CLEANING APPARATUS AND METHOD FOR CONTROLLING THE SAME

Abstract

A cleaning apparatus includes: a robot cleaner including a motion driver, and a dust bin to store dirt; a station including a dirt container, a seating portion on which the robot cleaner is seated and including an inlet through which the dirt is introduced from the dust bin; and at least one processor to control operations of the robot cleaner and the station. The robot cleaner further includes a location detection sensor configured to obtain information about a location of the robot cleaner, the station further includes a pressure sensor configured to obtain information about a pressure inside the dirt collection duct, and the at least one processor is configured to control the motion driver to adjust the location of the robot cleaner to allow an opening of the dust bin to correspond to the inlet based on the information obtained by the location detection sensor and the pressure sensor.

Claims

1. A cleaning apparatus, comprising: a robot cleaner comprising: a motion driver including: a main wheel; and a wheel motor configured to drive the main wheel; and a dust bin configured to store dirt and have an openable side; a station to which the robot cleaner is docked, the station comprising: a dirt container; a seating portion on which the robot cleaner is seated in response to docking the robot cleaner to the station, the seating portion including: an inlet through which the dirt is introduced from the dust bin; and a dirt collection duct configured to have one end communicating with the inlet and an other end communicating with the dirt container; and at least one processor configured to control an operation of the robot cleaner and an operation of the station, wherein the robot cleaner further comprises a location detection sensor configured to obtain information about a location of the robot cleaner according to a movement of the robot cleaner by the motion driver, the station further comprises a pressure sensor configured to obtain information about a pressure inside the dirt collection duct, and the at least one processor is further configured to control the motion driver to adjust the location of the robot cleaner to allow an opening of the dust bin to correspond to the inlet based on the information obtained by the location detection sensor and the pressure sensor.

2. The cleaning apparatus of claim 1, wherein the seating portion further comprises: a first wheel seating portion on which the main wheel is seated; and a second wheel seating portion spaced apart from the first wheel seating portion, and the first wheel seating portion is arranged in front of the second wheel seating portion based on a direction where the robot cleaner enters the station.

3. The cleaning apparatus of claim 2, wherein the robot cleaner further comprises: a battery; and a robot cleaner charging terminal configured to charge the battery, the station further comprises a station charging terminal configured to connect to the robot cleaner charging terminal, and the at least one processor is further configured to determine that the main wheel is located on the first wheel seating portion based on the robot cleaner charging terminal being connected to the station charging terminal.

4. The cleaning apparatus of claim 3, wherein the location detection sensor comprises a Hall sensor configured to detect a magnetic field between the Hall sensor and a magnetic object, and the magnetic object is spaced apart from the Hall sensor.

5. The cleaning apparatus of claim 4, wherein the station comprises the magnetic object, and the information about the location of the robot cleaner obtained by the location detection sensor includes at least one of the location of the robot cleaner based on the station or a distance between the station and the robot cleaner.

6. The cleaning apparatus of claim 4, wherein the main wheel comprises an encoder disk and the magnetic object attached to the encoder disk, and the information about the location of the robot cleaner obtained by the location detection sensor includes at least one of a driving direction, a rotation speed, and a rotation angle of the main wheel.

7. The cleaning apparatus of claim 5, wherein the at least one processor is further configured to redetermine whether the main wheel is located on the first wheel seating portion based on the information about the location of the robot cleaner obtained by the location detection sensor, after determining that the main wheel is located on the first wheel seating portion based on the robot cleaner charging terminal being connected to the station charging terminal.

8. The cleaning apparatus of claim 7, wherein the at least one processor is further configured to move the main wheel to the second wheel seating portion based on the determining that the main wheel is located on the first wheel seating portion.

9. The cleaning apparatus of claim 8, wherein the at least one processor is further configured to determine at least one of a driving speed and a driving distance to move the main wheel to the second wheel seating portion based on the information about the location of the robot cleaner obtained by the location detection sensor.

10. The cleaning apparatus of claim 9, wherein the station further comprises a station intake motor configured to generate suction force to move the dirt to the dirt container, and the at least one processor is configured to determine whether a detection value of the pressure sensor is less than a preset reference pressure for a preset reference time based on the main wheel is seated on the second wheel seating portion and the station intake motor operates.

11. The cleaning apparatus of claim 10, wherein the at least one processor is configured to control the motion driver to adjust the location of the robot cleaner based on the detection value of the pressure sensor being less than the preset reference pressure for the preset reference time.

12. The cleaning apparatus of claim 11, wherein the robot cleaner further comprises a lower door at the opening of the dust bin, the station further comprises a lever device including an opening link coupled to the lower door, and configured to open or close the opening of the dust bin by rotating the opening link, and the at least one processor is configured to control the lever device to close the opening of the dust bin so as to close the inlet, before controlling the motion driver to adjust the location of the robot cleaner based on the detection value of the pressure sensor being less than the preset reference pressure for the preset reference time.

13. The cleaning apparatus of claim 6, wherein the at least one processor is further configured to redetermine whether the main wheel is located on the first wheel seating portion based on the information about the location of the robot cleaner obtained by the location detection sensor, after determining that the main wheel is located on the first wheel seating portion based on the robot cleaner charging terminal being connected to the station charging terminal.

14. The cleaning apparatus of claim 13, wherein the at least one processor is further configured to move the main wheel to the second wheel seating portion based on the determining that the main wheel is located on the first wheel seating portion.

15. The cleaning apparatus of claim 14, wherein the at least one processor is further configured to determine at least one of a driving speed and a driving distance to move the main wheel to the second wheel seating portion based on the information about the location of the robot cleaner obtained by the location detection sensor.

16. The cleaning apparatus of claim 15, wherein the station further comprises a station intake motor configured to generate suction force to move the dirt to the dirt container, and the at least one processor is configured to determine whether a detection value of the pressure sensor is less than a preset reference pressure for a preset reference time based on the main wheel is seated on the second wheel seating portion and the station intake motor operates.

17. The cleaning apparatus of claim 16, wherein the at least one processor is configured to control the motion driver to adjust the location of the robot cleaner based on the detection value of the pressure sensor being less than the preset reference pressure for the preset reference time.

18. The cleaning apparatus of claim 17, wherein the robot cleaner further comprises a lower door at the opening of the dust bin, the station further comprises a lever device including an opening link coupled to the lower door, and configured to open or close the opening of the dust bin by rotating the opening link, and the at least one processor is configured to control the lever device to close the opening of the dust bin so as to close the inlet, before controlling the motion driver to adjust the location of the robot cleaner based on the detection value of the pressure sensor being less than the preset reference pressure for the preset reference time.

19. A method for controlling a cleaning apparatus comprising a robot cleaner and a station on which the robot cleaner is seated, the method comprising: entering, by the robot cleaner, the station to sit on the station and perform a dirt discharge process; obtaining information about a location of the robot cleaner from a location detection sensor; obtaining information about a pressure inside a dirt collection duct of the station from a pressure sensor; and adjusting the location of the robot cleaner to allow an opening of a dust bin of the robot cleaner to correspond to an inlet of the station through which dirt is introduced from the dust bin based on the information obtained by the location detection sensor or the pressure sensor.

20. The method of claim 19, wherein the station comprises a first wheel seating portion on which a main wheel of the robot cleaner is seated and a second wheel seating portion spaced apart from the first wheel seating portion, the first wheel seating portion is arranged in front of the second wheel seating portion based on a direction where the robot cleaner enters the station, and the method further comprises determining that the main wheel is located on the first wheel seating portion based on a robot cleaner charging terminal being connected to a station charging terminal.

Description

DESCRIPTION OF DRAWINGS

[0027] FIG. 1 illustrates a state in which a robot cleaner is away from a station in a cleaning apparatus according to an embodiment.

[0028] FIG. 2 illustrates a state in which a robot cleaner is seated on a station in a cleaning apparatus according to an embodiment.

[0029] FIG. 3 is a view illustrating a robot cleaner according to an embodiment.

[0030] FIG. 4 is a view illustrating a rear portion of the robot cleaner shown in FIG. 3.

[0031] FIG. 5 is a view illustrating a lower portion of the robot cleaner shown in FIG. 3.

[0032] FIG. 6 is a cross-sectional view of the robot cleaner taken along line A-A of FIG. 4.

[0033] FIG. 7 is a view illustrating a station according to an embodiment.

[0034] FIG. 8 is a view illustrating a rear portion of the station shown in FIG. 7.

[0035] FIG. 9 is a cross-sectional view of the station taken along line B-B of FIG. 7.

[0036] FIG. 10 is a schematic enlarged view illustrating a state in which main wheels of a robot cleaner are located in a first seating position of a station in a cleaning apparatus according to an embodiment.

[0037] FIG. 11 is a schematic enlarged view illustrating a state in which main wheels of a robot cleaner are located in a second seating position of a station in a cleaning apparatus according to an embodiment.

[0038] FIG. 12 is a control block diagram of a robot cleaner according to an embodiment.

[0039] FIG. 13 is a control block diagram of a station according to an embodiment.

[0040] FIG. 14 is a flowchart illustrating operations of collecting dirt in a cleaning apparatus according to an embodiment.

[0041] FIG. 15 is a flowchart illustrating an example method of controlling a robot cleaner to perform a dirt discharge process at an accurate location according to an embodiment.

[0042] FIG. 16 and FIG. 17 are flowcharts illustrating an example method of controlling a station to perform a dirt discharge process at an accurate location according to an embodiment.

MODES OF THE DISCLOSURE

[0043] Various embodiments of the disclosure and terms used herein are not intended to limit the technical features described herein to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of the corresponding embodiments.

[0044] In describing of the drawings, similar reference numerals may be used for similar or related elements.

[0045] The singular form of a noun corresponding to an item may include one or more of the items unless clearly indicated otherwise in a related context.

[0046] In the disclosure, phrases, such as A or B, at least one of A and B, at least one of A or B, A, B or C, at least one of A, B and C, and at least one of A, B, or C may include any one or all possible combinations of the items listed together in the corresponding phrase among the phrases.

[0047] As used herein, the term and/or includes any and all combinations of one or more of the associated listed items.

[0048] Terms such as portion, member, module, and the like may be implemented in hardware or software or any combination thereof. According to various embodiments, a plurality of portions, members, or modules may be embodied as a single element, or a single portion, member, or module may include a plurality of elements. Terms such as 1st, 2nd, primary, or secondary may be used simply to distinguish an element from other elements, without limiting the element in other aspects (e.g., importance or order).

[0049] When an element (e.g., a first element) is referred to as being (functionally or communicatively) coupled or connected to another element (e.g., a second element), the first element may be connected to the second element, directly (e.g., wired), wirelessly, or through a third element.

[0050] It will be understood that the terms includes, comprises, including, and/or comprising are used in the disclosure, they specify the presence of the specified features, figures, steps, operations, components, members, or combinations thereof, but do not preclude the presence or addition of one or more other features, figures, steps, operations, components, members, or combinations thereof.

[0051] When a given element is referred to as being connected to, coupled to, supported by or in contact with another element, it is to be understood that it may be directly or indirectly connected to, coupled to, supported by, or in contact with the other element. When a given element is indirectly connected to, coupled to, supported by, or in contact with another element, it is to be understood that it may be connected to, coupled to, supported by, or in contact with the other element through a third element.

[0052] It will also be understood that when an element is referred to as being on another element, it may be directly on the other element or intervening elements may also be present.

[0053] The terms front, rear, left, right, upper, lower etc., used in the following description are defined based on the drawings, and the shape and position of each component are not limited by these terms. For example, as shown in FIG. 1, a direction in which a robot cleaner 10 enters a station 20 may be defined as the rear (X direction), and an opposite direction may be defined as the front (+X direction).

[0054] Hereinafter, embodiments of the disclosure are described in detail with reference to accompanying drawings.

[0055] FIG. 1 illustrates a state in which the robot cleaner 10 is away from the station 20 in a cleaning apparatus 1 according to an embodiment.

[0056] FIG. 2 illustrates a state in which the robot cleaner 10 is seated on the station 20 in the cleaning apparatus 1 according to an embodiment.

[0057] Referring to FIG. 1 and FIG. 2, the cleaning apparatus 1 may include the robot cleaner 10 and the station 20. The cleaning apparatus 1 may be referred to as the cleaning system 1.

[0058] The robot cleaner 10 may clean a floor while moving across the floor. The floor cleaned by the robot cleaner 10 may be referred to as a surface to be cleaned (surface being cleaned). The robot cleaner 10 may perform dry cleaning and/or wet cleaning. The robot cleaner 10 may draw in (pick up) or wipe away dirt on the surface to be cleaned. Here, the term dirt may refer to foreign substances, such as dust, hair, food particles, and the like.

[0059] The robot cleaner 10 may be seated on the station 20. The robot cleaner 10 may be placed on the station 20. The robot cleaner 10 may be docked to the station. At least a portion of the robot cleaner 10 may be positioned in a receiving space 210a of the station 20.

[0060] The robot cleaner 10 may move to the station 20 during cleaning and/or after completion of the cleaning.

[0061] For example, the robot cleaner 10 may move to the station 20 in a case where recharging is required, in a case where dirt in a dust bin 141 requires to be emptied, in a case where moisture content of a mop 160 is low, in a case where the mop 160 requires to be washed, in a case where the mop 160 requires to be sterilized, and/or in a case where the mop 160 requires to be dried.

[0062] The station 20 may be configured such that the robot cleaner 10 may be docked to the station 20. The station 20 may be configured such that the robot cleaner 10 may be seated. The station 20 may be configured to store the robot cleaner 10.

[0063] For example, while the robot cleaner 10 is seated on the station 20, the station 20 may charge a battery 150 of the robot cleaner 10. For example, while the robot cleaner 10 is seated on the station 20, the station 20 may collect the dirt collected in the dust bin 141 of the robot cleaner 10. For example, while the robot cleaner 10 is seated on the station 20, the station 20 may wet the mop 160 with water and/or steam. For example, while the robot cleaner 10 is seated on the station 20, the station 20 may wash the mop 160. For example, while the robot cleaner 10 is seated on the station 20, the station 20 may sterilize the mop 160. For example, while the robot cleaner 10 is seated on the station 20, the station 20 may dry the mop 160.

[0064] FIG. 3 is a view illustrating the robot cleaner 10 according to an embodiment.

[0065] FIG. 4 is a view illustrating a rear portion of the robot cleaner 10 shown in FIG. 3.

[0066] FIG. 5 is a view illustrating a lower portion of the robot cleaner 10 shown in FIG. 3.

[0067] FIG. 6 is a cross-sectional view of the robot cleaner 10 taken along line A-A of FIG. 4.

[0068] The robot cleaner 10 may include a main body 110. The main body 110 may form an overall exterior of the robot cleaner 10. Components of the robot cleaner 10 may be accommodated in the main body 110. Electronic components may be disposed in the main body 110. The main body 110 may be referred to as the robot cleaner main body 110.

[0069] The robot cleaner 10 may include an inlet 111. The inlet 111 may face a surface to be cleaned. The inlet 111 may be open to the surface to be cleaned. The inlet 111 may be formed in the main body 110. The inlet 111 may be formed in a lower portion of the main body 110. The inlet 111 may be formed through a lower side 110b of the main body 110. Dirt on the surface to be cleaned may be drawn into the main body 110 through the inlet 111 together with air. The inlet 111 may be referred to as the robot cleaner inlet 111.

[0070] The robot cleaner 10 may include a brush 130. The brush 130 may scatter dirt by scrubbing the surface to be cleaned. Dirt scattered by the brush 130 may flow into the inlet 111 together with air.

[0071] For example, the robot cleaner 10 may include a first brush 131 disposed in the inlet 111. The first brush 131 may be rotatably mounted with respect to the main body 110. A rotation axis of the first brush 131 may be an axis extending along a substantially horizontal direction (Y direction). The first brush 131 may be referred to as the main brush 131.

[0072] For example, the robot cleaner 10 may include a second brush 132 disposed adjacent to a lower edge of the main body 110. The second brush 132 may direct, to the inlet 111, dirt around the main body 110 where the first brush 131 may not sweep. The second brush 132 may be rotatably mounted with respect to the main body 110. A rotation axis of the second brush 132 may be an axis extending along a substantially vertical direction (Z direction). The second brush 132 may be referred to as the side brush 132.

[0073] The robot cleaner 10 may include the dust bin 141. Dirt and/or air drawn in through the inlet 111 may move to the dust bin 141. The dirt drawn in through the inlet 111 may be collected in the dust bin 141. The air drawn in through the inlet 111 may be filtered while passing through the dust bin 141. The dirt and air drawn in through the inlet 111 may be separated within the dust bin 141.

[0074] The robot cleaner 10 may include an outlet 112. The outlet 112 may be formed in the main body 110. The outlet 112 may be formed on a rear side of the main body 110. The air drawn in through the inlet 111 may be filtered and discharged to the outside of the robot cleaner 10 through the outlet 112. For example, a plurality of outlets 112 may be formed, and the plurality of outlets may be formed as a plurality of holes. The outlet 112 may be referred to as the robot cleaner outlet 112.

[0075] The robot cleaner 10 may include an intake motor 142. The intake motor 142 may generate suction force. Due to the suction force generated by the intake motor 142, dirt and/or air may be drawn in through the inlet 111. Due to the suction force generated by the intake motor 142, the air drawn into and filtered in the robot cleaner 10 may be discharged to the outside through the outlet 112. The intake motor 142 may be disposed in an air flow path formed between the inlet 111 and the outlet 112. The intake motor 142 may be referred to as the robot cleaner intake motor 142.

[0076] The robot cleaner 10 may include a motion driver 120 for moving the robot cleaner 10. The motion driver 120 is mounted to the main body 110 and may move the main body 110. For example, the motion driver 120 may include a pair of main wheels 121. For example, the motion driver 120 may further include at least one auxiliary wheel 122 to enable the robot cleaner 10 to travel stably.

[0077] The robot cleaner 10 may include the battery 150. The battery 150 may be rechargeable. The battery 150 may provide power required to drive the robot cleaner 10. The robot cleaner 10 may include a charging terminal 151. The charging terminal 151 may be electrically connected to the battery 150. While the robot cleaner 10 is seated on the station 20, the charging terminal 151 of the robot cleaner 10 may be electrically connected to a charging terminal 218 of the station 20. Because the charging terminal 151 of the robot cleaner 10 may be electrically connected to the charging terminal 218 of the station 20, the battery 150 of the robot cleaner 10 may be charged. That is, while the robot cleaner 10 is docked at the station 20, the battery 150 may be charged. The charging terminal 151 may be referred to as the robot cleaner charging terminal 151.

[0078] The robot cleaner 10 may include the mop 160. The mop 160 is detachably mountable to a lower portion of the main body 110. The mop 160 may be rotatably mounted with respect to the main body 110. The mop 160 may clean the surface to be cleaned by contacting the surface to be cleaned. In a state where the mop 160 is wet, the mop 160 may wipe away dirt on the surface to be cleaned. Although the two mops 160 are shown in the drawings, the number of mops 160 is not limited thereto. The mop 160 may be referred to as the cleaning pad 160. The mop 160 may also be referred to as the wet pad 160.

[0079] According to various embodiments, although not illustrated, the robot cleaner 10 may further include a water tank for supplying moisture to the mop 160, a water filling portion for receiving water from the station 20 while the robot cleaner 10 is seated on the station 20, a rotation driver for rotating the mop 160, and/or a lifting driver for moving the mop 160 up and down.

[0080] The robot cleaner 10 may include a location detection sensor 170. The location detection sensor 170 may obtain information about a location of the robot cleaner 10. The location detection sensor 170 may include a Hall sensor.

[0081] The information about the location of the robot cleaner 10 may include information about a position between the station 20 and the robot cleaner 10 and/or a distance from the station 20.

[0082] The location detection sensor 170 may convert a change in magnetic field due to a change in position between the Hall sensor and a magnet provided in the station 20 into an electrical signal in order to obtain the information about the position between the station 20 and the robot cleaner 10 and/or the distance from the station 20.

[0083] In this instance, the location detection sensor 170 may be mounted in the main body 110. The location detection sensor 170 may be provided on a lower side 110b of the main body 110. For example, the location detection sensor 170 may be installed adjacent to the mop 160 on the lower side 110b of the main body 110. The magnet in the station 20 may be located at a preset distance from the location detection sensor 170 when the robot cleaner 10 is seated on the station 20.

[0084] The information about the location of the robot cleaner 10 may include a driving direction, a rotation speed, and/or a rotation angle of the robot cleaner 10. The location detection sensor 170 may obtain the information about the driving direction, rotation speed, and/or rotation angle of the robot cleaner 10 by converting a change in magnetic field due to a change in position between the Hall sensor and the magnet provided on the main wheel 121 of the robot cleaner 10 into an electrical signal. In this instance, the magnet provided on the main wheel 121 of the robot cleaner 10 may be attached to an encoder disk provided on the main wheel 121 of the robot cleaner 10. The encoder disk may be fixed to an axis of the main wheel 121 or mounted inside the main wheel 121.

[0085] In this instance, the encoder disk may be attached to at least a portion of the pair of main wheels 121. In a case where an encoder disk is provided on each of the pair of main wheels 121, the location detection sensor 170 may obtain information about the driving direction of the robot cleaner 10 by comparing the rotation speed of each wheel based on a change in magnetic field between the Hall sensor and the magnets attached to each encoder disk.

[0086] FIG. 7 is a view illustrating the station 20 according to an embodiment.

[0087] FIG. 8 is a view illustrating a rear portion of the station 20 shown in FIG. 7.

[0088] FIG. 9 is a cross-sectional view of the station 20 taken along line B-B of FIG. 7.

[0089] The station 20 may include a main body 210. The main body 210 may form an overall exterior of the station 20. The main body 210 may form the receiving space 210a to receive at least a portion of the robot cleaner 10. The main body 210 may be referred to as the station main body 210.

[0090] The main body 210 may include a base 211 and a housing 212 that may be detachably coupled to the base 211.

[0091] The base 211 may include a robot cleaner seating portion 2111 on which the robot cleaner 10 is seated. The robot cleaner seating portion 2111 may be inclined from a surface to be cleaned to allow the robot cleaner 10 to enter. For example, the robot cleaner seating portion 2111 may be inclined upward along a direction in which the robot cleaner 10 enters the station 20. For example, an anti-slip portion 216 may be formed on the robot cleaner seating portion 2111 to allow the robot cleaner 10 to easily climb the inclined surface of the robot cleaner seating portion 2111. For example, an anti-slip bump 215 may be formed on the robot cleaner seating portion 2111 to prevent the robot cleaner 10 seated on the station 20 from slipping along the inclined surface of the robot cleaner seating portion 2111. The robot cleaner 10 seated on the station 20 may not be separated from the station 20 by the anti-slip bump 215.

[0092] The robot cleaner seating portion 2111 may be formed to allow the robot cleaner 10 to be seated.

[0093] The robot cleaner seating portion 2111 may include an upper cover 2111a and a base plate 2111b. The upper cover 2111a may cover an upper portion of the base plate 2111b and may be coupled to the base plate 2111b. The robot cleaner 10 may be seated on the upper cover 2111a. The base plate 2111b may be located below the upper cover 2111a. The base plate 2111b may be coupled to the upper cover 2111a.

[0094] The station 20 may include an inlet 213. The inlet 213 may be formed in the robot cleaner seating portion 2111. While the robot cleaner 10 is seated on the station 20, the inlet 213 may communicate with the dust bin 141 of the robot cleaner 10. The dirt collected in the dust bin 141 may be drawn in through the inlet 213. The inlet 213 may be referred to as the station inlet 213.

[0095] The robot cleaner seating portion 2111 may be formed by coupling the base plate 2111b and the upper cover 2111a to support a lower portion of the station housing 212, and the inlet 213 may also be formed by coupling a cover opening formed on the upper cover 2111a and a communication opening formed on the base plate 2111b. The cover opening and the communication opening may be formed into shapes corresponding to each other.

[0096] That is, the inlet 213 may be formed by the cover opening and the communication opening contacting each other. However, in the following description, the cover opening or the communication opening may be referred to as the inlet 213.

[0097] The inlet 213 may correspond to the opening of the dust bin 141 when the robot cleaner 10 is seated on the robot cleaner seating portion 2111 and then the inlet 213 is opened by an opening link 140a of a lever device 140 to be described later.

[0098] The inlet 213 may have an approximately rectangular shape to correspond to the opening of the dust bin 141. However, the shape of the inlet 213 is not limited thereto. For example, the inlet 213 may be provided in various shapes such that the opening of the dust bin 141 is opened to allow the dust bin 141 to communicate with a guide portion 225a of a dirt collection duct 225 so as to effectively transmit a suction force of the intake motor 224.

[0099] The robot cleaner seating portion 2111 may include the lever device 140. The lever device 140 may enable selective communication between a collection device 227 and the dust bin 141 of the robot cleaner 10. The lever device 140 may selectively communicate the collection device 227 and the dust bin 141 of the robot cleaner 10 using the opening link 140a.

[0100] For example, in a case where the robot cleaner 10 is seated on a preset location of the robot cleaner seating portion 2111, a processor 291 of the station 20 may control the lever device 140 to drive.

[0101] Driving the lever device 140 may include rotating the opening link 140a toward the inlet 213 to open a lower door 141a of the dust bin 141 that closes the opening of the dust bin 141.

[0102] The opening link 140a may have a multi-link structure. One end of the opening link 140a may include a magnetic object, and the lower door 141a may also include a magnetic object to be coupled to one end of the opening link 140a by attraction. Accordingly, the lever device 140 may rotate the opening link 140a toward the inlet 213 to couple the opening link 140a and the lower door 141a of the dust bin 141, and then the lever device 140 may rotate the opening link 140a in the opposite direction to the previous rotation to open the opening of the dust bin 141.

[0103] When the opening of the dust bin 141 is opened by the lever device 140, the dust bin 141 and the guide portion 225a of the dirt collection duct 225 may be communicated with each other, and thus a suction force of the intake motor 224 may be effectively transmitted.

[0104] The base 211 may include a side wall portion 2112 extending upward from the robot cleaner seating portion 2111. The side wall portion 2112 may surround at least a portion of the robot cleaner seating portion 2111.

[0105] The housing 212 may cover the side wall portion 2112 of the base 211. The housing 212 may accommodate components of the station 20. Electronic components may be disposed in the housing 212. The housing 212 may have an opening 212a, and the robot cleaner 10 may enter the receiving space 210a of the station 20 through the opening 212a.

[0106] The station 20 may include a water storage container 221. The water storage container 221 may store water. Relatively clean water may be stored in the water storage container 221. The water stored in the water storage container 221 may be provided to the water tank of the robot cleaner 10. That is, the water stored in the water storage container 221 may be used to wet the mop 160 or to wash the mop 160. The water storage container 221 is detachably mountable to the main body 210. For example, a user may separate the water storage container 221 from the main body 210 or couple the water storage container 221 to the main body 210 by holding a handle 221a of the water storage container 221.

[0107] The station 20 may include a wastewater container 222. The wastewater container 222 may store water. Relatively dirty water may be stored in the wastewater container 222. The dirty water (wastewater) generated by washing the mop 160 may be stored in the wastewater container 222. The wastewater container 222 is detachably mountable to the main body 210. For example, a user may separate the wastewater container 222 from the main body 210 or couple the wastewater container 222 to the main body 210 by holding a handle 222a of the wastewater container 222.

[0108] The station 20 may include the dirt container 223. The dirt container 223 may store dirt collected from the dust bin 141 of the robot cleaner 10. The dirt container 223 is detachably mountable to the main body 210. For example, a user may separate the dirt container 223 from the main body 210 or couple the dirt container 223 to the main body 210 by holding a handle 223a of the dirt container 223.

[0109] The dirt container 223 may further include a dirt bag accommodated in the dirt container 223. The dirt bag may be detachably coupled to the dirt container 223. When the dirt bag is coupled to the dirt container 223, dirt moved through the dirt collection duct 225 may be collected in the dirt bag. In a case where the dirt bag is filled with dirt, the dirt bag may be separated from the dirt container 223 and may be disposed of. When dirt is moved through the dirt collection duct 225 in a state where the dirt bag is separated from the dirt container 223, the dirt may be collected in the dirt container 223.

[0110] Although the wastewater container 222, the water storage container 221, and the dirt container 223 are shown as being arranged side by side along an approximately horizontal direction (Y direction), the positions of each of the wastewater container 222, the water storage container 221, and the dirt container 223 are not limited.

[0111] The station 20 may include the dirt collection duct 225. The dirt collection duct 225 may guide the dirt drawn in through the inlet 213 to the dirt container 223. The dirt collection duct 225 may be disposed between the inlet 213 and the dirt container 223. One end of the dirt collection duct 225 may communicate with the inlet 213. The other end of the dirt collection duct 225 may communicate with the dirt container 223. That is, the one end of the dirt collection duct 225 may be connected to the inlet 213, and the other end thereof may be connected to the dirt container 223.

[0112] The dirt collection duct 225 may include the guide portion 225a communicating with the inlet 213, a connecting hose 225b whose one end is detachably coupled to the guide portion 225a, and an intake pipe 225c detachably coupled to the other end of the connecting hose 225b and provided in the dirt container 223.

[0113] That is, the guide portion 225a may be provided as a part of the dirt collection duct 225. The guide portion 225a may be disposed in the robot cleaner seating portion 2111. The guide portion 225a may be positioned adjacent to one end of a connecting part connected to the inlet 213 within the robot cleaner seating portion 2111.

[0114] The dirt in the dust bin 141 may be drawn into the inlet 213 by the suction force generated by the intake motor 224. The dirt drawn into the inlet 213 may be moved to the guide portion 225a that is in communication with the inlet 213. The dirt moved to the guide portion 225a may be collected in the dirt container 223 through the connecting hose 225b and the intake pipe 225c.

[0115] The guide portion 225a may have an approximately rectangular parallelepiped shape, without being limited thereto. The guide portion 225a may have any shape for transporting dirt. The guide portion 225a may have a width that gradually narrows from the front to the rear of the guide portion 225a to increase a flow rate of fluid flowing within the guide portion 225a by making a cross-sectional area of the guide portion 225a narrower toward the rear of the guide portion 225a.

[0116] The guide portion 225a may be extended horizontally in the robot cleaner seating portion 2111. One end of the guide portion 225a may be located in the front (+X direction), and the other end of the guide portion 225a may be located in the rear (X direction). That is, the guide portion 225a may be extended in the front and rear direction inside the robot cleaner seating portion 2111. However, the front and rear direction may be one of numerous horizontal directions that may be assumed based on the inside of the robot cleaner seating portion 2111. The guide portion 225a may include a communication opening formed at one end of the guide portion 225a located at the front, and a connecting hose coupler 202 formed at the other end of the guide portion 225a located at the rear. The communication opening may communicate with the inlet 213 to move dirt drawn into the inlet 213 to a guide flow path 250a.

[0117] The connecting hose 225b may connect the guide portion 225a and the intake pipe 225c. Both ends of the connecting hose 225b may be detachably coupled to the guide portion 225a and the intake pipe 225c, respectively. The connecting hose 225b may be formed of a flexible material. The connecting hose 225b may be accommodated in the housing 212. The connecting hose 225b may be formed of a flexible material for an intake flow path 250b that connects the guide flow path 250a and the intake pipe 225c in the housing 212. The connecting hose 225b may be provided as a stretch hose, a length of which may be adjusted.

[0118] The dirt drawn into the inlet 213 and moved to the guide flow path 250a may be moved to the intake pipe 225c through the intake flow path 250b.

[0119] One end of the intake pipe 225c may be connected to the dirt container 223 to allow the dirt in the dust bin 141 guided by the guide flow path 250a of the guide portion 225a to be drawn into the dirt container 223.

[0120] The station 20 may include a pressure sensor 270 provided on an inner surface of the dirt collection duct 225. The pressure sensor 270 may be located adjacent to the inlet 213 on the inner surface of the dirt collection duct 225. For example, the pressure sensor 270 may be located on an inner surface of the guide portion 225a.

[0121] A first outlet 115 may be formed in the housing 212. Air drawn by the intake motor 224 from the dust bin 141 of the robot cleaner 10 may be discharged to the outside of the station 20 through the first outlet 115. The first outlet 115 may be referred to as a first station outlet 115. The station 20 may include an exhaust filter 226 to filter air discharged through an outlet 214. The exhaust filter 226 may be arranged to filter air discharged from the intake motor 224. The exhaust filter 226 may be located adjacent to the first outlet 115. The exhaust filter 226 may include a high efficiency particulate air (HEPA) filter.

[0122] A rear cover 117 may be provided with the second outlet 214 through which air discharged through the first outlet 115 and filtered by the exhaust filter 226 may be discharged to the outside of the station 20. A plurality of second outlets 214 may be formed, and the plurality of outlets 214 may be formed as a plurality of holes. The second outlet 214 may be referred to as the second station outlet 214.

[0123] At least a portion of the collection device 227 for collecting dirt collected in a dust collection chamber 16 of the robot cleaner 10 may be disposed in the station 20.

[0124] The collection device 227 may include the intake motor 224 and/or the dirt container 223.

[0125] The station 20 may include the intake motor 224. When the robot cleaner 10 is seated on the station 20, the intake motor 224 may generate suction force to draw dirt from the dust bin 141. Due to the suction force of the intake motor 224, the dirt in the dust bin 141 may flow along the inlet 113 and the dirt collection duct 225 and may be collected in the dirt container 223. Due to the suction force generated by the intake motor 224, the air drawn into the station 20 and passed through the exhaust filter 226 may be discharged to the outside through the outlet 214. The intake motor 224 may be referred to as the station intake motor 224.

[0126] The station 20 may include a washing frame 240. The washing frame 240 may correspond to a washing chamber 230. The washing frame 240 is detachably mountable to the washing chamber 230. While the robot cleaner 10 is seated on the station 20, the washing frame 240 may contact the mop 160. While the robot cleaner 10 is docked to the station 20, the washing frame 240 may be rubbed (scrubbed) against the mop 160. The mop 160 may be washed by rubbing against the washing frame 240. In this instance, the mop 160 may be rotatable.

[0127] The station 20 may include electronic components for charging the battery 150. For example, the station 20 may include a station power board 103. The station power board 103 may receive power from an external source and convert the received power to be suitable for the station 20. The station power board 103 may be located at a lower rear portion of the housing 212. The station power board 103 may be connected to the charging terminal 218 provided in the station 20. The charging terminal 218 of the station 20 may protrude from the housing 212. When the robot cleaner 10 is seated on the robot cleaner seating portion 2111, the charging terminal 218 of the station 20 may be electrically connected to the battery 150 of the robot cleaner 10 to supply power. The charging terminal 218 of the station 20 may charge the battery 150 of the robot cleaner 10 using a wireless charging method. The charging terminal 218 may be referred to as the station charging terminal 218.

[0128] The station 20 may include a first wheel seating portion 2113 and a second wheel seating portion 2114. The first wheel seating portion 2113 and the second wheel seating portion 2114 may be implemented as at least a portion of the robot cleaner seating portion 2111. The first wheel seating portion 2113 or the second wheel seating portion 2114 may be arranged to come into contact with the main wheels 121 of the robot cleaner 10 when the robot cleaner 10 is seated on the robot cleaner seating portion 2111. In other words, when the robot cleaner 10 is seated on the robot cleaner seating portion 2111, the main wheels 121 of the robot cleaner 10 may be in contact with the first wheel seating portion 2113 or the second wheel seating portion 2114. Because a pair of main wheels 121 of the robot cleaner 10 are provided, the first wheel seating portion 2113 or the second wheel seating portion 2114 may be provided to come into contact with each of the pair of main wheels 121 when the robot cleaner 10 is seated on the robot cleaner seating portion 2111.

[0129] Hereinafter, a location of the robot cleaner 10 when the main wheels 121 are seated on the first wheel seating portion 2113 is referred to as a first seating position, and a location of the robot cleaner 10 when the main wheels 121 are seated on the second wheel seating portion 2114 is referred to as a second seating position.

[0130] Based on a direction where the robot cleaner 10 enters the station 20, the first wheel seating portion 2113 may be positioned in front of the second wheel seating portion 2114.

[0131] In other words, when the robot cleaner 10 enters the station 20, the robot cleaner 10 may first come into contact with the second wheel seating portion 2114 before reaching the first wheel seating portion 2113.

[0132] The first wheel seating portion 2113 or the second wheel seating portion 2114 may have a concave shape to correspond to the curvature of the main wheels 121 of the robot cleaner 10, but is not limited thereto. The first wheel seating portion 2113 or the second wheel seating portion 2114 may have any shape that may apply a fixing force when the robot cleaner 10 is seated on the station 20.

[0133] Hereinafter, with reference to FIG. 10 and FIG. 11, an operation of the cleaning apparatus 1 when the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113 or the second wheel seating portion 2114 is described.

[0134] FIG. 10 is a schematic enlarged view illustrating a state in which the main wheels 121 of the robot cleaner 10 are located in the first wheel seating portion 2113 of the station 20 in the cleaning apparatus 1 according to an embodiment.

[0135] According to an embodiment, when the robot cleaner 10 is seated on the station 20, the main wheels 121 of the robot cleaner 10 may be seated on the first wheel seating portion 2113. The main wheels 121 of the robot cleaner 10 seated on the first wheel seating portion 2113 may include the main wheels 121 of the robot cleaner 10 docked at the first seating position. In addition, the main wheels 121 of the robot cleaner 10 seated on the first wheel seating portion 2113 may include the main wheels 121 of the robot cleaner 10 coming into contact with the first seating position.

[0136] When the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113, the charging terminal 151 of the robot cleaner 10 may be connected to the charging terminal 218 of the station 20. The connection between the charging terminal 151 of the robot cleaner 10 and the charging terminal 218 of the station 20 may include physical contact between the charging terminal 151 of the robot cleaner 10 and the charging terminal 218 of the station 20. The battery 150 of the robot cleaner 10 may be charged by connecting the charging terminal 151 of the robot cleaner 10 and the charging terminal 218 of the station 20.

[0137] In this instance, a processor 191 of the robot cleaner 10 may detect that the charging terminal 151 of the robot cleaner 10 is connected to the charging terminal 218 of the station 20. For example, as the charging terminal 151 of the robot cleaner 10 is powered, the processor 191 of the robot cleaner 10 may determine that the charging terminal 151 of the robot cleaner 10 and the charging terminal 218 of the station 20 are connected.

[0138] When the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113, the mop 160 of the robot cleaner 10 may come into contact with the washing frame 240 of the station 20. Accordingly, the mop 160 may be washed while being rubbed against the washing frame 240.

[0139] In other words, in order for the robot cleaner 10 to dock with the station 20, when the main wheels 121 of the robot cleaner 10 are seated in the first seating position, the robot cleaner 10 may perform a charging process for the battery 150 and/or a washing process for the mop 160. FIG. 11 is a schematic enlarged view illustrating a state in which the main wheels 121 of the robot cleaner 10 are located in the second wheel seating portion 2114 of the station 20 in the cleaning apparatus 1 according to an embodiment.

[0140] According to an embodiment, when the robot cleaner 10 is seated on the station 20, the main wheels 121 of the robot cleaner 10 may be seated on the second wheel seating portion 2114. The main wheels 121 of the robot cleaner 10 seated on the second wheel seating portion 2114 may include the main wheels 121 of the robot cleaner 10 docking at the second seating position. In addition, the main wheels 121 of the robot cleaner 10 seated on the second wheel seating portion 2114 may include the main wheels 121 of the robot cleaner 10 coming into contact with the second seating position.

[0141] When the main wheels 121 of the robot cleaner 10 are seated on the second wheel seating portion 2114, the lower door 141a of the dust bin 141 of the robot cleaner 10 may be opened by the lever device 140 of the station 20. Specifically, in order for the lower door 141a of the dust bin 141 of the robot cleaner 10 to be opened by the lever device 140, the processor 291 of the station 20 may drive the lever device 140 to rotate the opening link 140a toward the inlet 213 and to couple the lower door 141a to one end of the opening link 140a by mutual attraction, and then to rotate the opening link 140a in the opposite direction to the previous rotation (i.e., in a direction away from the inlet 213) to open the opening of the dust bin 141. In other words, when the main wheels 121 of the robot cleaner 10 are seated on the second wheel seating portion 2114 in order for the robot cleaner 10 to dock with the station 20, a dirt discharge process of the robot cleaner 10 may be performed.

[0142] Specifically, by opening the lower door 141a of the dust bin 141 of the robot cleaner 10, the collection device 227 may communicate with the dust bin 141 of the robot cleaner 10.

[0143] Due to the communication between the collection device 227 and the dust bin 141 of the robot cleaner 10, the processor 291 of the station 20 may drive the intake motor 224 of the collection device 227 to collect the dirt stored in the dust bin 141 into the dirt container 223.

[0144] In this instance, in order for a suction force of the intake motor 224 to be applied to the dirt collected in the dust bin 141, the lower door 141a of the dust bin 141 of the robot cleaner 10 requires to correspond exactly to the inlet 213 of the station 20 to allow the lower door 141a to be opened by a predetermined angle (Q) or more by the lever device 140.

[0145] As described above with reference to FIG. 10 and FIG. 11, the first and second seating positions at which the robot cleaner 10 is seated on the station 20 may be distinguished depending on the process performed in the cleaning apparatus 1. Accordingly, washing water for performing a washing process may be prevented from splashing into the inlet, thereby preventing a decrease in dust suction efficiency.

[0146] FIG. 12 is a control block diagram of the robot cleaner 10 according to an embodiment. Referring to FIG. 12, the robot cleaner 10 according to an embodiment may include the location detection sensor 170, the battery 150, a user interface 181, the motion driver 120, a brush motor 133, the intake motor 142, a driver 163, communication circuitry 182, and/or a controller 190.

[0147] The location detection sensor 170 may obtain information about a location of the robot cleaner 10. Specifically, the information about the location of the robot cleaner 10 may include information about a position between the station 20 and the robot cleaner 10 and/or a distance from the station 20, a driving direction and/or a rotation angle of the robot cleaner 10.

[0148] The location detection sensor 170 may include a Hall sensor.

[0149] The robot cleaner processor 191 may obtain the current coordinates of the robot cleaner 10 in a two-dimensional plane based on the information obtained from the location detection sensor 170.

[0150] The battery 150 may supply power to various electronic components of the robot cleaner 10. The battery 150 may be charged while the robot cleaner 10 is seated on the station 20.

[0151] The robot cleaner 10 may include a battery sensor for detecting the charge amount of the battery 150.

[0152] The robot cleaner processor 191 may detect whether the charging terminal 151 of the robot cleaner 10 is connected to the charging terminal 218 of the station 20 in order to charge the battery 150. For example, the robot cleaner processor 191 may detect whether the charging terminal 151 of the robot cleaner 10 is connected to the charging terminal 218 of the station 20 depending on whether the charging terminal 151 of the robot cleaner 10 is powered.

[0153] The robot cleaner processor 191 may control the motion driver 120 to allow the robot cleaner 10 to return to the station 20 when a charge level of the battery 150 falls below a predetermined charge level.

[0154] The user interface 181 may include an output interface and an input interface. The user interface 181 may be referred to as the robot cleaner user interface 181.

[0155] At least one output interface may generate sensory information and transmit various information related to operations of the robot cleaner 10 to a user.

[0156] For example, the at least one output interface may transmit information related to the settings and an operation time of the robot cleaner 10 to the user. Information about the operation of the robot cleaner 10 may be output through a display, indicator, and/or may be output as voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, and the like.

[0157] In a case where the display includes a touch screen display, the touch screen display may correspond to an example of the output interface and the input interface.

[0158] In an embodiment, the at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to control of the robot cleaner 10.

[0159] At least one input interface may convert the sensory information received from the user into an electrical signal.

[0160] The at least one input interface may include a power button for turning on the robot cleaner 10.

[0161] Each button may include a visual indicator (e.g., text, icon, etc.) that may indicate its function.

[0162] The at least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and/or a microphone, and the like.

[0163] In the disclosure, a button may be replaced by a user interface element (UI element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and/or a microphone, and the like.

[0164] The robot cleaner 10 may process a user input received via the user interface 181 and may output information related to the robot cleaner 10 via the user interface 181.

[0165] In an embodiment, the user interface 181 may include an input interface for receiving a dirt discharge command and/or a robot cleaner charge command.

[0166] A user may obtain information for determining whether to empty dirt (e.g., dust, etc.) stored in the dust bin 141 of the robot cleaner 10 from the output interface. When the user decides that the dirt stored in the dust bin 141 requires to be emptied, the user may enter the dirt discharge command via the input interface.

[0167] The robot cleaner 10 may return to the station 20 based on receiving the dirt discharge command via the input interface.

[0168] Based on receiving the dirt discharge command via the input interface, the robot cleaner 10 may transmit a signal to request operation of the lever device 140 to the station 20 via the communication circuitry 182.

[0169] Accordingly, when the robot cleaner 10 returns to the station 20 and docks with the station 20, the station 20 may perform a dirt discharge process. In this instance, the station 20 may perform a robot cleaner charging process and/or a mop wash process along with the dirt discharge process.

[0170] The motion driver 120 may include traveling wheels 121 and 122 arranged in the main body 110, and wheel motors that provide power to the traveling wheels 121 and 122. The traveling wheels 121 and 122 may include the main wheel 121 and/or auxiliary wheel 122.

[0171] Rotation of the traveling wheels 121 and 122 may move the main body 110. Rotation of the traveling wheels 121 and 122 may move the main body 110 forward, backward, or rotate the main body 110. For example, by rotation of both the left and right traveling wheels 121 and 122 in a forward direction, the main body 110 may move straight forward, and by rotation of both the left and right traveling wheels 121 and 122 in a backward direction, the main body 110 may move straight backward.

[0172] In addition, in a case where the left and right traveling wheels 121 and 122 rotate in the same direction but at different speeds, the main body 110 may turn to the right or left. In a case where the left and right traveling wheels 121 and 122 rotate in different directions, the main body 110 may rotate in place and turn left or right.

[0173] The wheel motor may generate rotational force to rotate the traveling wheels 121 and 122. A direct current (DC) motor or a brushless DC electric motor (BLDC) may be used as the wheel motor, but the robot cleaner 10 is not limited thereto. In addition to the wheel motor, the types of other motors included in the robot cleaner 10 are not limited.

[0174] The wheel motor may include a left wheel motor that rotates the left traveling wheel and a right wheel motor that rotates the right traveling wheel.

[0175] Each of the left and right wheel motors may operate independently of each other according to a control signal from the processor 191 of the robot cleaner 10, and the main body 110 may move forward, backward, or rotate according to the operation of the left and right wheel motors. In addition, the wheel motors may operate to allow each of the main wheel 121 and the auxiliary wheel 122 to rotate independently according to a control signal from the processor 191 of the robot cleaner 10.

[0176] The processor 191 of the robot cleaner 10 may control the movement of the robot cleaner 10 by controlling the motion driver 120 (e.g., wheel motor).

[0177] The brush motor 133 may rotate the brush 130.

[0178] The processor 191 of the robot cleaner 10 may control the brush motor 133 to rotate the brush 130 during dry cleaning, thereby allowing the brush 130 to scatter foreign substances on the floor.

[0179] The intake motor 142 may draw the foreign substances scattered by the brush 130 into the dust bin 141 and may rotate an intake fan that generates a suction force to draw the foreign substances into the dust bin 141.

[0180] The processor 191 of the robot cleaner 10 may control the intake motor 142 to rotate the intake fan during dry cleaning, thereby allowing the foreign substances scattered by the brush 130 to draw into the dust bin 141 through the inlet 111.

[0181] The communication circuitry 182 may communicate with an external device (e.g., a server, a user device, the station 20) wired and/or wirelessly. The communication circuitry 182 may be referred to as the robot cleaner communication circuitry 182.

[0182] The communication circuitry 182 may transmit data to an external device (e.g., a server, a user device, and/or the station 20) or receive data from the external device. For the communication, the communication circuitry 182 may establish a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and support the performance of the communication through the established communication channel. According to an embodiment, the communication circuitry 182 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module may communicate with an external device through a first network (e.g., a short-range wireless communication network such as Bluetooth, wireless fidelity (Wi-Fi) direct, or infrared data association (IrDA)) or a second network (e.g., a long-range wireless communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., LAN or WAN). These various types of communication modules may be integrated as one component (e.g., a single chip) or implemented as a plurality of separate components (e.g., multiple chips).

[0183] The short-range wireless communication module may include a Bluetooth communication module, a Bluetooth Low Energy (BLE) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, and a Zigbee communication module, an infrared data association (IrDA) communication module, a Wi-Fi Direct (WFD) communication module, an ultrawideband (UWB) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc., but is not limited thereto.

[0184] The long-range wireless communication module may include a communication module that performs various types of long-range wireless communication, and may include a mobile communication interface. The mobile communication interface transmits and receives radio signals with at least one of a base station, an external terminal, or a server on a mobile communication network.

[0185] In an embodiment, the communication circuitry 182 may communicate with an external device through a nearby access point (AP). The AP may connect a local area network (LAN), to which the robot cleaner 10 is connected, to a wide area network (WAN) to which a server is connected. The robot cleaner 10 may be connected to the server through the wide area network (WAN).

[0186] In an embodiment, the communication circuitry 182 may communicate wirelessly with the station 20.

[0187] The controller 190 may control an overall operation of the robot cleaner 10. The controller 190 may be referred to as the robot cleaner controller 190.

[0188] The controller 190 may include at least one processor 191 that controls an operation of the robot cleaner 10, and at least one memory 192 storing programs and data for controlling the operation of the robot cleaner 10. In this instance, the processor 191 may be referred to as the robot cleaner processor 191, and the memory 192 may be referred to as the robot cleaner memory 192.

[0189] The at least one processor 191 may control overall operations of the robot cleaner 10. Specifically, the at least one processor 191 may be connected to each component of the robot cleaner 10 and may control overall operations of the robot cleaner 10. For example, the at least one processor 191 may be electrically connected to the memory 192 to control the overall operations of the robot cleaner 10. A single processor 191 or a plurality of processors 191 may be provided.

[0190] The at least one processor 191 may execute at least one instruction stored in the memory 192, thereby allowing the robot cleaner 10 to perform operations according to various embodiments.

[0191] The at least one memory 192 may store data required for various embodiments. The memory 192 may be implemented as a memory embedded in the robot cleaner 10 or as a memory detachable from the robot cleaner 10 depending on a data storage use. For example, data for driving the robot cleaner 10 may be stored in the memory embedded in the robot cleaner 10, and data for an extended function of the robot cleaner 10 may be stored in the memory detachable from the robot cleaner 10. Meanwhile, the memory embedded in the robot cleaner 10 may be implemented as at least one of a volatile memory (e.g., dynamic random access memory (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM), etc.), or a non-volatile memory (e.g., one time programmable read only memory (OTPROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g. NAND flash or NOR flash, etc.), a hard drive, or a solid state drive (SSD)). In addition, the memory detachable from the robot cleaner 10 may be implemented as a memory card (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.), an external memory (e.g., universal serial bus (USB) memory) connectable to a USB port, and the like.

[0192] The at least one processor 191 may include at least one of a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), many integrated core (MIC), digital signal processor (DSP), neural processing unit (NPU), hardware accelerator, or machine learning accelerator. The at least one processor 191 may control one or any combination of other components of the robot cleaner 10, and may perform communication-related operations or data processing. The at least one processor 191 may execute at least one program or instruction stored in the memory 192. For example, the at least one processor 191 may execute at least one instruction stored in the memory 192 to perform a method according to at least an embodiment of the disclosure.

[0193] In an embodiment, the processor 191 may control the motion driver 120 according to a predetermined condition. Controlling the motion driver 120 may include moving the robot cleaner 10.

[0194] In an embodiment, the processor 191 may control the brush motor 133 and/or the intake motor 142 according to a predetermined condition.

[0195] FIG. 13 is a control block diagram of the station 20 according to an embodiment. Referring to FIG. 13, the station 20 may include the pressure sensor 270, the intake motor 224, a user interface 281, communication circuitry 282, the lever device 140, and/or a controller 290.

[0196] The pressure sensor 270 may obtain information about a pressure change due to an air flow inside the dirt collection duct 225 when the robot cleaner 10 is seated on the station 20 and a dirt discharge process is performed.

[0197] The processor 291 of the station 20 may determine whether a pressure inside the dirt collection duct 225 is greater than or equal to a preset reference pressure based on the information obtained from the pressure sensor 270.

[0198] In a case where the pressure inside the dirt collection duct 225 is less than the preset reference pressure, the processor 291 of the station 20 may determine that the lower door 141a of the dust bin 141 of the robot cleaner 10 is not opened by the lever device 140 by a predetermined angle or more.

[0199] Based on the lower door 141a of the dust bin 141 of the robot cleaner 10 not being opened by a predetermined angle or more, the processor 291 of the station 20 may determine that the main wheels 121 of the robot cleaner 10 are not seated on the second wheel seating portion 2114 when the robot cleaner 10 is seated on the station 20. In other words, in a case where the pressure inside the dirt collection duct 225 is less than the preset reference pressure, the processor 291 of the station 20 may determine that the inlet 213 has been blocked.

[0200] The intake motor 224 may generate a suction force to draw dirt from the dust bin 141.

[0201] The processor 291 of the station 20 may draw the dirt from the dust bin 141 into the dirt container 223 by operating the intake motor 224.

[0202] An operation of drawing the dirt from the dust bin 141 into the dirt container 223 by operating the intake motor 224 by the processor 291 of the station 20 may be referred to as a dirt intake process. When the station 20 performs the dirt intake process by the processor 291 of the station 20, the robot cleaner 10 may perform the dirt discharge process by the processor 191 of the robot cleaner 10. That is, the dirt intake process of the station 20 may be performed simultaneously with the dirt discharge process of the robot cleaner 10.

[0203] The user interface 281 may include an output interface and an input interface. The user interface 281 may be referred to as the station user interface 281.

[0204] At least one output interface may generate sensory information and transmit various information related to operations of the station to a user.

[0205] For example, the at least one output interface may transmit information related to settings, operation time, and the like, of the station to the user. Information about the operation of the station may be output through a display, indicator, and/or may be output as voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, and the like.

[0206] In a case where the display includes a touch screen display, the touch screen display may correspond to an example of the output interface and the input interface.

[0207] In an embodiment, the at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to control of the station.

[0208] At least one input interface may convert the sensory information received from the user into an electrical signal.

[0209] The at least one input interface may include a power button for turning on the station.

[0210] Each button may include a visual indicator (e.g., text, icon, etc.) that may indicate its function.

[0211] The at least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and/or a microphone, and the like.

[0212] In the disclosure, a button may be replaced by a user interface element (UI element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and/or a microphone, and the like.

[0213] The station 20 may process a user input received via the user interface 281 and may output information related to the station via the user interface 281.

[0214] In an embodiment, the user interface 281 may include an input interface for receiving a dirt discharge command.

[0215] When a user decides that the dust bin 141 of the robot cleaner 10 requires to be emptied, the user may enter the dirt discharge command via the input interface.

[0216] The station 20 may perform a dirt intake process in response to the dirt discharge command being input via the user interface 281.

[0217] The communication circuitry 282 may communicate with an external device (e.g., a server, a user device, the robot cleaner 10) wired and/or wirelessly. The communication circuitry 282 may be referred to as the station communication circuitry 282.

[0218] The communication circuitry 282 may transmit data to an external device (e.g., a server, a user device, and/or the robot cleaner 10) or receive data from the external device. For the communication, the communication circuitry 282 may establish a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and support the performance of the communication through the established communication channel.

[0219] According to an embodiment, the communication circuitry 282 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module may communicate with an external device through a first network (e.g., a short-range wireless communication network such as Bluetooth, wireless fidelity (Wi-Fi) direct, or infrared data association (IrDA)) or a second network (e.g., a long-range wireless communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., LAN or WAN). These various types of communication modules may be integrated as one component (e.g., a single chip) or implemented as a plurality of separate components (e.g., multiple chips).

[0220] The short-range wireless communication module may include a Bluetooth communication module, a Bluetooth Low Energy (BLE) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, and a Zigbee communication module, an infrared data association (IrDA) communication module, a Wi-Fi Direct (WFD) communication module, an ultrawideband (UWB) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc., but is not limited thereto.

[0221] The long-range wireless communication module may include a communication module that performs various types of long-range wireless communication, and may include a mobile communication interface. The mobile communication interface transmits and receives radio signals with at least one of a base station, an external terminal, or a server on a mobile communication network.

[0222] In an embodiment, the communication circuitry 282 may communicate with an external device through a nearby access point (AP). The AP may connect a local area network (LAN), to which the robot cleaner 10 is connected, to a wide area network (WAN) to which a server is connected. The station 20 may be connected to the server through the wide area network (WAN). In an embodiment, the communication circuitry 282 may communicate wirelessly with the robot cleaner 10.

[0223] A variety of examples may be employed as a communication method between the robot cleaner 10 and the station 20.

[0224] In an embodiment, the robot cleaner 10 and the station 20 may communicate directly through a short-range wireless communication module.

[0225] In an embodiment, the robot cleaner 10 and the station 20 may communicate directly through wired communication in a state where the robot cleaner 10 is docked at the station 20. In an embodiment, the robot cleaner 10 and the station 20 may communicate indirectly through a long-range wireless communication module via an external server.

[0226] Indirect communication via an external server may include, in response to transmitting a predetermined signal to an external server from the robot cleaner 10, transmitting the predetermined signal to the station 20 by the external server, and/or in response to transmitting a predetermined signal to an external server from the station 20, transmitting the predetermined signal to the robot cleaner 10 by the external server.

[0227] The lever device 140 may enable selective communication between the collection device 227 and the dust bin 141 of the robot cleaner 10.

[0228] The processor 291 of the station 20 may drive the lever device 140 to allow the opening link 140a to be selectively coupled to the lower door 141a of the dust bin 141. In addition, the processor 291 of the station 20 may drive the lever device 140 to rotate the opening link 140a coupled to the lower door 141a of the dust bin 141 toward the inlet or in the opposite direction to the inlet.

[0229] That is, the processor 291 of the station 20 may control the lever device 140 to enable communication between the dust bin 141 and the guide portion 225a of the dirt collection duct 225.

[0230] The controller 290 may control overall operations of the station 20.

[0231] The controller 290 may include at least one processor 291 that controls an operation of the station 20, and at least one memory 292 storing programs and data for controlling the operation of the station 20. In this instance, the processor 291 may be referred to as the station processor 291, and the memory 292 may be referred to as the station memory 292.

[0232] The at least one processor 291 may control overall operations of the station 20. Specifically, the at least one processor 291 may be connected to each component of the station 20 and may control overall operations of the station 20. For example, the at least one processor 291 may be electrically connected to the memory 292 to control the overall operations of the station 20. A single processor 291 or a plurality of processors 291 may be provided.

[0233] The at least one processor 291 may execute at least one instruction stored in the memory 292, thereby allowing the station 20 to perform operations according to various embodiments.

[0234] The at least one memory 292 may store data required for various embodiments. The memory 292 may be implemented as a memory embedded in the station 20 or as a memory detachable from the station 20 depending on a data storage use. For example, data for driving the station 20 may be stored in the memory embedded in the station 20, and data for an extended function of the station 20 may be stored in the memory detachable from the station 20. Meanwhile, the memory embedded in the station 20 may be implemented as at least one of a volatile memory (e.g., dynamic random access memory (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM), etc.), or a non-volatile memory (e.g., one time programmable read only memory (OTPROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g. NAND flash or NOR flash, etc.), a hard drive, or a solid state drive (SSD)). In addition, the memory detachable from the station 20 may be implemented as a memory card (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.), an external memory (e.g., universal serial bus (USB) memory) connectable to a USB port, and the like.

[0235] The at least one processor 291 may include at least one of a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), many integrated core (MIC), digital signal processor (DSP), neural processing unit (NPU), hardware accelerator, or machine learning accelerator. The at least one processor 291 may control one or any combination of other components of the station 20, and may perform communication-related operations or data processing. The at least one processor 291 may execute at least one program or instruction stored in the memory 292. For example, the at least one processor 291 may execute at least one instruction stored in the memory 292 to perform a method according to at least an embodiment of the disclosure.

[0236] FIG. 14 is a flowchart illustrating operations of collecting dirt in the cleaning apparatus 1 according to an embodiment.

[0237] Referring to FIG. 14, the robot cleaner 10 may perform a cleaning process (1401). The robot cleaner 10 may perform dry cleaning and/or wet cleaning. The robot cleaner 10 may clean a predetermined cleaning area according to a predetermined cleaning plan.

[0238] The robot cleaner 10 and/or the station 20 may determine whether to start a dirt discharge process and/or a dirt intake process, respectively (1402).

[0239] For example, the robot cleaner 10 and/or the station 20 may receive a dirt discharge command or a dirt intake command from a user via an input interface.

[0240] In another example, the robot cleaner 10 and/or the station 20 may start a dirt discharge process and/or a dirt intake process, respectively, depending on whether a preset condition is satisfied.

[0241] The robot cleaner 10 may return to the station 20 (1403), when the dirt discharge process starts (Yes in operation 1402). The robot cleaner 10 may return to the station 20 after completing the cleaning process. However, the disclosure is not limited thereto, and the robot cleaner 10 may return to the station 20 even during cleaning. For example, the robot cleaner 10 may return to the station 20 even in a case where the cleaning process is not completed, based on receiving a dirt discharge command and/or a dirt intake command from an external device (e.g., a user device, a server, a home appliance, the station 20).

[0242] While the robot cleaner 10 is seated on the station 20, the dirt collected in the dust bin 141 of the robot cleaner 10 may move to the dirt container 223 through the dirt collection duct 225 (1404). Accordingly, the dirt collected in the dust bin 141 may be removed.

[0243] In this instance, a charging process, in which the charging terminal 151 of the robot cleaner 10 may be connected to the charging terminal 218 of the station 20, and/or a washing process, in which the mop 160 may be washed by rubbing against the mop 160 with the washing frame 240 provided in the washing chamber 230, may be performed simultaneously or separately.

[0244] Based on information obtained by various sensors of the cleaning apparatus 1, the robot cleaner 10 and/or the station 20 may determine whether the dirt discharge process and/or dirt intake process is completed.

[0245] After the dirt discharge process and/or the dirt intake process is completed, the robot cleaner 10 may stand by at the station 20 (1405). The robot cleaner 10 may stand by at the station 20 to establish a next cleaning plan.

[0246] Hereinafter, with reference to FIG. 15 to FIG. 17, an example method for controlling the robot cleaner 10 and/or the station 20 of the cleaning apparatus 1 to perform the dirt discharge process and/or dirt intake process at an accurate location is described.

[0247] FIG. 15 is a flowchart illustrating an example method of controlling the robot cleaner 10 to perform a dirt discharge process at an accurate location according to an embodiment. Hereinafter, a control operation performed by the processor 191 of the robot cleaner 10 may be performed by the processor 291 of the station 20.

[0248] According to an embodiment, as a dirt discharge process starts, the robot cleaner 10 may return to the station 20 and move to a first seating position (1501). Moving the robot cleaner 10 to the first seating position may include moving to a position where the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113. Specifically, the processor 191 of the robot cleaner 10 may control the motion driver 120 (e.g., wheel motor) to move the robot cleaner 10 to the position where the main wheels 121 are seated on the first wheel seating portion 2113. When the robot cleaner 10 is seated in the first seating position, a charging process for the battery 150 of the robot cleaner 10 and/or a washing process for the mop 160 may be performed.

[0249] The robot cleaner 10 may determine whether the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113 (1502). The main wheels 121 seated on the first wheel seating portion 2113 may include the main wheels 121 coming into contact with the first wheel seating portion 2113.

[0250] Specifically, the processor 191 of the robot cleaner 10 may determine whether the main wheels 121 are seated on the first wheel seating portion 2113 based on whether the charging terminal 151 of the robot cleaner 10 is connected to the charging terminal 218 of the station 20. For example, the processor 191 of the robot cleaner 10 may determine that the charging terminal 151 of the robot cleaner 10 is connected to the charging terminal 218 of the station 20, in a case where the charging terminal 151 of the robot cleaner 10 is in contact with and electrically connected to the charging terminal 218 of the station 20.

[0251] In addition, after determining whether the charging terminal 151 is connected to the charging terminal 218 of the station 20, the processor 191 of the robot cleaner 10 may determine whether the main wheels 121 of the robot cleaner are seated on the first wheel seating portion 2113 based on information about a location of the robot cleaner 10 obtained from the location detection sensor 170.

[0252] Specifically, the location detection sensor 170 may include a Hall sensor. The processor 191 of the robot cleaner 10 may obtain information about a position between the station 20 and the robot cleaner 10 and/or a distance from the station 20 from the location detection sensor 170. In addition, the processor 191 of the robot cleaner 10 may obtain information about a driving direction and/or a rotation angle of the robot cleaner 10 from the location detection sensor 170. Accordingly, the processor 191 of the robot cleaner 10 may calculate the current coordinates in a two-dimensional plane based on the information about the location of the robot cleaner 10 obtained from the location detection sensor 170.

[0253] According to an embodiment, in determining whether the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113, the robot cleaner 10 may first determine whether the main wheels 121 are seated on the first wheel seating portion 2113 based on whether the charging terminal 151 of the robot cleaner 10 is connected to the charging terminal 218 of the station 20, and may secondly determine whether the main wheels 121 are seated on the first wheel seating portion 2113 based on the information about the location of the robot cleaner 10 obtained from the location detection sensor 170, thereby accurately adjusting the location of the robot cleaner 10.

[0254] Based on determining that the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113 (Yes in operation 1502), the processor 191 of the robot cleaner 10 may move the robot cleaner 10 to a second seating position (1503). Moving the robot cleaner 10 to the second seating position may include moving to a position where the main wheels 121 of the robot cleaner 10 are seated on the second wheel seating portion 2114. Specifically, the processor 191 of the robot cleaner 10 may control the motion driver 120 (e.g., wheel motor) to move the robot cleaner 10 to the position where the main wheels 121 are seated on the second wheel seating portion 2114.

[0255] In this instance, the processor 191 of the robot cleaner 10 may determine whether the robot cleaner 10 has completely moved to the second seating position based on the information about the location of the robot cleaner 10 obtained from the location detection sensor 170. The information about the location of the robot cleaner 10 may include information about a position between the station 20 and the robot cleaner 10 and/or a distance from the station 20.

[0256] For example, the location detection sensor 170 may include a Hall sensor, and may convert a change in magnetic field due to a change in position between the Hall sensor and a magnet provided in the station 20 into an electrical signal in order to obtain the information about the position between the station 20 and the robot cleaner 10 and/or the distance from the station 20. The processor 191 of the robot cleaner 10 may calculate the current coordinates of the robot cleaner 10 in a two-dimensional plane based on the information about the position between the station 20 and the robot cleaner 10 and/or the distance from the station 20 obtained from the location detection sensor 170. Accordingly, the processor 191 of the robot cleaner 10 may compare the calculated current coordinates of the robot cleaner 10 in the two-dimensional plane with the preset coordinates of the second seating position to determine whether the robot cleaner 10 has completely moved to the second seating position.

[0257] Based on determining that the robot cleaner 10 has not completely moved to the second seating position by comparing the current coordinates in the two-dimensional plane with the preset coordinates of the second seating position, the processor 191 of the robot cleaner 10 may control the motion driver 120 (e.g., wheel motor) of the robot cleaner 10 to move the robot cleaner 10 again to the position where the main wheels 121 are seated on the second wheel seating portion 2114.

[0258] The robot cleaner 10 may start a dirt discharge process (1504), based on the main wheels 121 seated on the second wheel seating portion 2114.

[0259] The processor 191 of the robot cleaner 10 may control a plurality of components of the robot cleaner 10 for the dirt discharge process. For example, the processor 191 of the robot cleaner 10 may stop operating the intake motor 142 of the robot cleaner 10 to prevent the collected dust from spreading when the dust bin 141 is opened. In addition, the processor 291 of the station 20 may start operating the intake motor 224 of the station 20. Accordingly, air containing dirt may flow in the dirt collection duct 225, and the dirt in the dust bin 141 of the robot cleaner 10 may move to the dirt container 223 of the station 20.

[0260] The robot cleaner 10 may determine whether data about a blockage event of the inlet 213 (hereinafter referred to as an inlet blockage event) is received from the station 20 (1505).

[0261] Specifically, the processor 191 of the robot cleaner 10 may communicate with the communication circuitry 282 of the station 20 via the communication circuitry 182 through wired/wireless communication, and may obtain data on whether the inlet blockage event of the station 20 has occurred.

[0262] In addition, the processor 191 of the robot cleaner 10 may receive data including information (e.g., information about a detection value of the pressure sensor 270) for determining whether the inlet blockage event of the station 20 has occurred via the communication circuitry 182, and may determine whether the inlet blockage event has occurred based on the information received from the station 20.

[0263] The robot cleaner 10 may perform the dirt discharge process until the data about the inlet blockage event is received from the station 20 (NO in operation 1505).

[0264] The robot cleaner 10 may stop the dirt discharge process (1506), based on receiving the data about the inlet blockage event from the station 20 (Yes in operation 1505). After stopping the dirt discharge process, the robot cleaner 10 may adjust the location of the robot cleaner 10 to be in a correct position (1507).

[0265] Adjusting the location of the robot cleaner 10 may include determining a driving speed and/or driving distance of the robot cleaner 10 to allow the main wheels 121 of the robot cleaner 10 to be seated on the second wheel seating portion 2114 (i.e., to allow the robot cleaner 10 to be seated on the second seating position), and moving the robot cleaner.

[0266] In this instance, the processor 191 of the robot cleaner 10 may determine the driving speed and the driving distance of the robot cleaner 10 to allow the main wheels 121 of the robot cleaner 10 to be seated on the second wheel seating portion 2114. The processor 191 of the robot cleaner 10 may determine the driving speed and/or the driving distance of the robot cleaner 10. For example, the processor 191 of the robot cleaner 10 may determine the driving speed and/or the driving distance to allow the main wheels 121 of the robot cleaner 10 to move to the second wheel seating portion 2114 and move within a driving distance of approximately 10 mm at a driving speed of approximately 50 mm/s.

[0267] Accordingly, the processor 191 of the robot cleaner 10 may control the motion driver 120 to move the robot cleaner 10 according to the determined driving speed and/or driving distance.

[0268] The robot cleaner 10 may restart the dirt discharge process (1508), after the location adjustment is completed. The robot cleaner 10 may determine whether the dirt discharge is completed (1509). For example, the robot cleaner 10 may determine that the dirt discharge is completed when a preset time has elapsed after the dirt discharge process is restarted. However, the disclosure is not limited thereto, and the robot cleaner 10 may determine whether the dirt discharge process is completed in various ways. For example, the robot cleaner 10 may determine that the dirt discharge process is completed by receiving a signal indicating the completion of the dirt discharge (intake) process from the station 20.

[0269] Based on determining that the dirt discharge is not completed (NO in operation 1509), the robot cleaner 10 may perform the dirt discharge process.

[0270] Based on determining that the dirt discharge is completed (Yes in operation 1509), the robot cleaner 10 may return to the first seating position (1510).

[0271] Returning to the first seating position may include moving to a position where the main wheels 121 of the robot cleaner 10 are seated on the first wheel seating portion 2113. After returning to the first seating position, the robot cleaner 10 may perform a preparation process for performing a subsequent cleaning process. For example, the robot cleaner 10 may perform a charging process to charge the battery 150 and/or a washing process to wash the mop 160. In addition, the robot cleaner 10 may stand by at the station 20 until the subsequent cleaning process.

[0272] FIG. 16 and FIG. 17 are flowcharts illustrating an example method of controlling the station 20 to perform a dirt discharge process at an accurate location according to an embodiment.

[0273] According to an embodiment, the station 20 may start a dirt intake process (1601). The dirt intake process of the station 20 may be performed simultaneously with the dirt discharge process of the robot cleaner 10. For example, operation 1504 of FIG. 15 and operation 1601 of FIG. 16 may be performed simultaneously.

[0274] Specifically, in order to start the dirt intake process, the processor 291 of the station 20 may control the lever device 140 to couple the opening link 140a and the lower door 141a of the dust bin 141 to open the lower door 141a. In this instance, the processor 291 of the station 20 may control the lever device 140 to rotate the opening link 140a, coupled to the lower door 141a, in a direction away from the inlet 213. Accordingly, the opening of the dust bin 141 may be in a position corresponding to the inlet 213 of the station 20. The processor 291 of the station 20 may control the station intake motor 224 to move the dirt collected in the dust bin 141 to the dirt container 223 of the collection device 227. In this instance, because the station intake motor 224 is driven by the processor 291 of the station 20, air may flow in the dirt collection duct 225 due to the suction force of the intake motor 224, and air pressure may be generated in the dirt collection duct 225.

[0275] The station 20 may determine whether a detection value of the pressure sensor 270 is less than a reference pressure for a reference time (1602). In this instance, the reference time and/or the reference pressure may be preset. In a case where the dust bin 141 of the robot cleaner 10 is not in a position where the lever device 140 may open the lower door 141a of the dust bin 141 by a predetermined angle or more, a cross-sectional area of the inlet 213 is not sufficiently secured, and thus the detection value of the pressure sensor 270 may be measured as lower than the reference pressure for the reference time.

[0276] Referring to FIG. 10, in order for the lever device 140 to open the lower door 141a of the dust bin 141 by a predetermined angle or more, the main wheels 121 require to be seated on the second wheel seating portion 2114 when the robot cleaner 10 is seated on the station 20. Accordingly, the detection value of the pressure sensor 270 being less than the reference pressure may include the main wheels 121 of the robot cleaner 10 not being seated on the second wheel seating portion 2114.

[0277] The station 20 may continue to perform the dirt intake process, in a case where the detection value of the pressure sensor 270 increases to more than the reference pressure for the reference time (NO in operation 1602).

[0278] That is, in a case where the detection value of the pressure sensor 270 increases to more than the reference pressure for the reference time, the processor 291 of the station 20 may determine that the main wheels 121 of the robot cleaner 10 are seated on the second wheel seating portion 2114 and may continue to perform the dirt intake process.

[0279] On the other hand, in a case where the detection value of the pressure sensor 270 does not increase to more than the reference pressure for the reference time (i.e., in a case where the detection value of the pressure sensor 270 is less than the reference pressure for the reference time, Yes in operation 1602), the station 20 may determine that an inlet blockage event has occurred (1603).

[0280] Accordingly, the station 20 may transmit a signal indicating that the inlet blockage event has occurred by communicating with the robot cleaner 10 via the communication circuitry 282 through wired/wireless communication (1604). That is, operation 1604 of FIG. 16 may correspond to Yes of operation 1505 of FIG. 15.

[0281] The station 20 may stop the dirt intake process (1605). The occurrence of the blockage event may include the main wheels 121 of the robot cleaner 10 not being seated on the second wheel seating portion 2114. Accordingly, the station 20 may stop the dirt intake process to prevent the dirt collected in the dust bin 141 from leaking out of the robot cleaner 10 due to the dirt intake process performed while adjusting the location of the robot cleaner 10.

[0282] The station 20 may simultaneously or separately transmit the signal indicating the occurrence of the inlet blockage event to the robot cleaner 10, and stop the dirt intake process.

[0283] Referring to FIG. 17, the station 20 may perform an operation to close the opening of the dust bin 141 in order to prevent the collected dirt from leaking out of the robot cleaner 10 in addition to stopping the dirt intake process.

[0284] The station 20 may control the lever device 140 to rotate the opening link 140a toward the inlet (1606).

[0285] As described above, the processor 291 of the station 20 may control the lever device 140 to open the lower door 141a of the dust bin 141 as the dirt intake process starts (i.e., operation 1601). That is, the opening link 140a coupled to the lower door 141a may be maintained in a state rotated by a predetermined angle in a direction away from the inlet 213.

[0286] In this instance, the processor 291 of the station 20 may control the lever device 140 to close the inlet 213 based on the dirt intake process being stopped (1606).

[0287] The processor 291 of the station 20 may control the lever device 140 to rotate the opening link 140a coupled to the door 141a toward the inlet 213.

[0288] As a result, the lower door 141a of the dust bin 141 may be closed, and the opening of the dust bin 141 may also be closed. That is, the processor 291 of the station 20 may control the lever device 140 to close the opening of the dust bin 141 before the location adjustment of the robot cleaner (i.e., operation 1507 of FIG. 15), thereby preventing the dirt in the dust bin 141 from being leaking to the outside.

[0289] The station 20 may determine whether the location adjustment of the robot cleaner 10 is completed (1607), after controlling the lever device 140 to close the opening of the dust bin 141.

[0290] For example, the processor 291 of the station 20 may communicate with the robot cleaner 10 via the communication circuitry 282 through wired/wireless communication, and may determine whether the location adjustment of the robot cleaner 10 is completed based on whether a location adjustment completion signal is received from the robot cleaner 10.

[0291] In another example, the station 20 may determine whether the location adjustment of the robot cleaner 10 is completed based on information about the location of the robot cleaner 10 obtained by the location detection sensor 170 of the robot cleaner 10 through communication with the robot cleaner 10.

[0292] In still another example, the station 20 may include a physical switch (not shown) in the second wheel seating portion 2114, and may determine whether the location adjustment of the robot cleaner 10 is completed based on the on/off of the physical switch.

[0293] The processor 291 of the station 20 may restart the dirt intake process (1608), based on determining that the location adjustment of the robot cleaner 10 is completed.

[0294] The station 20 may control the lever device 140 to open the inlet 213 (1609).

[0295] Specifically, based on determining that the location adjustment of the robot cleaner 10 is completed, the processor 291 of the station 20 may control the lever device 140 to rotate the opening link 140a toward the inlet 213. Thereafter, the processor 291 of the station 20 may control the lever device 140 to rotate the opening link 140a in a direction away from the inlet 213 based on the opening link 140a being coupled to the lower door 141a. Accordingly, the inlet 213 may be opened, and the dust bin 141 of the robot cleaner 10 and the dirt container 223 of the station 20 may be in communication through the dirt collection duct 225.

[0296] As a result, the station 20 may close the inlet 213 when the robot cleaner 10 moves to perform the dirt intake process, thereby preventing the cleaning apparatus 1 and an environment around the cleaning apparatus 1 from being contaminated by the dirt in the dust bin 141.

[0297] According to an embodiment of the disclosure, a cleaning apparatus 1 may include: a robot cleaner 10 including a motion driver 120 including a main wheel 121 and a wheel motor configured to drive the main wheel 121, and a dust bin 141 configured to store dirt and have an openable side; a station 20 including a dirt container 223, a seating portion 2111 on which the robot cleaner 10 is seated and including an inlet 213 through which the dirt is introduced from the dust bin 141, and a dirt collection duct 225 configured to have one end communicating with the inlet 213 and another end communicating with the dirt container 223; and at least one processor 191 and 291 configured to control operation of the robot cleaner 10 and the station 20. The robot cleaner 10 may further include a location detection sensor 170 configured to obtain information about a location of the robot cleaner 10 according to a movement of the robot cleaner 10 by the motion driver 120, the station 20 may further include a pressure sensor 270 configured to obtain information about a pressure inside the dirt collection duct 225, and the at least one processor 191 and 291 may be configured to control the motion driver 120 to adjust the location of the robot cleaner 10 to allow an opening of the dust bin 141 to correspond to the inlet 213 based on the information obtained by the location detection sensor 170 and the pressure sensor 270.

[0298] The seating portion 2111 may include a first wheel seating portion 2113 on which the main wheel 121 is seated and a second wheel seating portion 2114 spaced apart from the first wheel seating portion 2113, and the first wheel seating portion 2113 may be arranged in front of the second wheel seating portion 2114 based on a direction where the robot cleaner 10 enters the station 20.

[0299] The robot cleaner 10 may further include a battery 150 and a robot cleaner charging terminal 151 configured to charge the battery 150, the station 20 may further include a station charging terminal 218 configured to connect to the robot cleaner charging terminal 151, and the at least one processor 191 and 291 may be configured to determine that the main wheel 121 is located on the first wheel seating portion 2113 based on the robot cleaner charging terminal 151 being connected to the station charging terminal 218.

[0300] The location detection sensor 170 may include a Hall sensor configured to detect a magnetic field between the Hall sensor and a magnetic object, and the magnetic object is spaced apart from the Hall sensor.

[0301] The station 20 may include the magnetic object, and the information about the location of the robot cleaner 10 obtained by the location detection sensor 170 may include at least one of the location of the robot cleaner 10 based on the station 20 or a distance between the station 20 and the robot cleaner 10.

[0302] The main wheel 121 may include an encoder disk and the magnetic object attached to the encoder disk, and the information about the location of the robot cleaner 10 obtained by the location detection sensor 170 may include at least one of a driving direction, a rotation speed, or a rotation angle of the main wheel 121.

[0303] The at least one processor 191 and 291 may be configured to redetermine whether the main wheel 121 is located on the first wheel seating portion 2113 based on the information about the location of the robot cleaner 10 obtained by the location detection sensor 170, after determining that the main wheel 121 is located on the first wheel seating portion 2113 based on the robot cleaner charging terminal 151 being connected to the station charging terminal 218.

[0304] The at least one processor 191 and 291 may be configured to move the main wheel 121 to the second wheel seating portion 2114 based on determining that the main wheel 121 is located on the first wheel seating portion 2113.

[0305] The at least one processor 191 and 291 may be configured to determine at least one of a driving speed or a driving distance for moving the main wheel 121 to the second wheel seating portion 2114 based on the information about the location of the robot cleaner 10 obtained by the location detection sensor 170.

[0306] The station 20 may include a station intake motor 224 configured to generate suction force for moving the dirt to the dirt container 223, and the at least one processor 191 and 291 may be configured to determine whether a detection value of the pressure sensor 270 is less than a preset reference pressure for a preset reference time, based on the main wheel 121 is seated on the second wheel seating portion 2114 and the station intake motor 224 operates.

[0307] The at least one processor 191 and 291 may be configured to control the motion driver 120 to adjust the location of the robot cleaner 10 based on the detection value of the pressure sensor 270 being less than the preset reference pressure for the preset reference time.

[0308] The robot cleaner 10 may further include a lower door 141a provided at the opening of the dust bin 141, the station 20 may further include a lever device 140 including an opening link 140a coupled to the lower door 141a, and configured to open and close the opening of the dust bin 141 by rotating the opening link 140a, and the at least one processor 191 and 291 may be configured to control the lever device 140 to close the opening of the dust bin 141 so as to close the inlet 213, before controlling the motion driver 120 to adjust the location of the robot cleaner 10 based on the detection value of the pressure sensor 270 being less than the preset reference pressure for the preset reference time.

[0309] According to an embodiment of the disclosure, in a method for controlling a cleaning apparatus 1 including a robot cleaner 10 and a station 20 on which the robot cleaner 10 is seated, the method may include: entering, by the robot cleaner 10, the station 20 to sit on the station 20 and perform a dirt discharge process; obtaining information about a location of the robot cleaner 10 from a location detection sensor 170; obtaining information about a pressure inside a dirt collection duct 225 of the station 20 from a pressure sensor 270; and adjusting the location of the robot cleaner 10 to allow an opening of a dust bin 141 of the robot cleaner 10 to correspond to an inlet 213 of the station 20 through which dirt is introduced from the dust bin 141 based on the information obtained by the location detection sensor 170 or the pressure sensor 270.

[0310] The station 20 may include a first wheel seating portion 2113 on which a main wheel 121 of the robot cleaner 10 is seated and a second wheel seating portion 2114 spaced apart from the first wheel seating portion 2113. The first wheel seating portion 2113 may be arranged in front of the second wheel seating portion 2114 based on a direction where the robot cleaner 10 enters the station 20. The method may further include determining that the main wheel 121 is located on the first wheel seating portion 2113 based on a robot cleaner charging terminal 151 being connected to a station charging terminal 218.

[0311] The location detection sensor 170 may include a Hall sensor, and the method may further include: obtaining the information about the location of the robot cleaner 10 from the location detection sensor 170; and detecting a magnetic field between the Hall sensor and a magnetic object spaced apart from the Hall sensor.

[0312] The station 20 may include the magnetic object, and the obtaining of the information about the location of the robot cleaner 10 from the location detection sensor 170 may include obtaining at least one of the location of the robot cleaner 10 based on the station 20 or a distance between the station 20 and the robot cleaner 10.

[0313] The main wheel 121 may include an encoder disk and a magnetic object attached to the encoder disk, and the obtaining of the information about the location of the robot cleaner 10 from the location detection sensor 170 may include obtaining at least one of a driving direction, a rotation speed, or a rotation angle of the main wheel 121.

[0314] The method may further include re-determining whether the main wheel 121 is located on the first wheel seating portion 2113 based on the information about the location of the robot cleaner 10 obtained by the location detection sensor 170, after determining that the main wheel 121 is located on the first wheel seating portion 2113 based on the robot cleaner charging terminal 151 being connected to the station charging terminal 218.

[0315] The method may further include moving the main wheel 121 to the second wheel seating portion 2114 based on determining that the main wheel 121 is located on the first wheel seating portion 2113.

[0316] The method may further include determining at least one of a driving speed or a driving distance for moving the main wheel 121 to the second wheel seating portion 2114 based on the information about the location of the robot cleaner 10 obtained by the location detection sensor 170.

[0317] The station 20 may include a station intake motor 224 configured to generate suction force for moving the dirt to the dirt container 223, and the method may further include determining whether a detection value of the pressure sensor 270 is less than a preset reference pressure for a preset reference time based on the main wheel 121 is seated on the second wheel seating portion 2114 and the station intake motor 224 operates, and controlling the motion driver 120 of the robot cleaner 10 to adjust the location of the robot cleaner 10 based on the detection value of the pressure sensor 270 being less than the preset reference pressure for the preset reference time.

[0318] According to an aspect of the disclosure, the cleaning apparatus 1 may improve user convenience.

[0319] According to an aspect of the disclosure, the cleaning apparatus 1 may improve cleaning efficiency.

[0320] According to an aspect of the disclosure, the cleaning apparatus 1 may guide a robot cleaner to allow an outlet of the robot cleaner to correspond exactly to an inlet of a station during a dirt discharge process of the robot cleaner for a hygienic cleaning environment.

[0321] According to an aspect of the disclosure, first and second seating positions where a robot cleaner 10 is seated on a station 20 may be distinguished depending on a process performed by a cleaning apparatus, thereby preventing washing water for performing a washing process from splashing into an inlet of the station and preventing a decrease in dust suction efficiency.

[0322] Technical aspects that can be achieved by the disclosure are not limited to the above-mentioned aspects, and other technical aspects not mentioned will be clearly understood by one of ordinary skill in the technical art to which the disclosure belongs from the following description. Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program codes, and when executed by a processor, the instructions may create a program module to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0323] The computer-readable recording medium may include all kinds of recording media storing instructions that can be interpreted by a computer. For example, the computer-readable recording medium may be read only memory (ROM), random access memory (RAM), a magnetic tape, a magnetic disc, a flash memory, an optical data storage device, etc.

[0324] The computer-readable recording medium may be provided in the form of a non-transitory storage medium. The term non-transitory storage medium may mean a tangible device without including a signal, e.g., electromagnetic waves, and may not distinguish between storing data in the storage medium semi-permanently and temporarily. For example, the non-transitory storage medium may include a buffer that temporarily stores data.

[0325] The methods according to the various embodiments disclosed herein may be provided in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read only memory (CD-ROM)), or may be distributed through an application store (e.g., Play Store) online. In the case of online distribution, at least a portion of the computer program product may be stored at least semi-permanently or may be temporarily generated in a storage medium, such as a memory of a server of a manufacturer, a server of an application store, or a relay server.

[0326] Although embodiments of the disclosure have been described with reference to the accompanying drawings, a person having ordinary skilled in the art will appreciate that other specific modifications may be easily made without departing from the technical spirit or essential features of the disclosure. Accordingly, the foregoing embodiments should be regarded as illustrative rather than limiting in all aspects.