KR102281840B1 - Docking apparatus for the moving robot - Google Patents

Abstract

The present invention relates to a docking device for a mobile robot and a control method therefor, and more particularly, to a docking device for a mobile robot, including a heating unit having a heating element for heating a mop disposed under the mobile robot when the mobile robot is docked, and a blowing fan It relates to a docking device for a mobile robot that dries a mop, including a blowing unit having a blowing unit, and a control method therefor.

Description

Docking apparatus for the moving robot

The present invention relates to a docking device for a mobile robot, and more particularly, to a docking device for a mobile robot that dries a mop of the mobile robot when the mobile robot is docked.

Robots have been developed for industrial use and have been a part of factory automation. Recently, the field of application of robots has been further expanded, and medical robots and aerospace robots have been developed, and household robots that can be used in general households are also being made. Among these robots, there is a mobile robot that can run by itself.

A representative example of a mobile robot used at home is a robot cleaner, which is a device that cleans a corresponding area by inhaling dust or foreign substances while driving in a certain area by itself.

A robot vacuum cleaner is largely composed of a cleaning robot and a docking device. The cleaning robot is equipped with a rechargeable battery, and it can move freely and move by itself using the operating power of the battery. During movement, it cleans by wiping foreign substances on the floor with a rag. If necessary, it returns to the docking device and charges the battery. configured to do

On the other hand, the conventional wet mop robot cleaner is docked in the docking device with a wet and dirty mop attached after cleaning is completed. Therefore, after docking, there is a problem in that the dirty water flowing from the mop collects in the docking device and causes stains, and there is a problem in that the mop is not dried properly and an odor occurs.
Laid-Open Patent Publication No. 10-2015-0006525 (2015.01.19) discloses a docking device for a robot cleaner.

An object of the present invention is to provide a mobile robot docking device for drying a mop provided in a docked mobile robot.

Another object of the present invention is to provide a docking device for a mobile robot that flexibly controls the drying time according to the humidity contained in the mop.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a mobile robot docking apparatus according to an embodiment of the present invention includes a main body having a power module; a plate disposed at the lower end of the main body and having a docking space for the mobile robot on the upper portion; and a heating unit disposed on the plate, electrically connected to the power module, and having a heating element for heating the mop disposed under the mobile robot.

The heating unit may be disposed below the upper end of the plate, and may be vertically overlapped with the mop.

The heating unit may include a heating unit housing, and may include a heat insulating member on one side of the heating unit housing.

The heating element may include a heating element or a light emitting element.

The mobile robot docking device may further include a blowing unit disposed on the plate, electrically connected to the power module, and having a blowing fan.

The blowing unit may be disposed below the upper end of the plate, the upper end of the blowing unit may be opened, and the blowing unit may be disposed below the heating unit.

The mobile robot docking device includes: a dock unit horizontally formed on the upper portion of the plate; an inclined portion disposed on at least one of the rear or side of the dock, and having a forward inclination; And it is disposed on at least one of the front or side of the dock portion, it may include a protrusion protruding upward.

The heating element includes a light emitting element, and the light emitting element is disposed on one side of the heating unit, and may further include a lower reflecting plate disposed under the light emitting element and having a reflective surface thereon.

A method of controlling a mobile robot docking device includes: transmitting, by a water level sensor disposed in the mobile robot, a water consumption amount to a controller of the docking device; and operating, by the control unit, the heating unit for a set time corresponding to the amount of water used.

The control method of the mobile robot docking device includes the steps of: the humidity sensor detects the humidity of the mop and transmits it to the control unit; and operating the heating unit when the humidity of the mop is higher than the reference humidity.

The control method of the mobile robot docking device may further include operating the blowing unit disposed on the plate.

The details of other embodiments are included in the detailed description and drawings.

According to the mobile robot docking device of the present invention, there are one or more of the following effects.

First, the mobile robot docking apparatus has a heating unit having a heating wire, and when the mobile robot is docked, heat is emitted from the heating wire, and there is an advantage of drying the mop provided in the mobile robot with thermal energy.

Second, the mobile robot docking device has a heating unit having a light emitting element, and emits light when the mobile robot is docked, and also has the advantage of drying the mop provided in the mobile robot with light energy.

Third, the mobile robot docking device is provided with a blowing unit, and when the mobile robot is docked, it generates an air flow together with the heating unit, thereby drying the mop provided in the mobile robot by wind.

Fourth, the mobile robot docking device is disposed to overlap a part of the mop and up and down, and a light emitting device disposed on one side is provided, and a heating unit having a reflector under the light emitting device is provided, and a part of the mop is dried. At the same time, the mop is rotated to dry all areas of the mop uniformly.

Fifth, there is also a more efficient advantage by flexibly operating the heating unit for a time corresponding to the amount of water used.

Sixth, including a humidity sensor, there is an advantage of flexibly operating according to humidity.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of a mobile robot and a docking device;
2 is a bottom view of the docking device in a state in which the mobile robot is docked;
3 is a right side view of the docking device in a state in which the mobile robot is docked;
4 is a right side view schematically showing the mobile robot docking device according to the first embodiment;
5 is a right side view schematically showing a mobile robot docking device according to a second embodiment;
6 is a block diagram schematically illustrating a control flow and a control flow of a mobile robot docking device;
7 is a flowchart schematically illustrating a control method of a mobile robot docking device;
8 is a flowchart illustrating a control method of a mobile robot docking device through a water level sensor;
9 is a flowchart illustrating a control method of a mobile robot docking device through a humidity sensor;
10 is a flowchart illustrating a control method of a mobile robot docking device for preheating a heating unit;
11 is a perspective view of a mobile robot and a docking device according to a third embodiment;
12 is a bottom view of a docking device in a state in which the mobile robot is docked according to the third embodiment;
13 is a perspective view of a heating unit according to a third embodiment.

Advantages and features of the present invention and methods of achieving them will become 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, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Expressions referring to directions such as “front (F)/rear (R)/left (Le)/right (Ri)/up (U)/down (D)” mentioned below are the driving directions of the mobile robot 1 . It was defined based on the direction. In the docking device 2, a direction in which the mobile robot 1 is docked is referred to as a front, and a direction opposite to the front is referred to as a rear. The left/right direction is determined based on the docking device 2 when viewed from the top. This is intended to be described with reference to the drawings so that the present invention can be clearly understood to the last, and directions can be defined differently depending on where the reference is placed.

The vertical central axis (Ay) refers to a virtual line extending in the front/rear direction from the center of the docking device (2). The horizontal central axis (Ax) is a horizontal line connecting both centers of the spin map when the mobile robot 1 is docked.

The 'rag' mentioned below may be applied in various ways in terms of materials such as fabric or paper material, and may be used repeatedly or disposable through washing.

The use of terms such as 'first, second, third' in front of the components mentioned below is only to avoid confusion of the components referred to, and the order, importance, or master-slave relationship between the components, etc. is irrelevant For example, an invention including only the second component without the first component can also be implemented.

The mobile robot 1 according to an embodiment of the present invention includes a body including a control unit. The mobile robot 1 includes a mop module that is provided to be in contact with the floor (surface to be cleaned) and mop. The mobile robot includes a sweep module (not shown) provided to collect foreign substances on the floor.

The mop module may be disposed on a lower side of the body and support the body. The sweep module may be disposed below the body and support the body. In this embodiment, the body is supported by a mop module and a sweep module. The body forms the appearance. The body is arranged to connect the mop module and the sweep module.

The Mab module may form an appearance. The mop module is disposed on the underside of the body. The mop module is disposed behind the sweep module. The Mab module provides a driving force for the movement of the mobile robot 1 . In order to move the mobile robot 1 , the Mab module is preferably disposed on the rear side of the mobile robot 1 .

The mop module includes at least one mop part 143 provided to mop the floor while rotating. The Mab module includes at least one spin Mab, wherein the spin Mab rotates clockwise or counterclockwise when viewed from above. The spinmab is contacted to the floor.

The docking unit 2 may include a main body 21 having a power module, and a plate 22 coupled to the lower end of the main body 21 . The mobile robot 1 may be docked on the plate 22 .

The plate 22 may include a caster guide to guide the caster provided at the front lower end of the mobile robot 1 . The plate 22 guides the mobile robot to the dock 222 through the caster guide, and guides the charging terminal 23 and the corresponding terminal 23' to vertically overlap with each other.

The plate 22 guides the mobile robot 1 to the dock unit 222 and guides the charging terminal 23 and the corresponding terminal 23' to vertically overlap with each other.

The docking unit body 21 may be coupled to the front end of the plate 22 and protrude upward to form a wall. In this case, the mobile robot 1 may function as a wall to prevent separation when the mobile robot 1 moves further forward beyond the appropriate dock portion 222 on the plate 22 .

The body 21 may include a power module therein. The power module may be electrically connected to an external power source to receive external electricity. The power module may be electrically connected to the charging terminal 23 to supply received electricity to the charging terminal 23 .

The plate 22 may have a circular shape. The shape of the plate 22 is not limited thereto, and includes a simple change such as a polygonal shape based on a person skilled in the art.

The mobile robot 1 is docked on the top of the plate 22 . Referring to FIG. 1 , the mobile robot is docked on a circular flat surface, which is referred to as a dock unit 222 .

Hereinafter, the structure of the plate 22 for arranging the heating unit 24 and the mop 143 to be vertically overlapped will be described.

The plate 22 may include an inclined portion 221 at the rear. The mobile robot 1 may go up the inclined part 221 to face the dock part 222 . The inclined portion 221 may be formed around the rear edge of the plate 22 .

The dock unit 222 is a space to which the mobile robot is docked, and is formed to be flat. The rear of the dock unit 222 includes the inclined unit 221 so that the mobile robot can enter the dock unit 222 . The front of the dock unit 222 may include the protrusion 223 to prevent the mobile robot from leaving the dock unit 222 .

The plate 22 may form a protrusion 223 protruding upward from the side or the front. The protrusion 223 may be formed at an end of the inclined portion 221 formed at the rear of the plate 22 . The protrusion 223 may be formed around the dock 222 . An inclined portion 221 may be formed around the rear of the dock portion 222 , and the protrusion 223 may be formed at an end of the inclined portion 221 . The protrusion 223 prevents the mobile robot 1 from leaving the dock 222 .

The protrusion 223 may be formed from the side surface of the plate 22 to the front surface of the plate 22 along the circumference of the circular plate 22 . Therefore, when the mobile robot 1 leaves the dock 222 and enters, the mobile robot is accurately guided to the dock 222, and the heating unit 24 and the mop 143 can be arranged to overlap vertically. .

The charging terminal 23 is a device that is electrically connected to the mobile robot and charges a battery disposed inside the mobile robot. The charging terminal 23 protrudes in front of the upper portion of the plate 22 of the docking unit 2, and is electrically connected to the power module of the docking unit. Connected. The charging terminal 23 may be disposed in front of the plate 22 . The charging terminals 23 may be arranged as a left/right pair about a vertical central axis.

The mobile robot includes a corresponding terminal 23 ′ corresponding to the charging terminal 23 of the docking unit. The corresponding terminal 23 ′ of the mobile robot may be formed to protrude downward so as to be electrically connected to the charging terminal 23 of the docking unit. The charging terminal 23' of the mobile robot may be disposed in the front.

Hereinafter, a mobile robot docking device according to the present invention will be described.

1 shows a docking device 2 for docking a mobile robot. The docking device includes a heating unit 24 disposed on the plate 22, and when the mobile robot is docked, the heating unit 24 dries the mop 143 of the mobile robot.

The docking device according to the first embodiment of the present invention includes a heating unit 24, the heating unit 24 being disposed on the plate 22, electrically connected to the power module, and disposed below the mobile robot. A heating element 241 for heating the rag 143 is provided.

The heating unit 24 is disposed on the plate 22 . More specifically, it is disposed on the upper portion of the plate 22 .

The upper end of the heating unit 24 may be opened to generate heat to the upper portion of the plate 22 .

The heating unit 24 may be disposed below the upper end of the plate 22 . The upper end of the heating unit 24 is positioned not higher than the upper end of the plate 22 . Accordingly, the heating unit 24 does not prevent the mobile robot from being docked on the top of the plate 22 .

The heating unit 24 is electrically connected to the power module. The heating unit 24 is electrically connected to the power module to receive electricity from the power module, and the received electricity is transferred to the heating element 241 to heat the heating element 241 .

The heating unit 24 is disposed up and down with the mop 143 . In more detail, the heating element 241 is disposed under the mobile robot.

The heating element 241 is disposed on the lower side of the mop 143 to heat the mop 143 to remove moisture from the mop 143 . The heating element 241 is disposed inside the heating unit 24 .

The heating element 241 may be formed of a heating wire. The heating wire 2411 receives electricity from the body and heats the rag by heating. The heating wire 2411 may include a plurality of bent portions. The heating wire 2411 may be evenly disposed on the cross section of the heating unit 24 when viewed from the top.

The hot wire 2411 may include at least one horizontal line as shown in FIG. 1 . Accordingly, there is an effect of preventing the driving wheel of the mobile robot from falling into the opening of the heating unit 24 and becoming impossible to move.

Meanwhile, the hot wire 2411 may include at least one or more vertical lines (not shown). Accordingly, the heating element 241 is arranged parallel to the moving direction of the mobile robot, thereby having an effect of easily entering or exiting.

Referring to FIG. 2 , the heating element 241 may be disposed on the left and right sides of the plate 22 . As shown by the arrow in Figure 2, the mop 143 of the mobile robot can rotate. Since the heating element 241 is composed of a heating wire 2411 and cannot heat all parts of the mop 143 at the same time, there is an effect of rotating the mop 143 to heat a uniform area of the mop 143 .

3 is a right side view of the mobile robot docked in the docking device as viewed from the right side. The mop 143 and the heating unit 24 of the mobile robot are arranged to overlap vertically. A blowing unit 26 may be disposed below the heating unit 24 .

Referring to FIG. 4 , the heating unit 24 includes a heating unit housing 240 . The heating unit housing 240 may constitute a body of the heating unit 24 . The heating unit housing 240 may be disposed to be recessed downward from the upper end of the plate 22 . The heating unit housing 240 may have an open top, and may form walls on the side and lower surfaces of the heating unit 24 .

The heating unit housing 240 may include a heat insulating member 2401 . The heating unit housing 240 includes a heat insulating member 2401 to prevent heat generated by the heating unit 24 from being transferred into the docking unit.

The heat insulating member 2401 disposed on the heating unit housing 240 may be disposed on a side surface of the heating unit housing 240 . When the blowing unit 26 is disposed on the lower side of the heating unit 24 to form an upper air flow, the heat generated by the heating element 241 only moves upward along the air flow and does not move downward. Therefore, even if the heat insulating member 2401 is disposed only on the side surface of the heating unit housing 240, the possibility that heat is transferred to the inside of the docking unit is low.

The heating element 241 may include a heating wire 2411 as shown in FIGS. 1 and 4 . The heating wire 2411 is a device that receives electrical energy, converts it into thermal energy, and emits heat. The heating wire 2411 may be arranged in a plurality of parallel straight lines as shown in FIGS. 1 and 4 . Or it may be arranged radially, and includes a degree of change that can be easily adopted by a person skilled in the art.

The mobile robot docking device may further include a blowing unit 26 having a blowing fan. The blower unit 26 is a device that generates wind to forcibly flow air to the mop 143 to remove moisture from the mop 143 and dry it.

The blowing unit 26 is disposed on the plate 22 and is electrically connected to the power module. The blowing unit 26 includes a blowing fan and a fan motor (not shown) connected to the blowing fan, and when electricity is supplied from the power module, the blowing fan may be operated to flow air.

The blowing unit 26 is disposed below the upper end of the plate 22 . The upper end of the blowing unit 26 is open, so that air can flow upward.

The blowing unit 26 may be disposed below the heating unit 24 . When the blowing unit 26 is disposed below the heating unit 24, the lower side of the heating unit housing 240 may be opened. When the blowing unit 26 is disposed below the heating unit 24, air can flow from the lower portion of the heating unit 24 to the upper portion of the heating unit 24, and the heating element 241, particularly the heating wire 2411 ), the heat generated by the air flows upwards and does not move downwards.

The blowing unit 26 may be disposed simultaneously with the heating unit 24 . Therefore, there is an effect of drying the mop 143 with the heat energy of the heating unit 24 and at the same time drying the mop 143 double by wind. In addition, the blowing unit 26 prevents the heat generated by the heating unit 24 from dissipating into the docking device, thereby preventing other parts of the docking device from being damaged, and omitting the lower wall of the housing 240 . It also has the effect of saving materials.

A mobile robot docking device including a heating unit 24 having a light emitting element 2413 according to a second embodiment will be described. The mobile robot docking device according to the second embodiment may be cited within a range that does not conflict with the first embodiment described above.

According to the second embodiment, the heating unit 24 may include a light emitting element 2413 . The light emitting element 2413 irradiates light, and the light energy of the irradiated light dries the mop 143 .

The light may be infrared light. Infrared light can dry the mop 143 by heating the mop 143 of the mobile robot with light of a long wavelength.

The light may be micropile. The microwave can dry the mop 143 by heating the water present in the mop 143 of the mobile robot with light of a long wavelength.

The light may be ultraviolet light. Ultraviolet light is light of a short wavelength, and it has an effect of sterilizing by heating and drying the mop 143 of the mobile robot at the same time as removing bacteria.

The housing 250 of the heating unit may further include a reflective member 2403 . The reflective member 2403 may be disposed on the inner surface of the heating unit housing 250 . The reflective member 2403 reflects the irradiated light upward. The reflective member 2403 prevents light from being irradiated into the docking device, thereby preventing other devices from being damaged by the light energy of the light.

The light emitting element 2413 may be disposed on the side surface of the heating unit 24 as shown in FIG. 5 . The light emitting element 2413 may be disposed on the outer peripheral surface of the heating unit 24 . A plurality of light emitting devices 2413 may be disposed. The light emitting element 2413 may radiate light from the outer peripheral surface of the heating unit 24 to the center. The light irradiated by the light emitting element 2413 may be directly irradiated to the mop 143 , or may be reflected by the reflective member 2403 and irradiated to the mop 143 .

In the case of the second embodiment, the light emitting element 2413 is included instead of the hot wire 2411 . Since each component of the docking device is vulnerable to thermal energy rather than light energy, the third embodiment including the light emitting device 2413 has an effect of preventing damage to other components than the first embodiment.

A method of controlling the mobile robot docking device will be described with reference to FIGS. 6 to 10 .

Referring to FIG. 6 , the docking device may include a control unit therein. The control unit may control the operation of the heating unit 24 and the blowing unit 26 of the docking device. The control unit may receive and control a signal from a water level sensor, a humidity sensor, or a mobile robot transmitter.

Referring to FIG. 7 , the controller of the docking device may receive a signal from a water level sensor, a humidity sensor, or a mobile robot transmitter (S1). When the signal is transmitted, the control unit may operate the heating unit 24 to dry the mop 143 by heat or light (S2). The control unit may dry the mop 143 by the wind after operating the heating unit 24 or by operating the blowing unit 26 during operation (S3).

Referring to FIG. 8 , the controller of the docking device may dry the mop 143 by elastically operating the heating unit 24 for a time corresponding to the amount of water used. The water level sensor disposed in the mobile robot may transmit the amount of water used by the mobile robot during cleaning to the control unit of the docking device (S11). An operating time corresponding to the water consumption may be pre-stored in the storage unit of the docking device, and when the water usage is transmitted, the control unit may operate the heating unit 24 for an operating time corresponding to the water usage (S21) . The control unit may operate the blowing unit 26 after or during operation of the heating unit 24, and may flexibly control the operating time of the blowing unit 26 to correspond to the water consumption (S3).

Referring to FIG. 9 , the control unit detects the humidity of the mop 143 in real time and operates it to dry the mop 143 . The humidity sensor is located adjacent to the mop 143, and may be disposed in a mobile robot or a docking device. The humidity sensor may transmit the humidity of the mop 143 to the control unit (S12). The controller operates the heating unit 24 when the humidity of the mop 143 is higher than or equal to the reference humidity previously stored in the storage unit, and may stop the operation when the humidity of the mop 143 is less than or equal to the reference humidity (S22). The control unit can operate the blowing unit 26 after or during operation of the heating unit 24, and elastically control the blowing unit 26 to operate only while the humidity detected by the humidity sensor is equal to or greater than the reference humidity. can be (S3).

Referring to FIG. 10 , before the mobile robot is docked, the control unit preheats the heating unit 24 by operating it in advance, so that it can be dried quickly. When the mobile robot starts moving to the docking device, it may transmit a signal to the control unit (S13). When the docking signal is transmitted from the mobile robot, the controller may preheat the heating unit 24 before the docking is completed (S23). The control unit may operate the blowing unit 26 during the operation of the heating unit 24 (S3). The control unit has an effect that the drying time can be further reduced by preheating the heating unit 24 before docking the mobile robot.

A mobile robot docking device including a heating unit 25 having a light emitting element 251 according to a third embodiment will be described with reference to FIGS. 11 to 13 . The mobile robot docking device according to the third embodiment may be cited within a range that does not conflict with the first and second embodiments described above.

Unlike the second embodiment, the heating unit 25 of the third embodiment is disposed to overlap a part of the mop 143 in the top and bottom. In the third embodiment, a part of the mop 143 is irradiated with light to dry a part of the mop 143, and the mop 143 is rotated during drying to uniformly irradiate light to all areas of the mop 143 and dry it. make it

Referring to FIG. 11 , the heating unit 25 includes a light emitting device 251 . The heating unit 25 is a device for drying the mop 143 by irradiating light to the mop 143 . The heating unit 25 is disposed on the plate 22 of the docking unit, and the mop 143 of the mobile robot is located thereon. The heating unit 25 irradiates light to the mop 143 located on the upper part to dry or sterilize the mop 143 . The heating unit 25 is provided with a light emitting element 251 that emits light therein and irradiates light. The heating unit 25 reflects the light emitted from the light emitting device 251 toward the upper mop 143, including a reflective plate on the lower part and the side part.

The heating unit 25 is disposed on the plate 22 . The heating unit 25 is disposed below the upper surface of the plate 22 . When the mobile robot is docked, the heating unit 25 is disposed under the mop 143 disposed under the mobile robot. When two mops 143 are disposed left/right at the lower part of the mobile robot, two mops 143 may be disposed at the lower left/right side so as to correspond to the mop 143 . In this case, it may be arranged left/right symmetrically with respect to the vertical central axis.

The heating unit 25 overlaps with the mop 143 disposed on the mobile robot up/down. The heating unit 25 may be sterilized by irradiating sterilizing light to the area facing the mop 143 .

The rear end of the heating unit 25 may be disposed at the center of rotation of the mop (143). The left or right side of the heating unit 25 may be formed to extend in the radial direction of the mop 143 from the rear end of the heating unit 25 . Therefore, since the area where the heating unit 25 and the mop 143 overlap has a sector-shaped or triangular shape, as the heating unit 25 rotates, a uniform sterilizing light can be irradiated.

The heating unit 25 may be divided into a narrow front and a wide diffusion 256 at the rear, and a converging portion 257 with a wide front and a narrow rear. The heating unit 25 may be in the form of a rhombus or an ellipse as a whole, and includes a change to a shape that can be easily adopted by those skilled in the art.

The diffusion part 256 does not overlap the mop 143 in the top and bottom, and the converging part 257 may overlap the mop 143 and the top and bottom. The blocking plate 255 is disposed on the upper part of the diffusion part 256 so that light is not irradiated to the upper part, and the upper part of the converging part 257 is opened so that light can be irradiated upward.

The diffuser 256 diffuses the light and transmits it to the converging unit 257 . When viewed from the rear, the cross-sectional area of the diffusion portion 256 may gradually increase from the front to the rear. A light emitting device 251 for irradiating light may be installed at the front end of the diffusion unit 256 . The reflecting plate disposed on the diffusion unit 256 may be disposed horizontally with respect to the light irradiation direction. The angle formed by the light irradiation direction of the light emitting device 251 and the reflecting plate disposed on the diffusion portion may be an acute angle.

The converging part 257 converges the sterilizing light transmitted from the diffusion part 256 and irradiates it upward. The converging portion 257 may be disposed to overlap a portion of the mop 143 and up and down. When viewed from the rear, the cross-sectional area of the converging portion 257 may gradually decrease from the front to the rear. The reflecting plate disposed in the converging part may be disposed horizontally with respect to the irradiation direction of the sterilizing light. The angle formed by the light irradiation direction of the germicidal lamp and the reflecting plate disposed on the converging part may be an obtuse angle.

The longitudinal length of the converging part may not be longer than the shortest distance from the center of rotation of the mop 143 to the end.

The lower reflective plate 252 is a reflective plate that reflects downwardly directed light upwards. The lower reflecting plate 252 is disposed under the heating unit 25 . The lower reflector 252 is disposed under the light emitting device 251 . The lower reflector 252 may be disposed from the diffusion portion 256 to the converging portion 257 . The lower reflecting plate 252 disposed in the diffusion unit 256 has a narrow front and a wide rear, and the lower reflecting plate 252 disposed in the converging portion has a wide front and a narrow rear.

When viewed from the top, the lower reflecting plate 252 exposed except for the area shielded by the blocking plate 255 may have a wide front and a narrow rear. Therefore, when the circular mop 143 rotates once, all parts of the mop 143 can be exposed to the sterilizing light for a uniform time.

The lower reflector 252 may be disposed horizontally with respect to the light irradiation direction. In more detail, the lower reflector 252 may be disposed parallel to the bottom surface. The lower reflector 252 may be disposed parallel to the bottom surface to irradiate uniform light to the left and right sides.

The side reflector 253 is a reflector that reflects the sterilizing light directed to the side toward the center or the upper part. The side reflection plate 253 may be disposed on one side or on both sides of the lower reflection plate 252 . The side reflection plate 253 may be disposed on one side or both sides of the light emitting device 251 . The side reflection plate 253 may be disposed from the diffusion portion 256 to the converging portion 257 . The side reflection plate 253 disposed on the diffusion part 256 may have a narrow front and a wide rear side, and the side reflection plate 253 disposed on the converging part may have a wide front and a narrow rear side.

The side reflector 253 may be inclined upwardly from the lower reflector 252 . The side reflector 253 may be vertically disposed on the lower reflector 252 (not shown). The side reflector 253 may be inclined or vertically disposed on the lower reflector 252 to reflect light directed to the side toward the center or upper side to collect light.

When viewed from the top, the side reflection plate 253 exposed except for the area shielded by the blocking plate 255 may be formed with a wide front and a narrow rear side. Therefore, the cross-section viewed from the top forms a triangle or a sector, so that when the circular mop 143 rotates once, all parts of the mop 143 can be exposed to the sterilizing light for a uniform time.

The rear reflection plate 254 is disposed to correspond to the position of the light emitting device 251 . That is, the rear reflection plate 254 may be disposed at the rear end of the heating unit 25 , and disposed in the light irradiation direction of the light emitting device 251 when viewed from the top.

The lower end of the rear reflector 254 is connected to the rear end of the lower reflector 252 . The rear reflector 254 may be inclined upwardly from the lower reflector 252 to reflect light upward.

Both side ends of the rear reflection plate 254 are respectively connected to both side reflection plates 253 . Accordingly, the light reflected from the side reflection plate 253 may be reflected toward the upper center.

The rear reflection plate 254 may be separately generated and connected to the side reflection plate 253 , and may be integrally formed with the side reflection plate 253 . The rear reflection plate 254 may be separately generated and connected to the lower reflection plate 252 , or may be formed integrally with the rear reflection plate 254 .

The rear reflection plate 254 may include a curved surface. The rotation center of the Mab module may coincide up/down with the center of curvature of the curved surface of the rear reflector.

The blocking plate 255 is a component that blocks the mop 143 or light leaking to the outside. The blocking plate 255 is disposed on the light emitting device 251 .

The blocking plate 255 is positioned on the lower reflecting plate 252 or the side reflecting plate 253 to block the light irradiated to one area of the upper part. The blocking plate 255 is spaced upwardly from the lower reflecting plate 252 and positioned to vertically overlap one area close to the lamp in the lower reflecting plate 252 to block light irradiated to the area. The blocking plate 255 is positioned to vertically overlap one area close to the lamp in the side reflection plate 253 to block the light irradiated to the area.

If the mop 143 is positioned to be vertically overlapped with the upper part of the heating unit 25 , the blocking plate 255 may be disposed on an upper portion of an area other than the area facing the mop 143 . Therefore, the heating unit 25 and the mop 143 can block the light leaking into the area that does not overlap up and down.

When viewed from the top, the blocking plate 255 may be disposed on the diffusion unit 256 . The mop 143 is disposed to overlap the upper portion of the converging portion 257, and the light is irradiated upward from the converging portion 257, so the blocking plate 255 may block the light leaking to the outside of the mop 143. .

The light emitting element 251 is disposed in the heating unit 25 to irradiate light into the heating unit 25 . Preferably, the light emitting device 251 is disposed at the front end of the heat sterilization unit 25 to irradiate light to the rear end.

The light emitting device 251 may irradiate light diagonally toward the lower reflector 252 . The light emitting device 251 may irradiate the light downward to minimize the light shielded by the blocking plate 255 and maximize the light irradiated to the outside.

The light emitting device 251 may be irradiated to a farther than 1/2 of the longitudinal length of the blocking plate 255 . The irradiation direction of the light can be arranged so that the light reflected once reaches the mop (143).

The light emitting device 251 disposed at the front end of the diffusion unit of the heating unit 25 irradiates light to the rear end of the diffusion unit 256 . Since the cross-sectional area of the diffuser 256 increases toward the rear end, the irradiated light is repeatedly reflected and diffused toward the rear end.

A converging part 257 is disposed at the rear end of the diffusion part 256 . Since the cross-sectional area of the converging part 257 becomes narrower toward the rear end, the irradiated light is repeatedly reflected and converged toward the rear end, and is uniformly irradiated to the lower reflector 252, the side reflector 253, or the rear reflector 254. . Light is irradiated to the outside through the upper opening of the converging part 257 . The light irradiated to the outside dries one area of the mop 143 located on the top.

The mop 143 may have a circular shape and rotate horizontally. In the case where the light dries one area, if the mop 143 rotates horizontally once, all areas of the mop 143 can be dried uniformly.

According to the third embodiment, when the angle θ at the rear end of the heating unit 25 is 30 degrees, the mop 143 makes one rotation and the entire surface can be dried by irradiating the light 12 times.

According to the third embodiment, the heating unit 25 may be disposed to overlap a lower portion of the mop 143 and up and down. Accordingly, when the blowing unit 26 is disposed below the heating unit 25, the air flow is minimized, thereby maximizing the drying effect by the wind.

In the above, preferred embodiments of the present invention have been shown and described, but the present invention is not limited to the specific embodiments described above, and in the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims. Various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

1: mobile robot 143: mop
2: mobile robot docking device 21: main body
22: plate 23: charging terminal
24: heating unit 25: heating unit
26: blowing unit 221: inclined part
222: dock portion 223: protrusion
240: heating unit housing 2401: heat insulating member
2403: reflective member 241: heating element
2411: hot wire 2413: light emitting element
250: heating unit housing 251: light emitting element
252: lower reflector 253: side reflector
254: rear reflector 255: blocking plate
256: diffuser 257: convergence unit
261: blow fan
S1: transmitting a signal to the control unit
S2: the step of the control unit operating the heating unit
S3: step of the control unit operating the blowing unit
S11: Step of the water level sensor transmitting the water consumption to the control unit of the docking device
S21: step of the control unit operating the heating unit for a set time corresponding to the amount of water used
S12: Step of the humidity sensor transmitting the humidity of the mop to the control unit
S22: Step of operating the heating unit when the humidity of the mop is higher than the reference humidity
S13: Step of the mobile robot transmitting a docking signal to the control unit
S23: step of controlling by operating the heating unit

Claims (17)

a main body having a power module;
a plate having an upper surface extending flatly from the lower end of the main body and docking the mobile robot to the upper surface;
a heating element disposed on the plate, electrically connected to the power module, and heating the mop disposed under the mobile robot;
a heating unit housing having a space recessed downward from the upper surface of the plate, the upper side being opened, and disposed in the space such that the heating element is located under the mop; and
Mobile robot docking device including a blowing fan disposed below the heating element. delete delete According to claim 1,
A mobile robot docking device including a heat insulating member disposed on at least one side of the heating unit housing. According to claim 1,
The heating element is a mobile robot docking device comprising a heating wire. According to claim 1,
The heating element is a mobile robot docking device including a light emitting element 7. The method of claim 6,
The light emitting device is a mobile robot docking device for irradiating microwave light delete delete delete According to claim 1,
the plate is
a dock portion formed horizontally on the upper portion of the plate;
an inclined portion disposed on at least one of a rear or a lateral side of the dock portion, and having an upward inclination in the front;
A mobile robot docking device including; a protrusion that is disposed on one of the front or side of the dock and protrudes upward. According to claim 1,
The heating element includes a light emitting element,
The light emitting device is disposed on one side of the heating unit,
Mobile robot docking device disposed under the light emitting device and further comprising a reflective member having a reflective surface thereon In the control method of a mobile robot docking device,
transmitting, by the water level sensor disposed in the mobile robot, the amount of water used to the controller of the docking device;
operating, by the control unit, the heating unit for a set time corresponding to the amount of water used;
Control method of a mobile robot docking device comprising a. delete 14. The method of claim 13,
further operating, by the control unit, a blowing unit disposed below the heating unit;
Control method of the mobile robot docking device further comprising. 14. The method of claim 13,
The control method of the mobile robot docking device further comprising the step of operating the heating unit when the controller receives a docking signal from the mobile robot. 16. The method of claim 13 or 15,
The control method of the mobile robot docking device further comprising the step of rotating the mop disposed on the lower portion of the mobile robot.

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