KR20070099763A - Robot cleaner system having robot cleaner and docking station - Google Patents

Abstract

A robot cleaner system having a robot cleaner and a docking station is provided to prevent dust flowing into the docking station from the robot cleaner from leaking by forming a protrusion, communicating a dust outlet of the robot cleaner with a dust inlet of the docking station, on the robot cleaner. In a robot cleaner system having a robot cleaner(100) and a docking station(200), the robot cleaner includes a robot body(110) having a dust outlet(114) and the docking station includes a dust inlet(211) and a dust path(240). The dust inlet of the docking station sucks dust stored in the robot cleaner. The dust path of the docking station guides dust sucked through the dust inlet to a dust collecting unit. The robot cleaner is provided with a protrusion(150) protruded from the robot body outwardly so that the protrusion is inserted into the dust inlet of the docking station when the robot cleaner docks with the docking station. The dust outlet and the dust path are communicated with each other by the protrusion.

Description

      Robot cleaner system having a robot cleaner and docking station

      1 is a perspective view showing the appearance of a robot vacuum cleaner system according to a first embodiment of the present invention.

      2 and 3 are side cross-sectional views respectively showing the configuration of the robot cleaner and the docking station in FIG.

      Figure 4 is a side cross-sectional view showing the robot cleaner docked to the docking station in the robot cleaner system of Figure 1;

      5 and 6 are cross-sectional views and partial cutaway perspective views of portions 'C' of FIG. 2 and 'D' of FIG.

7 is a cross-sectional view showing a state when the robot cleaner is docked in FIG.

      8 is a cross-sectional view showing the guide flow path of the robot cleaner and the protrusion of the docking station in the robot cleaner system according to the second embodiment of the present invention.

      Figure 9 is a perspective view schematically showing the appearance of the robot vacuum cleaner system according to a third embodiment of the present invention.

      10 is a cross-sectional view showing the protrusion and the guide passage in the robot vacuum cleaner system according to a fourth embodiment of the present invention.

11 is a cross-sectional view showing a state when the robot cleaner is docked in FIG.

      12 is a cross-sectional view showing the first opening and closing device and the guide passage in the robot vacuum cleaner system according to a fifth embodiment of the present invention.

FIG. 13 is a cross-sectional view of a robot cleaner when FIG. 12 is docked.

14 is a flow chart for explaining the operation of the robot vacuum cleaner system according to the present invention.

      * Description of symbols on the main parts of the drawings *

      100: robot cleaner 110: robot body

      114 dust outlet 120 first dust collector

      130: first blower 150: protrusion

      152a: inclined surface of the protrusion 160: the first opening and closing device

      162: opening and closing member 163: lever

      164: elastic member 190: joint member

      200: docking station 210: station body

      211: dust suction port 220: second blower

      230: second dust collector 240: guide flow path

      241: slope of the guide flow path

      The present invention relates to a cleaner, and more particularly, to a robot cleaner system having a docking station installed to suck and remove dust stored in the robot cleaner.

      The vacuum cleaner is a mechanism for removing foreign substances in the room and cleaning them, and a vacuum cleaner that sucks foreign substances by using suction force of a low pressure part is generally used. Recently, a robot cleaner has been developed to remove foreign substances on the floor while moving by itself through the automatic driving function without the labor of the user. In the following, the robot cleaner removes foreign substances while moving itself is called 'automatic cleaning'.

      In general, the robot cleaner is used in a system together with a station (hereinafter referred to as a docking station) that is located at a specific place in the room and is responsible for charging the robot cleaner or emptying the dust stored in the robot cleaner.

      An example of such a robot vacuum cleaner system is disclosed in US 2005/0150519. The disclosed robot cleaner system has a docking station having a robot cleaner and a suction unit for suction of dust. The lower part of the robot cleaner is provided with a suction port for suctioning dust, and the suction port is installed to be rotatable so that the dust can be used. The docking station is provided with a pedestal formed with an inclined surface so that the robot cleaner can stand, and one side of the inclined surface is provided with a suction port for suctioning dust. Therefore, when the robot cleaner comes up along the inclined surface and reaches the docking position, the inlet of the inclined surface and the inlet of the robot cleaner face each other. At this time, the suction unit operates to remove dust stored in the robot cleaner.

      However, in the conventional robot cleaner system disclosed herein, the docking operation of the robot cleaner is not easy because the docking is performed while the robot cleaner is mounted on the inclined surface of the docking station having a constant height, thereby guiding the robot cleaner to the correct docking position. There is a problem in that the configuration is complicated.

In addition, in the conventional robot cleaner system, since the suction of dust is performed while the suction port of the robot cleaner simply faces the suction port of the docking station, the sealing state between the two suction ports is poor, so that the suction power of the suction unit is lost or the side of the suction unit is lost. There is a problem that the moving dust can be leaked back to the room.

      The present invention is to solve the above problems, an object of the present invention is to improve the docking structure of the robot cleaner and the docking station to prevent the suction of the docking station is lost when the docking station sucks in the dust in the robot cleaner, Another object of the present invention is to provide a robot cleaner system capable of preventing leakage of dust moving to a docking station.

      In addition, another object of the present invention to provide a robot cleaner system so that the docking operation of the robot cleaner can be easily made.

      Robot cleaner system according to the present invention for achieving this object is a robot cleaner having a robot body having a dust outlet; and a dust suction port formed to suck the dust stored in the robot cleaner, and is sucked through the dust suction port And a docking station having a dust suction flow path for guiding dust to the dust collector, wherein the robot cleaner protrudes outward of the robot body and is inserted into the dust suction port when the robot cleaner is docked to the docking station. And a protrusion for communicating the dust outlet and the dust suction passage.

      The outer surface of the protrusion may have a cross-sectional area of the protrusion reduced in at least one portion along a direction in which the protrusion protrudes, and the dust suction passage may have a guide flow passage having a shape corresponding to the shape of the outer surface of the protrusion. have.

      At this time, the protrusion is preferably in the shape of a horn.

The robot cleaner may further include an opening and closing device for closing the dust outlet when the robot cleaner is automatically cleaned and opening the dust outlet when the robot cleaner is docked to the docking station.

      Here, the opening and closing device includes a plurality of opening and closing unit installed in the circumferential direction of the dust outlet, the opening and closing unit is an opening and closing member for opening and closing the dust outlet, and rotates inside the projection around the rotation axis, A lever extending outwardly from one end of the opening and closing member coupled to the coaxial and an elastic member for elastically biasing the opening and closing member in the direction of closing the dust outlet.

The opening and closing member is preferably made of a material capable of elastic deformation.

      The elastic member may be a torsion spring in which a central portion wound in a coil shape is fitted to the pivot shaft, one end of the torsion spring may be supported by the robot body, and the other end may be supported by the lower surface of the lever.

It is preferable to further include a fastening device provided to firmly maintain the docking state of the robot cleaner and the docking station.

The fastening device may be configured as an electromagnet installed in any one of the robot cleaner and the docking station, and a magnetic action member installed in the other of the robot cleaner and the docking station.

      The docking station may have an opening and closing device for opening the dust intake while being elastically deformed by the protrusion when the protrusion is inserted.

      And a sensing device for detecting whether the robot cleaner is finished docking, wherein the sensing devices are respectively installed in the robot cleaner and the docking station and are in contact with each other when the docking operation of the robot cleaner is completed. It includes.

      In addition, the robot vacuum cleaner system according to the present invention includes a robot cleaner having a robot body having a dust outlet; and a dust suction port formed to suck dust stored in the robot cleaner, and dust collected through the dust suction port as a dust collector. And a docking station having a dust suction flow path for guiding, wherein the robot cleaner protrudes outward of the robot body and is inserted into the dust inlet when the robot cleaner is docked to the docking station, and the dust outlet and the dust. It has a protrusion for communicating with the suction flow path, the protrusion is separated from the robot body is installed, one end of the protrusion and the robot body is characterized in that it is connected by a flexible joint member is formed wrinkles repeatedly.

      The robot cleaner further includes an opening and closing device for opening and closing the dust outlet, the opening and closing device includes a plurality of opening and closing unit is installed in the circumferential direction of the dust outlet, the opening and closing unit is rotated about the rotating shaft An opening and closing member for opening and closing the dust discharge port, a lever extending from one end of the opening and closing member coupled to the rotation shaft toward one end of the protruding portion, and an elastic force for elastically biasing the opening and closing member in the direction of closing the dust discharge port. It may comprise a member.

      In addition, the robot vacuum cleaner system according to the present invention includes a robot cleaner having a robot body having a dust outlet; and a dust suction port formed to suck dust stored in the robot cleaner, and dust collected through the dust suction port as a dust collector. And a docking station having a dust suction flow path for guiding, wherein the robot cleaner protrudes outward of the robot body and is inserted into the dust inlet when the robot cleaner is docked to the docking station, and the dust outlet and the dust. And a projection passage communicating with the suction passage, wherein the dust suction passage includes a guide passage having an inclined surface for narrowing the passage in at least one portion in a direction in which the protrusion enters when the robot cleaner is docked. It is done.

      In addition, the robot vacuum cleaner system according to the present invention includes a robot cleaner having a robot body having a dust outlet formed therein; and a docking station having a station body having a dust inlet formed so as to correspond to the position of the dust outlet when the robot cleaner is docked. The robot cleaner has an opening and closing device for opening and closing the dust outlet, the opening and closing device protrudes from the dust outlet and is inserted directly into the dust inlet when the robot cleaner is docked to the docking station and the dust outlet and It is characterized by communicating the dust inlet.

      At this time, the opening and closing device includes a plurality of opening and closing unit is installed in the circumferential direction of the dust outlet, the opening and closing unit is rotated about the rotating shaft and the opening and closing member for opening and closing the dust outlet, coupled to the rotating shaft A lever extending from one end of the opening and closing member toward the outside of the opening and closing member, and an elastic member for elastically biasing the opening and closing member in a direction of closing the dust outlet, wherein the opening and closing member is docked of the robot cleaner. It is characterized in that it is inserted into the dust intake at the time.

      In addition, the robot vacuum cleaner system according to the present invention is a robot vacuum cleaner having a dust outlet, a dust discharge passage for guiding the dust in the dust collector toward the dust outlet; and a dust suction port to suck the dust discharged through the dust outlet And a docking station having a station body formed therein, wherein the docking station protrudes outwardly of the station body to be inserted into the dust outlet when the robot cleaner is docked to the docking station. It is characterized by including a protrusion for communicating.

      In addition, the robot cleaner according to the present invention in the robot cleaner having a robot body having a dust outlet formed so that the dust stored therein can be discharged toward the dust inlet of the docking station, the robot cleaner protrudes out of the robot body to the robot And a protrusion which is inserted into the dust suction port when the cleaner is docked to the docking station and communicates the dust discharge port with the dust suction port.

      In addition, the robot cleaner according to the present invention is a robot cleaner having a dust discharge port for discharging dust to the docking station, and a dust discharge passage for guiding the dust in the dust collector toward the dust discharge port, the dust discharge passage is the dust discharge port And a guide flow passage having an inclined surface for narrowing the flow path in a direction in which the protrusion of the docking station inserted into the dust discharge flow path enters the dust discharge flow path.

      In addition, the docking station according to the present invention is a docking station having a station body is formed with a dust suction port for suctioning the dust discharged from the dust outlet of the robot cleaner, the docking station protrudes out of the station body so that the robot cleaner And a protrusion which is inserted into the dust outlet when the docking station is docked and communicates the suction port with the dust outlet.

      In addition, the docking station according to the present invention is a docking station having a dust suction port formed to suck the dust stored in the robot cleaner and a dust suction passage for guiding the dust sucked through the dust suction port to the dust collector, The dust suction passage may include a guide passage having an inclined surface for narrowing the passage in a direction in which the protrusion of the robot cleaner inserted into the dust suction passage enters the dust suction passage.

      Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail. 1 is a perspective view showing the appearance of a robot cleaner system according to a first embodiment of the present invention, Figures 2 and 3 are side cross-sectional views showing the configuration of the robot cleaner and the docking station in Figure 1, respectively, Figure 4 is Figure 1 Side view of the robot cleaner docked at the docking station in the robot cleaner system of the present invention.

      As shown in Figures 1 to 4, the robot cleaner system according to the first embodiment of the present invention is a robot main body 110 is formed with an inlet 111 for the introduction of dust and the robot main body for the storage of the incoming dust The robot cleaner 100 having the first dust collector 120 installed inside the 110 and installed to remove dust in the first dust collector 120 while the robot cleaner 100 is docked. Is provided with a docking station 200. The robot cleaner 100 autonomously moves the area to be cleaned and automatically cleans the dust, and then returns to the docking station 200 to remove the dust when a certain level of dust is accumulated in the first dust collector 120.

      As shown in FIG. 2, the robot cleaner 100 has a first blower 130 installed inside the robot body 110 to generate a suction force for suction of dust, and the first blower 130. ) Is configured to include a suction motor (not shown) and a blowing fan (not shown). In addition, the inside of the robot main body 110 is provided with a dust amount sensor (not shown) for detecting the amount of dust accumulated in the first dust collector 120, and a controller 140 for controlling the overall operation of the robot cleaner. .

      The lower part of the robot main body 110 is provided with a pair of driving wheels 112 for the movement of the robot cleaner 100, the pair of driving wheels 112 is a drive motor (not shown) for rotating each of them. It is selectively driven by the robot cleaner 100 to move in the required direction.

      In addition, the robot cleaner 100 is configured to draw the flow of air generated by the inlet 111 formed in the lower portion of the robot body 110 and the first blower 130 to suck dust from the bottom B of the cleaning area. The discharge port 113 (see FIG. 1) for discharging to the outside of the robot body 110 and the dust in the first dust collector 120 when the robot cleaner 100 is coupled to the docking station 200 are docked with the station 200. It has a dust outlet 114 is formed in the robot body 110 to be discharged to).

      At the inlet 111 of the robot body 110, a brush 111a for sweeping up dust of the bottom B is rotatably installed. In addition, an inlet pipe 115 is disposed between the inlet 111 and the first dust collector 120, and a dust discharge passage 116 is formed between the first dust collector 120 and the dust outlet 114. do.

      Meanwhile, as shown in FIG. 3, the docking station 200 includes a station main body 210, a second blower device 220 installed inside the station main body 210 to generate suction power for suction of dust, The second dust collecting device 230 is provided inside the station body 210 to store inhaled dust. Although not shown in the drawings, the second blower 220 includes a suction motor and a blowing fan that is rotated by the suction motor. Meanwhile, the docking station 200 has a control unit 201 for controlling the operation of the docking station.

      Where the station body 210 corresponds to the dust outlet 114 of the robot cleaner 100, a dust suction port 211 for sucking dust from the robot cleaner 100 is formed, and the dust suction port 211 and the second A dust suction passage 212 is formed between the dust collectors 230.

      When the second blower 220 is operated while the robot cleaner 100 is docked to the docking station 200 as shown in FIG. 4, the suction force acts on the first dust collector 120 of the robot cleaner 100 so as to firstly operate the robot cleaner 100. The dust stored in the dust collector 120 is sucked through the dust discharge passage 116 and the dust suction passage 212 toward the second dust collector 230.

      5 and 6 are enlarged cross-sectional views and partial cutaway perspective views taken from the portion 'C' of FIG. 2 and portion 'D' of FIG. 3, and FIG. 7 is a cross-sectional view showing a state when the robot cleaner is docked in FIG. 5. to be.

      5 to 7, the robot cleaner 100 protrudes out of the robot body 110 and is inserted into the dust suction port 211 when the robot cleaner 100 is docked at the docking station 200. It has a protrusion 150 for communicating the dust outlet 114 and the dust suction passage 212. At the protruding end of the protrusion 150, the connector 151 is formed into the docking station 200 when the robot cleaner 100 is docked to communicate with the dust suction passage 212. As such, when dust is moved while the protrusion 150 of the robot cleaner is inserted into the dust suction passage 212, the suction force of the docking station 200 may be lost or dust may be leaked into the indoor space.

      The outer surface 152 of the protrusion 150 preferably has an inclined surface 152a for gradually reducing the cross-sectional area of the protrusion 150 in at least one portion along the direction in which the protrusion 150 protrudes, and docking The dust suction passage 212 of the station 200 preferably has a guide flow path 240 having a shape corresponding to the shape of the protrusion outer surface 152. That is, the guide flow path 240 has an inclined surface 241 for narrowing the flow path in the direction in which the protrusion 150 enters when the robot cleaner 100 is docked. In this embodiment, the guide passage 240 and the protrusion 150 form a truncated cone shape. When the protrusion 150 having the inclined surfaces 152a and 241 as described above and the guide flow path 240 are used, the protrusion 151 continues to enter the dust inlet 211 at a position slightly deviated from the exact docking point. The docking operation is guided by the inclined surface 152a of the protrusion 150 and the inclined surface 241 of the guide flow path 240 in the entry process of 150 so that the docking operation can be performed smoothly. In addition, when the docking of the robot cleaner 100 and the docking station 200 is completed, the contact area between the guide flow path 240 and the protrusion 150 is widened so that a gap is generated between the guide flow path 240 and the protrusion 150. In this case, it is possible to more reliably prevent the suction force of the second blower device 220 from leaking when the dust is sucked in.

      In addition, the robot cleaner 100 closes the dust outlet 114 when the robot cleaner 100 is automatically cleaned, and opens the dust outlet 114 when the robot cleaner 100 is docked at the docking station 200. Has a first opening and closing device 160. That is, when the robot cleaner 100 automatically cleans the first opening and closing device 160, the first opening and closing device 160 closes the dust outlet 114 to prevent the air from flowing through the dust outlet 114, thereby acting on the inlet 111. 1 to prevent the suction force of the blower 130 is weakened. In addition, when the robot cleaner 100 is docked at the docking station 200 to remove dust in the first dust collecting device 120, the first opening / closing device 160 opens the dust outlet 114 to open the first dust collecting device ( Dust in 120 may move towards the docking station 200.

      The first opening and closing device 160 may be installed in a circumferential direction of the dust outlet 114 and may include a plurality of opening and closing units 161 for opening and closing the dust outlet 114. Each opening and closing unit 160a rotates inside the protrusion 150 around the pivot shaft 161 and opens and closes the opening and closing member 162 for opening and closing the dust outlet 114, and the opening and closing member coupled to the pivot shaft 161. And an elastic member 164 elastically biasing the opening / closing member 162 in the direction of closing the dust outlet 114 and the lever 163 extending outwardly of the protrusion 150 at one end of the 162. do.

      Each of the opening and closing member 162 is hinged to the lower end of the protrusion 150 through the rotation shaft 161, the lever 163 is a protrusion to form a certain angle with respect to the direction in which each opening and closing member 162 extends ( 150) to the outside. As such, when the first opening / closing device 160 is configured, the lever 163 of the first opening / closing device 160 is pressed by the station body 210 to rotate when the robot cleaner 100 is docked. Accordingly, the opening and closing member 162 also rotates to open the dust outlet 114 of the robot cleaner 100.

      Here, the opening and closing member 162 is preferably made of a material capable of elastic deformation, such as a thin metal material, plastic or rubber. This is to prevent the flow path in the protrusions 150 to narrow by allowing the opening and closing member 162 to be in close contact with the inner surface of the horn-shaped protrusion 150 when the dust outlet 114 is opened.

      On the other hand, the elastic member 164 is for maintaining the closed state of the opening and closing member 162 during the automatic cleaning of the robot cleaner 100, the torsion spring is shown in Figure 6 as such an elastic member 164 The case used is shown. At this time, the central portion 164a of the torsion spring wound in a coil shape is inserted into the rotation shaft 161, and both ends 164b and 164c are supported on the outer surface of the robot body 110 and the lower surface of the lever 163, respectively. do.

      6 shows a case in which four opening and closing units 160a are provided for convenience, the number of opening and closing units 160a may be appropriately changed according to design needs. In addition, the first opening and closing device may be implemented in a new manner different from that described above. For example, a sliding door may be installed at the dust outlet of the robot cleaner, and a switch may be installed on an outer surface of the robot main body that comes into contact with the docking station during docking, so that the sliding door is opened when the docking station presses the switch during the docking process. One opening and closing device may be configured.

      On the other hand, the docking station 200 preferably has a second opening and closing device 250 for opening and closing the dust suction port 211 similarly to the robot cleaner 100 having the first opening and closing device 160. The dust suction port 211 of the docking station 200 may be configured to be always open without a separate opening and closing device, but if the second opening and closing device 250 as shown in FIG. 6 includes a dust suction path of the docking station 200 ( 212) or the dust in the second dust collecting apparatus 230 can be prevented from flowing back to the outside.

      The second opening and closing device 250 may be composed of a plurality of opening and closing member 251 having an elastic restoring force. One end of each of the opening and closing members 251 is fixed to the station body 210, and the other end thereof extends toward the center of the dust suction port 211. Then, when the protrusion 150 of the robot cleaner 100 enters the guide passage 240, the opening / closing member 251 is pushed by the protrusion 150 to elastically deform and open the dust inlet 211, and the robot cleaner When the docking state of the 100 is released, the dust suction port 211 is closed by restoring to the original position again.

      In addition, the robot vacuum cleaner system according to the present invention has a fastening device for maintaining the docking state of the robot cleaner 100 and the docking station 200 stably. Such a fastening device may be configured as an electromagnet 202 installed in the docking station and a magnetic action member 101 installed in the robot cleaner 100. Then, when the docking of the robot cleaner 100 is completed, a current is applied to the electromagnet 202 to generate a magnetic force. Accordingly, an attraction force acts between the robot cleaner 100 and the docking station 200 to allow the robot cleaner 100 to operate. And the docking state of the docking station 200 can be maintained stably.

      In the above, the case in which the electromagnet is installed in the docking station has been described, but it is also possible to install the electromagnet in the robot cleaner and the magnetic force action member in the docking station.

      Meanwhile, as shown in FIGS. 2 and 3, the robot cleaner system according to the present invention has a sensing device for detecting whether the robot cleaner 100 is docked. These sensing devices are respectively installed in the robot cleaner 100 and the docking station 200, the robot sensor 171 and the station sensor 261 that are in contact with each other when the docking operation of the robot cleaner 100 is to be composed of Can be. When the robot sensor 171 is in contact with the station sensor 261, the control unit 201 of the docking station determines that the docking operation of the robot cleaner 100 is completed, thereby applying a current to the electromagnet 202. The second blower 220 is operated.

      8 is a cross-sectional view showing the guide flow path of the robot cleaner and the protrusion of the docking station in the robot cleaner system according to the second embodiment of the present invention. In this embodiment, the docking station has a protrusion and a guide flow path is formed in the dust discharge passage of the robot cleaner.

      As shown in FIG. 8, the docking station 200 protrudes outward of the station body 210 and is inserted into the dust outlet 114 when the robot cleaner 100 is docked, and the dust suction port 211 and the dust discharge passage. It has a protrusion 270 that communicates with 116. In addition, the dust discharge passage 116 of the robot cleaner 100 is provided with a guide passage 116a having a shape corresponding to the shape of the outer surface 271 of the protrusion 270. In addition, the robot cleaner 100 and the docking station 200 are provided with the opening and closing device (160 ', 250') for opening and closing the dust outlet 114 or dust suction port 211, respectively. In the present embodiment, since the shape of the protrusion 270 and the guide flow path 116a and the configuration and operation of the opening and closing devices 160 'and 250' can be sufficiently predicted in the embodiment of FIG. 5, redundant description thereof will be omitted.

      Figure 9 is a perspective view schematically showing the appearance of the robot vacuum cleaner system according to a third embodiment of the present invention. This embodiment shows an example in which the shapes of the protrusion 150 and the guide flow path 240 are modified in the embodiment of FIG. 1. 9A illustrates a case where the outer surface of the protrusion 150 and the guide passage 240 have a pyramidal shape, and FIG. 9B illustrates two inclined surfaces 152b facing each other among the outer surfaces of the protrusion 150. This is the case where the guide flow path 240 has a shape corresponding to the shape of the protrusion 150.

      10 is a cross-sectional view showing the protrusion and the guide passage in the robot cleaner system according to a fourth embodiment of the present invention, Figure 11 is a cross-sectional view showing the appearance when the robot cleaner is docked in FIG. In the present embodiment, the configuration common to that of FIG. 5 is denoted by the same reference numeral. This embodiment has a difference in the structure of providing a protrusion compared to the embodiment of FIG. The following describes only the features of the present embodiment. As shown in FIGS. 10 and 11, the protrusion 180 of the robot cleaner 100 may be installed to be separated from the robot body 110 and flowable. One end 181 of the protrusion 180 is connected by the elastic joint member 190 is formed in the bellows like wrinkles repeatedly. Then, when the robot cleaner 100 is docked, there is an advantage that the shock transmitted to the robot cleaner 100 and the docking station 200 may be alleviated. In addition, when the protrusion 180 is inserted into the guide flow path 240 to guide the docking operation, the protrusion 180 may flow within a predetermined range, so that the docking operation of the robot cleaner 100 may be more smoothly performed. have.

      In addition, the rotation shaft 161 of the first opening and closing device 160 is installed on the robot body 110, the lever 165 is from one end of the opening and closing member 166 toward one end 181 of the protrusion 180. Is extended. Therefore, as the protrusion 180 enters the guide passage 240, one end 181 of the protrusion 180 presses the lever 165, and thus the opening / closing member 166 of the first opening / closing device 160. ) Will open the dust outlet 114 of the robot cleaner (100).

      12 is a cross-sectional view showing the first opening and closing device and the guide flow path in the robot cleaner system according to the fifth embodiment of the present invention, Figure 13 is a cross-sectional view showing a state when the robot cleaner is docked in FIG. In this embodiment, the protrusion of the robot cleaner is omitted, and the opening and closing member of the first opening and closing device is configured to perform the role of the protrusion together.

      12 and 13, in the present embodiment, the first opening / closing device 160 ″ of the robot cleaner 100 includes an opening and closing member 162 ″ installed to protrude out of the robot body 110. It is configured to perform the function of the protrusion 150 (see FIG. 5) together. The opening and closing member 162 " closes the dust outlet 114 when the robot cleaner 100 automatically cleans and is inserted into the dust suction port 211 when docked at the docking station 200. The docking operation is completed. At that point, the lever 163 " is pressed by the station body 210 to rotate the opening and closing member 162 ", thereby opening and closing the dust outlet 114. At this time, the opening and closing member 162 "rotates toward the inner surface of the dust suction passage 212. At this time, the opening and closing member 162" is composed of an elastic member so as to be as close as possible to the inner surface of the dust suction passage 212. Much of the loss or dust leakage can be mitigated.

      Hereinafter, the operation of the robot cleaner system related to the gist of the present invention will be described with reference to FIGS. 2 to 4 and 14. Figure 14 is a flow chart for explaining the operation of the robot vacuum cleaner system according to the present invention. Hereinafter, for convenience, the operation of the robot vacuum cleaner system according to the first embodiment of the present invention will be described, but it can be applied to other embodiments as it is.

      When the cleaning starts, the robot cleaner 100 removes foreign substances in the area to be cleaned while moving autonomously. At this time, the opening and closing member 162 of the first opening and closing device 160 of the robot cleaner 100 is in a state in which the dust outlet 114 is closed by the elastic force of the elastic member 164, so that the first blower 130 The suction force acts all toward the inlet 111 so that the dust of the bottom B is collected by the first dust collector 120 through the inlet 111 and the inlet pipe 115 (S310).

      Dust cleaning sensor (not shown) in the robot cleaner 100 detects the amount of dust accumulated in the first dust collecting device 120 during the automatic cleaning as described above, and transmits the data about the dust to the control unit 140, the control unit 140 It is determined whether the dust of the reference value or more accumulated in the 1 dust collector (120) (S320).

      When it is determined that dust is accumulated above the reference value in the first dust collector 120, the robot cleaner 100 stops cleaning and moves to the docking station 200 to remove the dust (S330). Since the construction and operation for returning the robot cleaner 100 to the docking station 200 correspond to the known art, detailed description thereof will be omitted.

      When the docking operation is started, the connector 151 of the protrusion 150 enters the guide flow path 240 through the dust suction port 211 of the docking station 200. At this time, even when the connector 151 enters the dust suction port 211 at the correct docking position, the outer surface 152 and the guide passage 240 of the truncated cone-shaped guide 150 guide the continuous movement of the protrusion 150. The docking operation can be made smoothly. On the other hand, when the protrusion 150 enters the dust inlet 211, the second opening and closing device 250 is pushed by the protrusion 150 to open the dust inlet 211. In addition, as the protrusion 150 continuously enters, the station body 210 presses the lever 163 of the first opening / closing device 160, and accordingly, the opening / closing member 162 rotates around the rotation shaft 161. And the dust outlet 114 is opened. During the docking process, the control unit 201 of the docking station determines whether the docking operation of the robot cleaner 100 is completed using the robot sensor 171 and the station sensor 261 (S340).

      When the robot sensor 171 and the station sensor 261 are in contact with each other, the control unit 201 of the docking station determines that the docking operation of the robot cleaner 100 is completed, and accordingly, applies a current to the electromagnet 202, and thus the second sensor. The blower 220 is operated. Then, the dust stored in the first dust collector 120 of the robot cleaner 100 is sucked toward the second dust collector 230 to remove the dust in the first dust collector 120. At this time, the docking station 200 and the robot cleaner 100 maintains the docking state stably by the attraction force acting between the electromagnet 202 and the magnetic force action member 101 (S350).

      Dust removal sensor (not shown) in the robot cleaner 100 detects the amount of dust in the first dust collecting device 120 during the removal of the dust and transmits the data to the control unit 140, the control unit 140, the first dust collection If it is determined that the dust in the device 120 has been removed, if it is determined that the operation of the second blower 220 is stopped and the current applied to the electromagnet 202 is blocked (S360, S370). At this time, instead of controlling the second blower 220 and the electromagnet 202 directly by the controller 140 of the robot cleaner, the controller 201 of the docking station receives information from the controller 140 of the robot cleaner. Of course, it is also possible to control the blower 220 and the electromagnet 202. In addition, instead of using the dust detection sensor as described above, the operation time of the second blower 220 is counted to determine whether the dust is removed. It is also possible to determine that it has been removed.

      When the removal process of the above dust is completed, the robot cleaner 100 is separated from the docking station 200 is automatically cleaned again (S380).

      1 to 13 illustrate a case in which both the protrusion and the guide flow path have an inclined surface. However, only one of the protrusion and the guide flow path may have the inclined surface. For example, the protrusion may be cylindrical, and the guide flow path may be configured to have a truncated cone shape.

      As described above, the present invention includes a protrusion inserted into the docking station when the robot cleaner is docked to prevent the suction force of the docking station from being lost or the dust moving to the docking station from leaking to the outside during the suction process of the dust. It can work.

      In addition, the present invention has an effect that the docking operation of the robot cleaner can be easily made through the inclined surface of the protrusion and the guide flow path to smoothly guide the docking operation while widening the dockable range.

      In addition, the present invention can further enhance the effect of preventing the loss of suction force of the docking station by preventing the protrusion and the guide flow path to contact over a large area through the inclined surface and to prevent the leakage of dust during the movement of dust. .

Claims (35)

A robot cleaner having a robot body in which dust outlets are formed;       And a docking station having a dust suction port formed to suck dust stored in the robot cleaner, and a dust suction path for guiding the dust sucked through the dust suction port to a dust collector. The robot cleaner protrudes outwardly of the robot body so that the robot cleaner is inserted into the dust suction port when the robot cleaner is docked to the docking station, and has a protrusion for communicating the dust discharge port and the dust suction flow path. system. The method of claim 1,       The outer side surface of the projection robot cleaner system, characterized in that it comprises an inclined surface to reduce the cross-sectional area of the projection in at least a portion along the direction in which the projection projects. The method of claim 2,       The dust suction passage comprises a guide flow passage having a shape corresponding to the shape of the outer surface of the protrusion.       The method of claim 2,       The protrusion is a robot cleaner system, characterized in that the horn-shaped. The method of claim 1, The robot cleaner further comprises an opening and closing device for closing the dust outlet when the robot cleaner automatically cleans and opening the dust outlet when the robot cleaner is docked to the docking station. . The method of claim 5,       The opening and closing device includes a plurality of opening and closing unit is installed in the circumferential direction of the dust outlet,       The opening and closing unit is rotated in the interior of the projection around the rotating shaft and the opening and closing member for opening and closing the dust outlet, the lever extending from one end of the opening and closing member coupled to the rotating shaft to the outside of the projection, and the dust And a resilient member for elastically biasing the opening and closing member in a direction of closing the outlet. The method of claim 6,       The opening and closing member is a robot cleaner system, characterized in that made of a material capable of elastic deformation. The method of claim 6,       The elastic member is a torsion spring, the center of which is wound in a coil shape is fitted to the rotating shaft, one end of the torsion spring is supported on the robot body, the other end is a robot cleaner system, characterized in that supported on the lower surface of the lever. The method of claim 1, And a fastening device provided to firmly maintain the docking state of the robot cleaner and the docking station. The method of claim 9, The fastening device is a robot vacuum cleaner system having an electromagnet installed in any one of the robot cleaner and the docking station, and a magnetic force action member installed in the other of the robot cleaner and the docking station. The method of claim 1,       The docking station further comprises an opening and closing device for opening the dust inlet while being elastically deformed by the protrusion when the protrusion is inserted. The method of claim 1, And a sensing device for detecting whether the robot cleaner is finished docking, wherein the sensing devices are respectively installed in the robot cleaner and the docking station and are in contact with each other when the docking operation of the robot cleaner is completed. Robot cleaner system comprising a. A robot cleaner having a robot body in which dust outlets are formed;       And a docking station having a dust suction port formed to suck dust stored in the robot cleaner, and a dust suction path for guiding the dust sucked through the dust suction port to a dust collector.       The robot cleaner protrudes outwardly of the robot body and is inserted into the dust suction port when the robot cleaner is docked to the docking station, and has a protrusion for communicating the dust discharge port with the dust suction flow path.       The protrusion is installed separately from the robot body, one end of the protrusion and the robot body is connected to the robot cleaner characterized in that it is connected by a flexible joint member is formed wrinkles repeatedly. The method of claim 13,       And the outer surface of the protrusion includes an inclined surface to reduce the cross-sectional area of the protrusion in at least a portion along the direction in which the protrusion protrudes. The method of claim 13,       The robot cleaner further includes an opening and closing device for opening and closing the dust outlet, the opening and closing device includes a plurality of opening and closing unit installed in the circumferential direction of the dust outlet,       The opening and closing unit rotates about the rotation shaft and opens and closes the dust discharge port, a lever extending from one end of the opening and closing member coupled to the rotation shaft toward one end of the protrusion, and closing the dust outlet. Robotic cleaner system comprising an elastic member for elastically biasing the opening and closing member in a direction. A robot cleaner having a robot body in which dust outlets are formed;       And a docking station having a dust suction port formed to suck dust stored in the robot cleaner, and a dust suction path for guiding the dust sucked through the dust suction port to a dust collector.       The robot cleaner protrudes outwardly of the robot body and is inserted into the dust suction port when the robot cleaner is docked to the docking station, and has a protrusion for communicating the dust discharge port with the dust suction flow path.       And the dust suction passage includes a guide passage having an inclined surface for gradually narrowing the passage in at least a portion in a direction in which the protrusion enters when the robot cleaner is docked. The method of claim 16,       The guide flow path has a robot cleaner, characterized in that having a horn shape that gradually cross-sectional area from the dust suction port. The method of claim 16, The robot cleaner further comprises an opening and closing device for closing the dust outlet when the robot cleaner automatically cleans and opening the dust outlet when the robot cleaner is docked to the docking station. . A robot cleaner having a robot body in which dust outlets are formed; and And a docking station having a station body having a dust suction port formed so as to correspond to a position of the dust discharge port when the robot cleaner is docked.       The robot cleaner includes an opening and closing device for opening and closing the dust outlet, the opening and closing device protrudes from the dust outlet and is inserted directly into the dust inlet when the robot cleaner is docked to the docking station and the dust outlet and the dust suction. Robotic vacuum cleaner system, characterized in that the communication sphere. The method of claim 19,       The opening and closing device includes a plurality of opening and closing unit is installed in the circumferential direction of the dust outlet,       The opening and closing unit rotates about the rotation shaft and the opening and closing member for opening and closing the dust outlet, a lever extending from one end of the opening and closing member coupled to the rotation shaft toward the outside of the opening and closing the dust outlet, It comprises an elastic member for elastically biasing the opening and closing member in the direction,       And the opening / closing member is inserted into the dust suction port when the robot cleaner is docked.       A robot cleaner having a dust outlet and a dust discharge passage for guiding the dust in the dust collector toward the dust outlet; and       And a docking station having a station body in which a dust suction port is formed so as to suck the dust discharged through the dust discharge port.       The docking station protrudes outward of the station body and is inserted into the dust outlet when the robot cleaner is docked to the docking station, the robot cleaner having a protrusion for communicating the dust suction port and the dust discharge passage. system. The method of claim 21,       The outer side surface of the projection robot cleaner system, characterized in that it comprises an inclined surface to reduce the cross-sectional area of the projection in at least a portion along the direction in which the projection projects. The method of claim 22,       The dust discharge passage comprises a guide passage having a shape corresponding to the shape of the outer surface of the projecting portion robot cleaner.       The method of claim 22,       The protrusion is a robot cleaner system, characterized in that the horn-shaped. The method of claim 21,       The robot cleaner further comprises an opening and closing device for opening the dust outlet while being elastically deformed by the protrusion when the protrusion is inserted.       In the robot cleaner having a robot body having a dust outlet formed so that the dust stored therein can be discharged toward the dust inlet of the docking station.       And the robot cleaner protrudes outward from the robot body so that the robot cleaner is inserted into the dust suction port when the robot cleaner is docked to the docking station and has a protrusion communicating the dust discharge port and the dust suction port.       The method of claim 26,       The outer surface of the protrusions robot cleaner characterized in that it comprises an inclined surface to reduce the cross-sectional area of the protrusions in at least one portion along the direction in which the protrusions project.       The method of claim 27,       The protrusion is a robot cleaner, characterized in that the horn-shaped.       In the robot cleaner having a dust outlet for discharging dust to the docking station, and a dust discharge passage for guiding the dust in the dust collecting apparatus toward the dust outlet,       And the dust discharge passage includes a guide passage having an inclined surface for narrowing the passage in a direction in which the protrusion of the docking station inserted into the dust discharge passage enters the dust discharge passage.       The method of claim 29,       And the guide flow passage has a horn shape whose cross sectional area is gradually narrowed from the dust discharge port.       A docking station having a station body having a dust suction port for sucking dust discharged from a dust discharge port of a robot cleaner,       And the docking station protrudes outwardly of the station body to be inserted into the dust outlet when the robot cleaner is docked to the docking station and having a protrusion communicating the suction port with the dust outlet.       The method of claim 31, wherein       The outer side surface of the projections docking station, characterized in that it comprises an inclined surface to reduce the cross-sectional area of the protrusions in at least one portion along the direction in which the protrusions project.       33. The method of claim 32,       Docking station, characterized in that the protrusions are horn-shaped.       A docking station having a dust suction port formed to suck dust stored in a robot cleaner, and a dust suction path for guiding dust sucked through the dust suction port to a dust collector,       And the dust suction passage includes a guide passage having an inclined surface for narrowing the passage in a direction in which the protrusion of the robot cleaner inserted into the dust suction passage enters the dust suction passage.       The method of claim 34, wherein       And the guide flow passage has a horn shape whose cross sectional area is gradually narrowed from the dust suction port.

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