in FIG. 13, when the foreign substance is discharged, a path part opening and closing plate 120 may be installed in the foreign substance collecting path 115 to provide a reverse flow prevention function of the foreign substance. In addition, the cleaning unit may maintain the pressure in the foreign matter collecting tank 114 by installing the path opening and closing plate 120 in the collecting foreign matter discharge path 117.

In detail, the path opening and closing plate 120 of the foreign material collecting path 115 is closed and the path opening and closing plate 120 of the collecting foreign substance discharge path 117 is opened when the foreign material is discharged as shown in FIG. 14. And the path opening and closing plate 120 of the foreign matter collection path 115 when the floor cleaning as shown in FIG. 15 is opened and the path opening and closing plate 120 of the collecting foreign matter discharge path 117 is closed.

Meanwhile, in the basic application as shown in FIG. 13, selective use is possible as shown in FIG. 16. For example, the floor cleaning may be performed through the suction driving unit 118b in the cleaning robot 110 and may be executed through the discharge driving unit 145b when the foreign matter is discharged.

According to this embodiment having the structure and action as described above, in addition to the cleaning operation to collect and clean the foreign body of the floor, the docking operation in addition to removing the foreign material to remove the foreign material, all can be performed automatically, thereby convenience of use This can be greatly improved.

As described above, the present invention is not limited to the described embodiments, and various modifications and changes can be made without departing from the spirit and scope of the present invention, which will be apparent to those skilled in the art. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

110: cleaning robot 111: cleaning robot body
112: front wheel 113: rear wheel
114: foreign matter collection tank 115: foreign matter collection path portion
115a: foreign material collection inlet 116: foreign material spill prevention jaw
117: collecting foreign substances discharge path 117a: collecting foreign substances discharge outlet
118: suction and discharge drive 118b: suction drive
119: foreign matter collection roller 120: path opening and closing plate
121: Hook for insertion hole 140: Docking station
141: docking station body 142: wheel guide
143: tank for collecting foreign matter 144: path for collecting foreign matter
144a: foreign matter collection inlet 145b: discharge drive unit
146: standing hook 146a: bent portion
147: damper 148: foreign material collection path cover
150: hook up / down drive unit 151: drive roller
152: driven roller 153: belt
155: front wheel seat arrangement 156: rear wheel seat arrangement
157: roller seat arrangement portion 180: controller
181: central processing unit 182: memory
183: support circuit

Claims (7)

delete delete A docking station includes a cleaning robot interacting with the docking station, and the docking station includes lifting means for standing the cleaning robot to minimize the docking space of the cleaning robot approaching in a horizontal state after cleaning the floor.
The cleaning robot has a structure that is coupled to the lifting means of the docking station for standing the cleaning robot body of the cleaning robot,
When the cleaning robot is standing and docked at the docking station, the collected foreign matter in the cleaning robot is discharged to the docking station,
The cleaning robot that performs a cleaning operation for collecting and cleaning foreign substances on the floor while driving the floor in a horizontal state,
A foreign matter collection tank provided in the cleaning robot body and forming a place where foreign matter is collected and stored;
A foreign material collecting path portion provided on one side of the cleaning robot body so as to communicate with the foreign material collecting tank, and forming a path in which the foreign material is collected into the foreign material collecting tank during the cleaning operation, and an end portion forming a foreign material collecting inlet;
A foreign material leakage prevention jaw provided in the foreign material collecting tank and preventing foreign matters from flowing into the foreign material collecting path portion and the foreign substance collecting path portion;
A flow path is formed separately from the foreign matter collecting path part, but is connected to the foreign material collecting tank and provided on the other side of the cleaning robot body, and the foreign material collected in the foreign material collecting tank is discharged during the foreign material removing operation. A collecting foreign substance discharge path portion formed at an end thereof to form a collecting substance discharge outlet;
It is provided in the cleaning robot main body while being connected to the foreign material collecting tank, and when the cleaning operation is performed, the foreign material is driven to be collected into the foreign material collecting tank through the foreign material collecting path, and the collection is performed when the foreign material removing operation is performed. A suction and discharge drive unit configured to drive water to be discharged to the collection path through the foreign matter collection tank;
Located in the foreign matter collecting path portion and the collecting foreign matter discharge path portion, respectively, when cleaning the foreign matter closes the collecting foreign matter discharge path to maintain the suction force in the foreign matter collecting tank, when the foreign matter discharge to close the foreign matter collecting path to prevent backflow of foreign matter Path part opening and closing plate to; And
And a standing hook insertion hole which is formed in the cleaning robot body to be adjacent to the collecting object discharge outlet and forms a place for the cleaning robot to be docked to the docking station.
A docking station includes a cleaning robot interacting with the docking station, and the docking station includes lifting means for standing the cleaning robot to minimize the docking space of the cleaning robot approaching in a horizontal state after cleaning the floor.
The cleaning robot has a structure that is coupled to the lifting means of the docking station for standing the cleaning robot body of the cleaning robot,
When the cleaning robot is standing and docked at the docking station, the collected foreign matter in the cleaning robot is discharged to the docking station,
The docking station for forming a place where the cleaning robot of the horizontal state is standing and docked, the foreign matter removal operation for removing the foreign matter in the cleaning robot when the cleaning robot is docked,
A docking station body that stands upright and disposed;
It is integrally provided on one side of the lower end of the docking station body, and is formed longer than the width of the docking station body, and one side of the upper end has an arc shape to guide the movement of the cleaning robot during the docking operation of the cleaning robot. A wheel guide for preventing the docking station body from falling down;
A foreign matter collection tank provided in the docking station body and collecting and storing foreign matter discharged from the cleaning robot side during the foreign matter removing operation;
The docking station is provided in the docking station body in communication with the foreign matter collection tank, and the foreign matter discharged from the cleaning robot side during the foreign material removal operation forms a path for collecting the foreign matter collection tank, and the foreign matter collection path whose end forms the foreign matter collection inlet. part;
A standing hook which is provided to be movable on one side of the docking station body and is supported by one side of the cleaning robot;
A hook up / down driving unit provided in the docking station main body and configured to drive up / down of the standing hooks;
A damper provided on a wall of the docking station body adjacent to the foreign material collection inlet, and providing a buffering function to the cleaning robot body and preventing foreign material leakage when the foreign material is discharged; It is provided on the docking station body, and is formed to prevent exposure of the foreign matter collection path portion when the cleaning robot is not docked or docked, and is up / down according to the up / down of the standing hook. (up / down) includes a foreign material collection path cover,
The hook up / down drive unit,
Drive rollers;
At least one driven roller disposed adjacent the drive roller; And
And a belt, one end of which is wound or unwound by the drive roller, and the other end of which is connected to the standing hook via the driven roller.
The method according to claim 3 or 4,
The cleaning robot that performs a cleaning operation for collecting and cleaning foreign substances on the floor while driving the floor in a horizontal state,
A pair of front wheels provided as a pair so as to be spaced apart from each other at the center of the cleaning robot body;
A rear wheel provided at a center of a rear region of the cleaning robot body and moving the cleaning robot body together with the pair of front wheels; And
It further comprises a roller for collecting foreign matter rotatably provided,
The docking station for forming a place where the cleaning robot of the horizontal state is standing and docked, the foreign matter removal operation for removing the foreign matter in the cleaning robot when the cleaning robot is docked,
A front wheel seat arrangement unit provided in the docking station body and forming a place where the front wheel is seated when the cleaning robot is docked to the docking station;
A rear wheel seat arrangement unit provided in the docking station body and forming a place where the rear wheel is disposed when the cleaning robot is docked to the docking station; And
And a roller seat arranging unit provided on the docking station body, the roller seat arranging unit forming a place where the foreign material collecting roller is seated when the cleaning robot is docked to the docking station.
The method of claim 3,
Instead of the suction and discharge drive which drives for the collection of foreign matters during cleaning and the discharge of foreign matters after docking,
Fully automatic robot cleaning device, characterized in that for replacing the suction drive to drive only for the collection of the foreign material when cleaning in the cleaning robot and having a separate discharge drive in the docking station for the discharge of the foreign matter.
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