STATION, CLEANING SYSTEM INCLUDING STATION, AND CLEANING PAD REPLACING METHOD OF STATION

TECHNICAL FIELD

The disclosure relates to a station, a cleaning system including the station, and a cleaning pad replacing method of the station, and more particularly, to a station for a cleaner capable of being mounted with a cleaning pad, a cleaning system including the station, and a cleaning pad replacing method of the station.

BACKGROUND ART

A cleaner is a device for cleaning a cleaning target space by removing foreign substances such as dust accumulated on the floor. Generally, as a type of cleaner, a robot cleaner may automatically clean a cleaning target space while moving through the cleaning target space without user operation.

Recently, not only robot cleaners having a function of sucking up foreign substances such as dust on the floor, but also robot cleaners having a function of wiping dust off the floor have been introduced. A robot cleaner for wiping dust off the floor may include a cleaning pad for wiping off dust. However, the cleaning pad may be contaminated in the cleaning process.

DISCLOSURE
Technical Solution

The pad replacement unit, the pad storage unit, and the pad transfer unit may be configured so that (a) the pad transfer unit is movable in a first direction along a movement path from the pad replacement unit to the pad storage unit while supporting a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit to be received in the received pad container, and (b) the pad transfer unit is movable in a second direction, opposite the first direction, along the movement path from the pad storage unit to the pad replacement unit while supporting a new pad that was stored in the pad supply container and supplied to the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner.

According to an embodiment, the pad storage unit may be configured to move the received pad container and the pad supply container so that the received pad container is located on the movement path when the used pad is to be received in the received pad container, and the pad supply container is located on the movement path when the new pad is to be supplied to the pad transfer unit.

The robot cleaner, the pad replacement unit, the pad storage unit, and the pad transfer unit may be configured so that (a) the pad transfer unit is movable in a first direction along a movement path from the pad replacement unit to the pad storage unit while supporting a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit to be received in the received pad container, and (b) the pad transfer unit is movable in a second direction, opposite the first direction, along the movement path from the pad storage unit to the pad replacement unit while supporting a new pad that was stored in the pad supply container and supplied to the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner.

According to an embodiment of the disclosure, the pad storage unit may be configured to move the received pad container and the pad supply container so that the received pad container is located on the movement path when the used pad is to be received in the received pad container, and the pad supply container is located on the movement path when the new pad is to be supplied to the pad transfer unit.

The pad replacement unit, the pad storage unit, and the pad transfer unit may be configured so that (a) the pad transfer unit moves the received pad container and the pad supply container so that the received pad container is located on a movement path of the pad transfer unit extending from the pad replacement unit to the pad storage unit, and the pad supply container is not located on the movement path, (b) with the received pad container located on the movement path, the pad transfer unit ascends along the movement path while supporting a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit, (c) after the used pad is moved to the pad storage unit, the pad transfer unit descends along the movement path so that the used pad is stored in the received pad container, (d) after the used pad is stored in the received pad container, the pad transfer unit moves the received pad container and the pad supply container so that the pad supply container is located on the movement path, and the received pad container is not located on the movement path, (e) after the pad supply container is located on the movement path, the pad transfer unit ascends along the movement path so that a new pad stored in the pad supply container is picked up by the pad transfer unit, and (f) after the new pad is picked up by the pad transfer unit, the pad transfer unit descends along the movement path while supporting the new pad that was picked up by the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner.

The cleaning pad replacement method may include (a) moving, by the pad storage unit, the received pad container and the pad supply container so that the received pad container is located on a movement path of the pad transfer unit that extends from the pad replacement unit to the pad storage unit and the pad supply container is not located on the movement path; (b) moving the pad transfer unit in a first direction along the movement path from the pad replacement unit to the pad storage unit while the received pad container is located on the movement path and the pad transfer unit supports a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit to be received in the received pad container; (c) after the used pad is received in the received pad container, moving, by the pad storage unit, the received pad container and the pad supply container so that the pad supply container is located on the movement path and the received pad container is not located on the movement path; (d) supplying a new pad stored in the pad supply container located on the movement path to the pad transfer unit; and (e) moving the pad transfer unit in a second direction, opposite the first direction, along the movement path from the pad storage unit to the pad replacement unit while the pad transfer unit supports the new pad supplied to the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner.

DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view illustrating a cleaning system according to an embodiment of the disclosure.

FIG. 2 is a diagram for describing an example of a robot cleaner of FIG. 1.

FIG. 3 is a cross-sectional view illustrating a station according to an embodiment of the disclosure.

FIG. 4 is a cross-sectional view for describing an example of a state in which a pad storage unit is separated in the station of FIG. 3.

FIG. 5 is a perspective view mainly illustrating an internal configuration of the station of FIG. 3.

FIG. 6 is a perspective view mainly illustrating a pad storage unit and a pad transfer unit in the station of FIG. 5.

FIG. 7 is a diagram for describing the rotation of the pad storage unit in the station of FIG. 5.

FIG. 8 is a flowchart for describing a cleaning pad replacing method using a station according to an embodiment of the disclosure.

FIGS. 9 to 11 are diagrams for describing a process in which a used pad is transferred to a received pad container by a pad transfer unit in a station according to an embodiment of the disclosure.

FIGS. 12A and 12B are diagrams for describing the positional movement of a pad storage unit in a station according to the embodiment of the disclosure.

FIGS. 13 and 14 are diagrams for describing a process in which a new pad is transferred from a pad supply container to a pad replacement unit by a pad transfer unit in a station according to an embodiment of the disclosure.

FIG. 15 is a perspective view illustrating a pad holder of a pad transfer unit according to an embodiment of the disclosure.

FIG. 16 is a perspective view for describing an operation mechanism of a hook member in the pad holder of FIG. 15.

FIGS. 17A and 17B are cross-sectional perspective views for describing an operation of the pad holder of FIG. 15.

FIG. 18 is a cross-sectional perspective view illustrating a state of the pad holder when the pad transfer unit of FIG. 15 is located at the pad replacement unit.

FIGS. 19 to 21 are diagrams for describing a process in which a used pad is transferred to a received pad container by a pad holder.

FIG. 22 is a cross-sectional view illustrating a state before a new pad is supported by a pad transfer unit in a station according to an embodiment of the disclosure.

FIG. 23 is a cross-sectional view illustrating a state in which a new pad is supported by a pad transfer unit in the station of FIG. 22.

FIG. 24 is a cross-sectional view illustrating a state in which a new pad is supported by a pad transfer unit, at a different angle from that of FIG. 21.

FIGS. 25 and 26 are cross-sectional views illustrating a state in which a new pad is transferred by a pad transfer unit in a station of FIG. 24.

FIG. 27 is a top view of a pad supply container according to an embodiment of the disclosure.

FIG. 28 is a block diagram conceptually illustrating some components of a station according to an embodiment of the disclosure.

FIGS. 29 and 30 are diagrams for describing a process in which a robot cleaner replaces a cleaning pad in a station in a cleaning system according to an embodiment of the disclosure.

FIG. 31 is a cross-sectional view conceptually illustrating a station including a pad storage unit according to an embodiment of the disclosure.

FIGS. 32 and 33 are diagrams for describing the positional movement of a pad storage unit in the station of FIG. 31.

MODE FOR INVENTION

Hereinafter, an embodiment of the disclosure will be described in detail with reference to the accompanying drawings. In the drawings, like reference numerals or symbols denote like components or elements that perform substantially the same function.

Although terms such as “first” and “second” may be used herein to describe various elements, the elements should not be limited by the terms. These terms are only used to distinguish one element from another element. For example, without departing from the scope of the disclosure, a first element may be referred to as a second element, and vice versa. As used herein, the term “and/or” includes any one or any combination of the associated listed items.

The terms used herein are used to describe an embodiment of the disclosure and are not intended to restrict and/or limit the disclosure. As used herein, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that terms such as “comprise”, “include”, and “have”, when used herein, specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof. In the drawings, like reference symbols denote like members that perform substantially the same function.

FIGS. 1 and 2 are perspective views illustrating a cleaning system 1 according to an embodiment of the disclosure, FIG. 1 illustrates a state in which a robot cleaner 10 has entered a station 100, and FIG. 2 illustrates a state in which the robot cleaner 10 has not entered the station 100.

Referring to FIGS. 1 and 2, the cleaning system 1 according to the embodiment of the disclosure may include a robot cleaner 10 and a station 100 arranged to replace a cleaning pad P of the robot cleaner 10.

The robot cleaner 10 may include the cleaning pad P. While the robot cleaner 10 moves, the floor surface may be cleaned by the cleaning pad P. As an example, wet cleaning may be performed by the cleaning pad P. As another example, dry cleaning may be performed by the cleaning pad P.

The cleaning pad P may have a disk shape and may include a plurality of cleaning pads. For example, each of a pair of cleaning pads P may have a disk shape. The disk-shaped cleaning pad P may rotate such that its lower portion repeatedly contacts the floor surface. However, the shape, number, and operation type of the cleaning pad P are not limited thereto and may be variously modified. For example, the cleaning pad P may be singular and may be rectangular. For example, the cleaning pad P may not rotate.

The robot cleaner 10 may be configured to move automatically. For example, the robot cleaner 10 may include a sensor 12 for detecting the surroundings and a moving wheel for front/back movement and rotation. Accordingly, the robot cleaner 10 may move on a cleaning area and automatically clean the cleaning area.

The cleaning pad P may be detachably mounted on the robot cleaner 10. For example, the cleaning pad P may be detachably mounted on a body 11 of the robot cleaner 10 by a Velcro method. For example, the cleaning pad P may be detachably mounted on the body 11 of the robot cleaner 10 by a magnetic force.

The robot cleaner 10 may include a component (not illustrated) for moving the cleaning pad P up/down with respect to the body 11. Accordingly, a used-up cleaning pad P may be separated from the body 11 of the robot cleaner 10, and an unused new cleaning pad P may be mounted on the body 11. However, a component for separating/mounting the cleaning pad P from/on the robot cleaner 10 is not limited thereto and may be variously configured.

The station 100 may be configured to receive (or recover) a used pad (hereinafter referred to as “used pad P1”) that is a cleaning pad P separated from the robot cleaner 10 and supply a new pad (hereinafter referred to as “new pad P2”) that is a cleaning pad P to be coupled to the robot cleaner 10. In other words, the station 100 may be configured to replace the cleaning pad P.

The station 100 may include a station body 110 and a pad replacement unit 120 arranged in the station body 110 to replace the cleaning pad P of the robot cleaner 10.

A partial area of the robot cleaner 10 may be located on the pad replacement unit 120 such that it overlaps the pad replacement unit 120 in the up/down direction. The robot cleaner 10 may separate a used pad P1 or mount a new pad P2 while located on the pad replacement unit 120. When the robot cleaner 10 enters the station 100 with the cleaning pad P mounted thereon, the pad replacement unit 120 of the station 100 may be in an empty state where a cleaning pad P is not arranged therein such that the cleaning pad P may be separated from the robot cleaner 10. On the contrary, when the robot cleaner 10 enters the station 100 without the cleaning pad P mounted thereon, the pad replacement unit 120 of the station 100 may be in a state where a cleaning pad P to be mounted on the robot cleaner 10 is arranged therein.

The station 100 may perform other functions than a function of replacing the cleaning pad P. For example, when the robot cleaner 10 includes a battery, the station 100 may perform a function of charging the battery of the robot cleaner 10. For example, when the robot cleaner 10 includes a dust bin for storing dust, the station 100 may perform a function of emptying the dust bin of the robot cleaner 10. For example, when the robot cleaner 10 includes a water tank for water cleaning, the station 100 may perform a function of supplying water to the water tank of the robot cleaner 10.

FIG. 3 is a cross-sectional view illustrating a station 100 according to an embodiment of the disclosure. FIG. 4 is a cross-sectional view for describing an example of a state in which a pad storage unit 150 is separated in the station 100 of FIG. 3. FIG. 5 is a perspective view mainly illustrating an internal configuration of the station 100 of FIG. 3, and FIG. 6 is a perspective view mainly illustrating a pad storage unit 150 and a pad transfer unit 140 in the station 100 of FIG. 5. FIG. 7 is a diagram for describing the rotation of the pad storage unit 150 in the station 100 of FIG. 5.

Referring to FIGS. 3 and 4, the station 100 according to an embodiment of the disclosure may include a station body 110, a pad replacement unit 120, a pad storage unit 150, and a pad transfer unit 140.

The station body 110 may include a station base 111 and a station tower 112 arranged over the station base 111. The station body 110 may further include a tower support unit 113 configured to support the station tower 112 such that the station tower 112 is spaced apart from the station base 111.

The station base 111 may provide a space in which the robot cleaner 10 (see FIG. 1) may be located. The robot cleaner 10 may move onto the station base 111 when the cleaning pad P needs to be replaced. The station base 111 may include an inclined surface to facilitate entry and exit of the robot cleaner 10.

The station base 111 may include a certain space therein by including an inclined surface. A configuration for collecting dust collected inside the robot cleaner 10 may be arranged in a space arranged inside the station base 111.

The station tower 112 may be spaced apart from the station base 111 in the up/down direction Z. The spacing distance between the station tower 112 and the station base 111 may be greater than the height of the robot cleaner 10. The station tower 112 may accommodate the pad storage unit 150 therein.

The pad replacement unit 120 may be arranged in the station body 110. The pad replacement unit 120 may be arranged in the station body 110 such that the used pad P1 separated from the robot cleaner 10 is loaded thereinto.

For example, the pad replacement unit 120 may be arranged in the station base 111. In the station base 111, the pad replacement unit 120 may be arranged in an area overlapping the station tower 112 in the up/down direction Z. Accordingly, as illustrated in FIG. 1, when the robot cleaner 10 is located in the station body 110, the pad replacement unit 120 may be located to overlap the used pad P1 of the robot cleaner 10 in the up/down direction Z. For example, the pad replacement unit 120 may be located under the used pad P1 of the robot cleaner 10.

The used pad P1 separated from the robot cleaner 10 may be arranged in the pad replacement unit 120. The new pad P2 to be coupled to the robot cleaner 10 may be arranged in the pad replacement unit 120 at a different time than the used pad P1. For example, the new pad P2 may be arranged in the pad replacement unit 120 after the used pad P1 is received or recovered. In the pad replacement unit 120, the used pad P1 and the new pad P2 may be sequentially arranged at different times.

The pad storage unit 150 may be arranged in the station tower 112. The pad storage unit 150 may be configured to store the cleaning pad P. For example, the pad storage unit 150 may include a pad supply container 160 configured to store the new pad P2 and a received pad container 170 configured to store the used pad P1. The pad storage unit 150 may be arranged in the station body 110. The pad supply container 160 and the received pad container 170 may be arranged inside the station tower 112.

A dust collection container for collecting dust from the robot cleaner 10, a water tank for storing water to be supplied to the robot cleaner 10, and/or the like may be arranged inside the station tower 112. The pad storage unit 150 may be arranged in the up/down direction Z with respect to the dust collection container or the water tank. Accordingly, the area occupied by the pad storage unit 150 in the station 100 may be further reduced.

The pad storage unit 150 may be detachably assembled to the station tower 112 in a direction perpendicular to the stack direction of the cleaning pad P. For example, as illustrated in FIG. 4, the pad storage unit 150 may include a drawer 1120 detachably assembled to the station tower 112 in the front/back direction X. The user may pull the drawer 1120 backward from the station tower 112 to expose a portion of the pad storage unit 150 to the outside. For example, the pad supply container 160 or the received pad container 170 of the pad storage unit 150 may be exposed to the outside. In the state where the pad supply container 160 or the received pad container 170 is exposed to the outside, the new pad P2 may be added into the pad supply container 160 or the used pad P1 may be removed from the received pad container 170. In order to add the new pad P2 into the pad supply container 160, an upper cover 1601 of the pad supply container 160 may be separated to expose the internal space of the pad supply container 160 to the outside. In order to remove the used pad P1 from the received pad container 170, the upper cover 1701 of the received pad container 170 may be separated to expose the internal space of the received pad container 170 to the outside.

However, the assembly structure of the pad storage unit 150 is not limited thereto, and the movement direction of the drawer 1120 may be different therefrom or the drawer 1120 may not be included therein. For example, the pad storage unit 150 may not include the drawer 1120 and may be exposed to the outside when the upper cover 1121 of the station tower 112 is opened. In this case, the pad supply container 160 and the received pad container 170 of the pad storage unit 150 may be individually separated and assembled in the up/down direction Z.

The pad supply container 160 may be arranged in the station body 110 to be spaced apart from the pad replacement unit 120. For example, the pad supply container 160 may be arranged inside the station tower 112 to be spaced apart from the pad replacement unit 120. The new pad P2 to be arranged in the pad replacement unit 120 may be stored in the pad supply container 160. In the pad supply container 160, a plurality of new pads P2 may be stored in a stacked state in the up/down direction Z.

The received pad container 170 may be arranged in the station body 110 to be spaced apart from the pad replacement unit 120. For example, the pad supply container 160 may be arranged inside the station tower 112 arranged to be spaced apart from the pad replacement unit 120. The used pad P1 arranged in the pad replacement unit 120 may be stored in the received pad container 170. The received pad container 170 may be arranged inside the station tower 112.

The received pad container 170 may be arranged at the same height as the pad supply container 160. In other words, the pad supply container 160 may be arranged at the same height as the received pad container 170.

Referring to FIGS. 5 and 6, the pad transfer unit 140 may be arranged in the station body 110 to reciprocate between the pad replacement unit 120 and the pad storage unit 150. While the pad transfer unit 140 reciprocates, the used pad P1 and the new pad P2 may be transferred thereto. For example, the pad transfer unit 140 may move from the pad replacement unit 120 toward the pad storage unit 150 to transfer the used pad P1 to the pad storage unit 150 and may move from the pad storage unit 150 toward the pad replacement unit 120 to transfer the new pad P2 to the pad replacement unit 120.

The pad transfer unit 140 may ascend and descend to reciprocate between the pad replacement unit 120 and the pad storage unit 150 arranged in the up/down direction Z. For example, the pad transfer unit 140 may ascend from the pad replacement unit 120 toward the received pad container 170 of the pad storage unit 150 to transfer the used pad P1 to the received pad container 170. For example, the pad transfer unit 140 may descend from the pad supply container 160 of the pad storage unit 150 toward the pad replacement unit 120 to transfer the new pad P2 to the pad replacement unit 120.

The pad transfer unit 140 may be configured to move along a certain movement path. The pad transfer unit 140 may be configured to move in the up/down direction Z. For example, the pad transfer unit 140 may include a pad holder 141 supporting the cleaning pad P and a movement module 145 for reciprocating the pad holder 141 in the up/down direction Z. When the robot cleaner 10 is in a state before entering the station 100, the pad transfer unit 140 may have an initial state in which it is located at the pad replacement unit 120 and the cleaning pad P is not arranged therein.

The pad holder 141 may support the lower surface of the used pad P1 or the new pad P2. For example, the pad holder 141 may have a radial structure and may locally support the lower surface of the used pad P1 or the new pad P2. However, the shape of the pad holder 141 is not limited thereto and may be variously modified.

The movement module 145 may have a rack pinion structure for moving the pad holder 141 in the up/down direction Z. For example, the movement module 145 may include a pinion gear 146, a rack gear 147 moving in the up/down direction Z by the pinion gear 146, and a connection bar 148 connecting the rack gear 147 and the pad holder 141 to each other. As for the movement module 145, as the pinion gear 146 rotates, the rack gear 147 may ascend or descend and accordingly the pad holder 141 and the connection bar 148 connected to the rack gear 147 may ascend or descend. For example, as the pinion gear 146 rotates counterclockwise, the pad holder 141 may ascend together with the rack gear 147 and the connection bar 148. As the pinion gear 146 rotates clockwise, the pad holder 141 may descend together with the rack gear 147 and the connection bar 148.

The pad storage unit 150 may be configured such that the received pad container 170 and the pad supply container 160 are arranged on the movement path of the pad transfer unit 140 at different times. For example, the pad storage unit 150 may be configured to move the position of at least one of the received pad container 170 or the pad supply container 160 such that the pad holder 141 is inserted into the received pad container 170 when ascending in a state of supporting the used pad P1 and the pad holder 141 is inserted into the pad supply container 160 when ascending in an empty state without the used pad 141.

For example, the pad storage unit 150 may be configured such that the received pad container 170 and the pad supply container 160 rotate around a certain rotation axis AX. The rotation axis AX may be arranged between the received pad container 170 and the pad supply container 160. By the rotation of the pad storage unit 150, the positions of the received pad container 170 and the pad supply container 160 may be changed. The received pad container 170 and the pad supply container 160 may change their positions with each other at the same height. For example, by the rotation of the pad storage unit 150, the received pad container 170 may deviate from the movement path of the pad transfer unit 140 and the pad supply container 160 may be located on the movement path of the pad transfer unit 140. For example, by the rotation of the pad storage unit 150, the pad supply container 160 may deviate from the movement path of the pad transfer unit 140 and the received pad container 170 may be located on the movement path of the pad transfer unit 140.

Referring to FIGS. 6 and 7, for example, the pad storage unit 150 may include a rotation tray 151 rotatable inside the station tower 112 and a rotation module 152 configured to rotate the rotation tray 151.

The rotation tray 151 may be provided with a received pad container 170 and a pad supply container 160. Each of the number of received pad containers 170 and the number of pad supply containers 160 may correspond to the number of cleaning pads P mounted on the robot cleaner 10. For example, when the number of cleaning pads P mounted on the robot cleaner 10 is 2, the number of received pad containers 170 may be 2 and the number of pad supply containers 160 may be 2. However, each of the number of received pad containers 170 and the number of pad supply containers 160 is not limited thereto and may not correspond to the number of cleaning pads P mounted on the robot cleaner 10.

The rotation tray 151 may be arranged inside the drawer 1120 of the station tower 112. The rotation tray 151 may be arranged to be rotatable inside the drawer 1120. For example, the rotation tray 151 may be rotated in both directions inside the drawer 1120. The internal structure of the drawer 1120 may be designed by considering a rotation radius ROG of the rotation tray 151. For example, the drawer 1120 may have an internal structure arranged outside the rotation radius ROG of the rotation tray 151.

The rotation module 152 may be connected to transmit a rotational force to the rotation tray 151. For example, the rotation module 152 may be arranged to transmit a rotational force to a rotation axis AX of the rotation tray 151. For example, the rotation module 152 may be arranged to overlap the rotation tray 151 in the up/down direction Z. The rotation module 152 may include at least one gear 1521 connected to the rotation axis AX. The gear 1521 may be connected to a rotation motor 1122 installed inside the station tower 112 and may be rotated by the rotation motor 1522. However, the arrangement of the rotation module 152 is not limited thereto and the rotation module 152 may be arranged to transmit a rotational force to the edge of the rotation tray 151.

FIG. 8 is a flowchart for describing a cleaning pad replacing method using the station 100 according to an embodiment of the disclosure. FIGS. 9 to 11 are diagrams for describing a process in which the used pad P1 is transferred to the received pad container 170 by the pad transfer unit 140 in the station 100 according to an embodiment of the disclosure, FIGS. 12A and 12B are diagrams for describing the positional movement of the pad storage unit 150 in the station 100 according to the embodiment of the disclosure, and FIGS. 13 and 14 are diagrams for describing a process in which the new pad P2 is transferred from the pad supply container 160 to the pad replacement unit 120 by the pad transfer unit 140 in the station 100 according to an embodiment of the disclosure.

Referring to FIGS. 8 and 9, in the station 100 according to an embodiment of the disclosure, the pad transfer unit 140 is located at the pad replacement unit 120. The used pad P1 may be loaded onto the pad transfer unit 140 located at the pad replacement unit 120 (S10). Although not illustrated, the used pad P1 may be the cleaning pad P detached from the robot cleaner 10.

In the pad storage unit 150, the received pad container 170 may be located to overlap the pad replacement unit 120. In other words, the received pad container 170 may be located over the pad transfer unit 140 located at the pad replacement unit 120.

Referring to FIGS. 8 and 10, the pad transfer unit 140 may ascend such that the used pad P1 is transferred to the received pad container 170 (S20). The pad transfer unit 140 may move from the pad replacement unit 120 toward the received pad container 170. The used pad P1 may be transferred into the received pad container 170 by the pad transfer unit 140.

Referring to FIGS. 8 and 11, the pad transfer unit 140 may descend such that the used pad P1 transferred into the received pad container 170 is stored in the received pad container 170 (S30). The pad transfer unit 140 may descend to escape from the received pad container 170. When the pad transfer unit 140 descends, the used pad P1 may be separated from the pad transfer unit 140 and stored in the received pad container 170.

The descending distance by which the pad transfer unit 140 descends to escape from the received pad container 170 may be the distance by which the pad holder 141 of the pad transfer unit 140 may escape from the received pad container 170. The descending distance by which the pad transfer unit 140 descends to escape from the received pad container 170 may be less than the ascending distance by which the pad transfer unit 140 ascends to move from the pad replacement unit 120 to the received pad container 170. The descending distance by which the pad transfer unit 140 descends to escape from the received pad container 170 may be less than ½ of the ascending distance by which the pad transfer unit 140 ascends to move from the pad replacement unit 120 to the received pad container 170.

Referring to FIGS. 8, 12A, and 12B, the positions of the received pad container 170 and the pad supply container 160 may be moved such that the pad supply container 160 overlaps the pad transfer unit 140 (S40). Because the pad transfer unit 140 is located under the received pad container 170 and the pad supply container 160, the positions of the received pad container 170 and the pad supply container 160 may be moved without interference with the pad transfer unit 140.

For example, in order to move the positions of the received pad container 170 and the pad supply container 160, the pad storage unit 150 may rotate. For example, the rotation tray 151 of the pad storage unit 150 may rotate. By the rotation of the pad storage unit 150, the positions of the received pad container 170 and the pad supply container 160 may be interchanged with each other. For example, by the rotation of the pad storage unit 150, the received pad container 170 may move to a position not overlapping the pad transfer unit 140 and the pad supply container 160 may move to a position overlapping the pad transfer unit 140.

Referring to FIGS. 8 and 13, the pad transfer unit 140 may ascend such that the pad transfer unit 140 is inserted into the pad supply container 160 (S50). In the process of the pad holder 141 of the pad transfer unit 140 being inserted into the pad supply container 160, the new pad P2 may be supported by the pad holder 141. When a plurality of new pads P2 are stored inside the pad supply container 160, the pad holder 141 may support the lowermost new pad P2 among the plurality of new pads P2. The process of the new pad P2 being supported by the pad holder 141 will be described below.

Referring to FIGS. 8 and 14, the pad transfer unit 140 may descend to transfer the new pad P2 of the pad supply container 160 to the pad replacement unit 120 (S60). The lowermost new pad P2 inside the pad supply container 160 may be pulled downward by the pad transfer unit 140.

The movement path along which the pad transfer unit 140 moves to transfer the new pad P2 and the movement path along which the pad transfer unit 140 moves to transfer the used pad P1 may be the same as each other, except for opposite directions thereof. In other words, the movement path along which the pad transfer unit 140 ascends and the movement path along which the pad transfer unit 140 descends may be arranged on a single path. The movement path along which the pad transfer unit 140 ascends and the movement path along which the pad transfer unit 140 descends may be a common path.

The descending distance by which the pad transfer unit 140 descends to transfer the new pad P2 may be equal to the ascending distance by which the pad transfer unit 140 ascends to transfer the used pad P1. As another example, the descending distance by which the pad transfer unit 140 descends to transfer the new pad P2 may be different from the ascending distance by which the pad transfer unit 140 ascends to transfer the used pad P1.

Moreover, in the station 100 according to an embodiment of the disclosure, the pad transfer unit 140 may be configured to selectively support or separate the used pad P1 or the new pad P2 in order to transfer the used pad P1 from the pad replacement unit 120 to the received pad container 170 and transfer the new pad P2 from the pad supply container 160 to the pad replacement unit 120.

FIG. 15 is a perspective view illustrating a pad holder 141 of the pad transfer unit 140 according to an embodiment of the disclosure, and FIG. 16 is a perspective view for describing an operation mechanism of a hook member 142 in the pad holder 141 of FIG. 15. FIGS. 17A and 17B are cross-sectional perspective views for describing an operation of the pad holder 141 of FIG. 15. FIG. 18 is a cross-sectional perspective view illustrating a state of the pad holder 141 when the pad transfer unit 140 of FIG. 15 is located at the pad replacement unit 120.

Referring to FIGS. 15, 16, 17A, and 17B, the pad holder 141 may have a separation posture 1412 of allowing separation of the used pad P1 or the new pad P2 and a support posture 1411 of supporting the used pad P1 or the new pad P2. For example, the pad holder 141 may include a plurality of hook members 142 capable of pivoting to support the used pad P1 or the new pad P2.

Referring to FIG. 16, each of the plurality of hook members 142 may pivot around a certain rotation axis. For example, the plurality of hook members 142 include a first hook member 1421 capable of pivoting around a first rotation axis A1 and a second hook member 1422 capable of pivoting around a second rotation axis A2. The first rotation axis A1 and the second rotation axis A2 may be parallel to each other. The first hook member 1421 and the second hook member 1422 may be different from each other in at least one of shape or size. For example, the first hook member 1421 may include a single first hook member 1421 and the second hook member 1422 may include a plurality of second hook members 1422. When the first hook member 1421 and the second hook member 1422 pivot, the first hook member 1421 may be located between the plurality of second hook members 1422. When the first hook member 1421 and the second hook member 1422 pivot, the first hook member 1421 and the second hook member 1422 may overlap each other.

The pad holder 141 may further include elastic members 1431 and 1432 for pressing each of the plurality of hook members 142 to pivot in a certain direction. As illustrated in FIG. 16, the first hook member 1421 may be pressed by the elastic member 1431 to pivot counterclockwise and the second hook member 1422 may be pressed by the elastic member 1432 to pivot clockwise.

Referring to FIGS. 17A and 17B, the plurality of hook members 142 may pivot to be inserted into a pad hole PH of the used pad P1 or the new pad P2. When the plurality of hook members 142 pivot to be inserted into the pad hole PH of the used pad P1 or the new pad P2, the used pad P1 may be supported and fixed by the pad holder 141. By the hook member 142, the used pad P1 or the new pad P2 may be restricted from moving in the front/back direction X, the left/right direction Y, and the up/down direction Z on the pad holder 141. In this case, the pad holder 141 may have the support posture 1411.

The plurality of hook members 142 may be pressed by the elastic members 1431 and 1432 (see FIG. 16) such that the pad holder 141 maintains the support posture 1411. In other words, the plurality of hook members 142 may be pressed by the elastic members 1431 and 1432 to pivot in the direction of being inserted into the pad hole of the used pad P1 or the new pad P2. In other words, an elastic force may be applied such that the plurality of hook members 142 pivot in the direction away from each other.

The plurality of hook members 142 may pivot to escape from the pad hole PH of the used pad P1 or the new pad P2. As illustrated in FIG. 17B, the plurality of hook members 142 may pivot in the direction of approaching each other. When the plurality of hook members 142 have escaped from the pad hole PH of the used pad P1 or the new pad P2, the used pad P1 or the new pad P2 may be separated from the pad holder 141. The positional movement of the used pad P1 or the new pad P2 may not be restricted by the hook member 142. In this case, the pad holder 141 may have the separation posture 1412.

The pad holder 141 may vary in its posture depending on the position in the up/down direction Z. For example, the pad holder 141 may have the separation posture 1412 or the support posture 1411 depending on the position in the up/down direction Z. For example, the pad holder 141 may have the separation posture 1412 when located at the pad replacement unit 120, may have the support posture 1411 when moving from the pad replacement unit 120 toward the received pad container 170, and may have the separation posture 1412 when located at the received pad container 170.

Referring to FIG. 18, in the station 100 according to an embodiment of the disclosure, the pad holder 141 may be configured to have the separation posture 1412 when located at the pad replacement unit 120. As an example thereof, the station body 110 may include a first rotation guide unit 1111 for guiding the pivot of the hook member 142 when the pad holder 141 is located at the pad replacement unit 120. The first rotation guide unit 1111 may be arranged in the station base 111.

The first rotation guide unit 1111 may be arranged on the movement path of the hook member 142. The first rotation guide unit 1111 may provide a space in which the hook member 142 may pivot under the used pad P1 or the new pad P2 and may be configured to contact a partial area of the hook member 142, for example, the lower area of the hook member 142. For example, the first rotation guide unit 1111 may have a step portion capable of contacting the lower area of the hook member 142.

When the pad holder 141 descends toward the pad replacement unit 120, the hook member 142 may be pressed by the first rotation guide unit 1111 and the plurality of hook members 142 may pivot to approach each other. For example, the first hook member 1421 may be contacted and pressed by the first rotation guide unit 1111 to pivot around the first rotation axis A1 and the second hook member 1422 may be contacted and pressed by the first rotation guide unit 1111 to pivot around the second rotation axis A2. Thus, the first hook member 1421 and the second hook member 1422 may overlap each other and may escape from the pad hole PH. The pad holder 141 have the separation posture 1412.

In the state of the pad holder 141 having the separation posture 1412, the used pad P1 may be loaded onto the pad holder 141. The plurality of hook members 142 may be in the state of not protruding over the used pad P1.

FIGS. 19 to 21 are diagrams for describing a process in which the used pad P1 is transferred to the received pad container 170 by the pad holder 141.

Referring to FIG. 19, in the station 100, when the pad holder 141 moves from the pad replacement unit 120 to the pad storage unit 150, the pad holder 141 may have the support posture 1411. For example, when the pad holder 141 escapes from the pad replacement unit 120 and moves toward the pad storage unit 150, the press by the first rotation guide unit 1111 may be released and accordingly the hook member 142 may be inserted into and may protrude from the pad hole PH of the used pad P1. Accordingly, when the pad holder 141 ascends, the used pad P1 may be stably transferred in the state of being supported by the hook member 142.

Referring to FIG. 20, in the process of entering the received pad container 170, the pad holder 141 may be converted from the support posture 1411 to the separation posture 1412. When the pad holder 141 is located at the received pad container 170, the pad holder 141 may have the separation posture 1412.

As an example thereof, the received pad container 170 may include a second rotation guide unit 172 for guiding the pivot of the pad holder 141. The second rotation guide unit 172 may be arranged at the center of the received pad container 170. The second rotation guide unit 172 may extend in the transfer direction of the pad holder 141 and may contact and press the hook member 142 when the pad holder 141 is located at the received pad container 170.

When the pad holder 141 ascends toward the received pad container 170, the hook member 142 may be pressed by the second rotation guide unit 172. For example, in the process of the hook member 142 ascending, the upper area of the first hook member 1421 may be contacted and pressed by the second rotation guide unit 172 and thus the first hook member 1421 may pivot around the first rotation axis A1. In the process of the hook member 142 ascending, the upper area of the second hook member 1422 may be contacted and pressed by the second rotation guide unit 172 and thus the second hook member 1422 may pivot around the second rotation axis A2. Accordingly, the hook member 142 may pivot so as not to protrude from the pad hole PH of the used pad P1 on the pad holder 141. The used pad P1 may become detachable from the pad holder 141 in the received pad container 170.

Referring to FIG. 21, the received pad container 170 may be provided with a plurality of stoppers 171 for restricting the down movement of the used pad P1. The plurality of stoppers 171 may protrude from the inner peripheral surface of the received pad container 170. The plurality of stoppers 171 may be configured to allow the ascent of the use pad P1 and restrict the descent of the use pad P1. For example, the plurality of stoppers 171 may be configured to be folded upward. Accordingly, the plurality of stoppers 171 may be folded to allow the ascent of the use pad P1 when the use pad P1 ascends by the pad holder 141 and may be unfolded to restrict the descent of the used pad P1 after the use pad P1 ascends through the stopper 171.

When the pad holder 141 descends to escape from the received pad container 170, the used pad P1 may be supported by the stopper 171 in the received pad container 170. Accordingly, by the descent of the pad holder 141, the used pad P1 may be separated from the pad transfer unit 140 and stored in the received pad container 170.

Thereafter, as illustrated in FIGS. 12A and 12B, after the used pad P1 is stored in the received pad container 170, the positions of the pad supply container 160 and the received pad container may be changed such that the pad supply container 160 is located on the pad transfer unit 140.

FIG. 22 is a cross-sectional view illustrating a state before the new pad P2 is supported by the pad transfer unit 140 in the station 100 according to an embodiment of the disclosure, and FIG. 23 is a cross-sectional view illustrating a state in which the new pad P2 is supported by the pad transfer unit 140 in the station 100 of FIG. 22. FIG. 24 is a cross-sectional view illustrating a state in which the new pad P2 is supported by the pad transfer unit 140, at a different angle from that of FIG. 23. FIGS. 25 and 26 are cross-sectional views illustrating a state in which the new pad P2 is transferred by the pad transfer unit 140 in the station 100 of FIG. 24. FIG. 27 is a top view of the pad supply container 160 according to an embodiment of the disclosure.

Referring to FIG. 22, the pad holder 141 may enter the pad supply container 160 in the state of the hook member 142 being arranged to face upward. The pad holder 141 of the pad transfer unit 140 may contact the new pad P2 of the pad supply container 160 in the state of the plurality of hook members 142 protruding upward. The pad supply container 160 may not include a separate component for guiding the pivot of the hook member 142.

Each of the plurality of hook members 142 may have an insertion guide surface 1420 whose height decreases toward the outside. An outer diameter D1 formed by the insertion guide surface 1420 of the plurality of hook members 142 may be greater than a diameter D2 of the pad hole PH. The difference between the outer diameter D1 of a plurality of insertion guide surfaces 1420 and the diameter D2 of the pad hole PH may be less than the diameter D2 of the pad hole PH. The difference between the outer diameter D1 of the plurality of insertion guide surfaces 1420 and the diameter D2 of the pad hole PH may be less than ½ of the diameter D2 of the pad hole PH.

In the process of the pad transfer unit 140 ascending, the insertion guide surface 1420 of the hook member 142 may be inserted into the pad hole PH of the new pad P2 and a peripheral area of the pad hole PH in the new pad P2 may be bent by being contacted and pressed by the insertion guide surface 1420 of the hook member 142.

Referring to FIGS. 23 and 24, after the insertion guide surface 1420 of the plurality of hook members 142 passes through the pad hole PH, the new pad P2 may not be pressed by the insertion guide surface 1420 of the hook member 142 and accordingly the new pad P2 may be restored to its original shape. Accordingly, the lowermost new pad P2 located inside the pad supply container 160 may be supported by the hook member 142.

Referring to FIG. 24, the pad supply container 160 may be provided with a pad support unit 161 for supporting the new pad P2. The pad support unit 161 may support the lower portion of the lowermost new pad P2 among the plurality of new pads P2. The pad support unit 161 may support the lower surface of the edge of the new pad P2.

In this state, the pad holder 141 may descend to take out the new pad P2 from the pad supply container 160. In the process of the pad holder 141 descending toward the pad replacement unit 120, the lowermost used pad P1 may be pressed downward by the plurality of hook members 142. In the process of the new pad P2 being pressed downward by the hook member 142, the new pad P2 may contact the pad support unit 161 arranged in the pad supply container 160.

Referring to FIGS. 25 and 27, the pad support unit 161 may include a support area 1611 supporting the lower surface of the new pad P2 and a cut area 1612 for guiding the bending of the new pad P2. Accordingly, in the process of the pad holder 141 descending, the front and back areas of the lower surface of the edge of the new pad P2 may be supported by the support area 1611 of the pad support unit 161 and the left and right areas of the lower surface of the edge of the new pad P2 may overlap the cut area 1612 of the pad support unit 161. A portion of the edge of the lower surface of the new pad P2 may be supported by the support area 1611 of the pad support unit 161, but the other portion of the edge of the lower surface of the new pad P2 may not be supported by the cut area 1612 of the pad support unit 161. In this state, an external force may be applied downward to the new pad P2 by the plurality of hook members 142.

Due to the external force applied by the plurality of hook members 142, the new pad P2 may be bent as indicated by a dotted line in FIG. 25. The new pad P2 may be bent corresponding to the shape of the pad support unit 161. For example, the new pad P2 overlapping the cut area 1612 of the pad support unit 161 may descend as it is, and the new pad P2 overlapping the support area 1611 of the pad support unit 161 may descend while being bent. In other words, the front and back areas of the new pad P2 may be bent with respect to a center line connecting the incision area 1612 and thus the new pad P2 may exit the pad supply container 160.

Referring to FIG. 26, the new pad P2 having exited the pad supply container 160 may be released from the contact with the pad support unit 161 and thus may be restored to its original shape. For example, the new pad P2 having exited the pad supply container 160 may maintain the state of being supported by the pad transfer unit 140 in a substantially flat shape.

As described above, in the station 100 according to an embodiment of the disclosure, the path along which the used pad P1 is transferred by the pad transfer unit 140 and the path along which the new pad P2 is transferred by the pad transfer unit 140 may be common to each other. Because the pad transfer unit 140 is configured to transfer both the used pad P1 and the new pad P2, the space for the pad transfer unit 140 and the pad replacement unit 120 in the station body 110 may be minimized. In other words, because the used pad P1 may be received and the new pad P2 may be supplied through the pad transfer unit 140 commonly used to transfer the used pad P1 and the new pad P2, an area for the receiving of the used pad P1 and an area for the supply of the new pad P2 may not be separately arranged. Accordingly, in the station 100 according to an embodiment of the disclosure, the space efficiency of the station base 111 may be improved. For example, because only a limited area of the station base 111 is used for the replacement of the cleaning pad P, the other areas of the station base 111 may be used for other functions such as a dust suction function.

In the above embodiment of the disclosure, the structure of supporting the inside (e.g., the pad hole PH) of the used pad P1 or the new pad P2 by the hook member 142 inserted into the pad hole PH of the used pad P1 or the new pad P2 has been mainly described. However, the structure of supporting the used pad P1 or the new pad P2 by the pad holder 141 is not limited thereto and may be variously modified. For example, although not illustrated in the drawing, the pad holder 141 may include a member supporting the outer edge of the used pad P1 or the new pad P2 or may include a Velcro member attached to the used pad P1 or the new pad P2.

FIG. 28 is a block diagram conceptually illustrating some components of the station 100 according to an embodiment of the disclosure.

Referring to FIG. 28, the station 100 according to an embodiment of the disclosure may include various types of sensors for detecting the cleaning pad or detecting the pad transfer unit 140 and a controller 190 configured to control the pad storage unit 150 and the pad transfer unit 140 by using the sensors, in order to smoothly perform the recovery of the used pad P1 and the supply of the new pad P2.

For example, the station 100 according to an embodiment of the disclosure may include a sensor 181 for detecting the new pad P2 and the used pad P1. For example, the pad supply container 160 may be provided with a new pad sensor 1812 for detecting the new pad P2. For example, the received pad container 170 may be provided with a used pad sensor 1811 for detecting the used pad P1.

The new pad sensor 1812 may detect whether the number of new pads P2 in the pad supply container 160 is less than or equal to a predetermined number or whether there is no new pad P2 in the pad supply container 160. By using the new pad sensor 1812, the station 100 may detect whether a new pad P2 needs to be added into the pad supply container 160 and provide information related to the refilling of the pad supply container 160 to the user.

The used pad sensor 1811 may detect whether the number of used pads P1 in the received pad container 170 exceeds a predetermined number. The used pad sensor 1811 may detect whether the received pad container 170 is filled with the used pads P1. By using the used pad sensor 1811, the station 100 may detect whether the received pad container 170 needs to be emptied and provide information related to the emptying of the pad supply container 170 to the user.

For example, the pad storage unit 150 may further include a storage unit position sensor 182 for detecting the position of at least one of the received pad container 170 or the pad supply container 160. The storage unit position sensor 182 may detect the position of at least one of the received pad container 170 or the pad supply container 160 to detect whether the received pad container 170 and the pad supply container 160 are at correct positions.

The station body 110 may include a transfer unit position sensor 183 for detecting the position of the pad transfer unit 140. By using the transfer unit position sensor 183, the pad storage unit 150 may be controlled to rotate only in the state where the pad holder 141 of the pad transfer unit 140 is located in the received pad container 170 or the pad supply container 160.

The pad transfer unit 140 may include a pad detection sensor 184 for detecting whether a cleaning pad is mounted thereon. The pad detection sensor 184 may detect whether the used pad P1 or the new pad P2 is mounted on or separated from the pad holder 141. Accordingly, in the process of the operation of the pad transfer unit 140, it may be identified whether the used pad P1 or the new pad P2 is properly mounted or separated.

Hereinafter, a cleaning pad replacement process in which the cleaning pad of the robot cleaner 10 is received and supplied in the station 100 of the cleaning system 1 will be described.

FIGS. 29 and 30 are diagrams for describing a process in which the robot cleaner 10 replaces a cleaning pad in the station 100 in the cleaning system 1 according to an embodiment of the disclosure.

Referring to FIGS. 29 and 30, a process in which the robot cleaner 10 moves in the front/back direction X in the station 100 may be included to replace the cleaning pad in the station 100.

For example, referring to FIG. 29, when the cleaning pad P needs to be replaced, the robot cleaner 10 may approach the station body 110. The robot cleaner 10 may move frontward such that the mounted used pad P1 overlaps the pad replacement unit 120 of the station base 111. The pad holder 141 of the pad transfer unit 140 may be located at the pad replacement unit 120. In this case, the pad holder 141 may be in an empty state where the used pad P1 is not loaded thereon. The robot cleaner 10 having moved to overlap the pad replacement unit 120 may separate the used pad P1. The separated used pad P1 may be loaded onto the pad holder 141 of the pad transfer unit 140.

Referring to FIG. 30, after the used pad P1 is loaded on the pad holder 141, the robot cleaner 10 may move backward to allow movement of the pad holder 141 of the pad transfer unit 140. The robot cleaner 10 may move to a position not interfering with the movement of the pad holder 141.

As described with reference to FIGS. 9 to 14, after the robot cleaner 10 moves backward, the used pad P1 may be transferred from the pad replacement unit 120 to the received pad container 170 and the new pad P2 may be transferred from the pad supply container 160 to the pad replacement unit 120 by the transfer process of the pad transfer unit 140. Briefly, as illustrated in FIGS. 9 and 10, the pad holder 141 of the pad transfer unit 140 may be inserted into the received pad container 170 in the state of supporting the used pad P1. As illustrated in FIG. 11, the pad transfer unit 140 may descend such that the pad holder 141 exits the received pad container 170. In the process of the pad transfer unit 140 descending, the used pad P1 may be separated from the pad holder 141 and stored in the received pad container 170. As illustrated in FIGS. 12A and 12B, the pad storage unit 150 may rotate and thus the positions of the pad supply container 160 and the received pad container 170 may change. The pad supply container 160 may be located over the pad holder 141. As illustrated in FIG. 13, the pad holder 141 may be inserted into the pad supply container 160, and in this process, the new pad P2 inside the pad supply container 160 may be supported by the pad holder 141. As illustrated in FIG. 14, the pad holder 141 may exit the pad supply container 160 in the state of supporting the new pad P2 and move to the pad replacement unit 120. In the process of being arranged at the pad replacement unit 120, the pad holder 141 may be converted into the separation posture 1412. On the pad holder 141, the new pad P2 may be located in a detachable state.

In this state, as illustrated in FIG. 29, the robot cleaner 10 may move frontward to overlap the pad replacement unit 120. The robot cleaner 10 may be mounted with the new pad P2 arranged on the pad holder 141. As such, the robot cleaner 10 may be detached from the used pad P1 and may be mounted with the new pad P2 in the station 100 without physical assistance of the user.

Moreover, the configuration in which the received pad container 170 and the pad supply container 160 rotate in the pad storage unit 150 has been illustrated in the above embodiment of the disclosure. However, the configuration of the pad storage unit 150 is not limited thereto and may be variously modified. For example, the received pad container 170 and the pad supply container 160 of the pad storage unit 150 may be located at different heights, and at least one of the received pad container 170 or the pad supply container 160 may move to be located on the movement path of the pad transfer unit 140.

FIG. 31 is a cross-sectional view conceptually illustrating a station 100A including a pad storage unit 150 according to an embodiment of the disclosure. FIGS. 32 and 33 are diagrams for describing the positional movement of the pad storage unit 150 in the station 100A of FIG. 31.

Referring to FIG. 31, the station 100A according to an embodiment of the disclosure may include a station body 110, a pad replacement unit 120, a pad storage unit 150, and a pad transfer unit 140. The station 100A according to an embodiment of the disclosure will be described focusing on a different configuration from that of the station 100 according to the above embodiment of the disclosure, and redundant descriptions thereof will be omitted for conciseness.

The pad transfer unit 140 may be arranged on the pad replacement unit 120 and may move in the up/down direction Z.

The pad storage unit 150 may include a received pad container 170 movable to be located above the pad replacement unit 120 and a pad supply container 160 movable to be located above the pad replacement unit 120. The pad storage unit 150 may be configured such that the received pad container 170 and the pad supply container 160 move separately.

The received pad container 170 and the pad supply container 160 may be located on the movement path of the pad transfer unit 140 at different times. For example, the received pad container 170 and the pad supply container 160 may be arranged in the up/down direction Z, and the received pad container 170 and the pad supply container 160 may move in a different direction from the movement direction of the pad transfer unit 140.

Referring to FIG. 32, when the used pad P1 is located on the pad transfer unit 140, the received pad container 170 may move to be located on the movement path of the pad transfer unit 140. For example, the received pad container 170 may move in a direction perpendicular to the ascending direction of the pad transfer unit 140, for example, in the front/back direction X.

Referring to FIG. 33, when there is no used pad P1 on the pad transfer unit 140, the pad supply container 160 may move to be located on the movement path of the pad transfer unit 140. For example, the pad supply container 160 may move in a direction perpendicular to the ascending direction of the pad transfer unit 140, for example, in the front/back direction X. In this case, the received pad container 170 may move in a direction opposite to the movement direction of the pad supply container 160. For example, the pad supply container 160 may move frontward and the received pad container 170 may move backward. The movement direction of the pad supply container 160 and the movement direction of the received pad container 170 may be parallel to each other.

As for the pad transfer unit 140, a movement distance for transferring the used pad P1 may be different from a movement distance for transferring the new pad P2. For example, the movement distance of the pad transfer unit 140 moving from the pad replacement unit 120 to the received pad container 170 to transfer the used pad P1 may be less than the movement distance of the pad transfer unit 140 moving from the pad supply container 160 to the pad replacement unit 120 to transfer the new pad P2. However, the movement distance of the pad transfer unit 140 is merely an example and may vary depending on the position and movement direction of the received pad container 170 and the pad supply container 160.

Moreover, in the above embodiment of the disclosure, the description has focused on a cleaning pad replacement function of the station 100 for receiving the used pad P1 of the robot cleaner 10 and supplying the new pad P2 to the robot cleaner 10. However, the function of the station 100 is not limited thereto and may be variously modified. For example, the station 100 may perform a cleaning pad supply function for supplying the new pad P2 without receiving the used pad P1.

Referring back to FIG. 2, in the cleaning system 1 according to an embodiment of the disclosure, the robot cleaner 10 may detect whether the cleaning pad P is mounted on the body 11. When it is detected that the cleaning pad P is not mounted on the body 11, the robot cleaner 10 may move to the station 100 as illustrated in FIG. 1.

The station 100 may determine whether the pad supply to the robot cleaner 10 is necessary. For example, the station 100 may determine whether the pad supply to the robot cleaner 10 is necessary, by receiving a signal related to the pad supply from the robot cleaner 10 or by detecting at least one of the position of the robot cleaner 10 or the position of the cleaning pad P.

When it is determined that the pad supply to the robot cleaner 10 is necessary, the station 100 may transfer the new pad P2 to the pad replacement unit 120.

For example, when the cleaning pad P is not mounted on the robot cleaner 10, the station 100 may reciprocate the pad transfer unit 140. For example, as illustrated in FIGS. 13 and 14, the pad transfer unit 140 may move from the pad replacement unit 120 to the pad supply container 160 and then move from the pad supply container 160 to the pad replacement unit 120. As for the pad storage unit 150, the pad supply container 160 may be located on the movement path of the pad transfer unit 140 before the pad transfer unit 140 enters the pad storage unit 150. For example, the pad storage unit 150 may rotate such that the pad supply container 160 is located on the movement path of the pad transfer unit 140 and the received pad container 170 deviates from the movement path of the pad transfer unit 140.

When the pad transfer unit 140 moves from the pad replacement unit 120 to the pad storage unit 150, the pad transfer unit 140 may be without the used pad P1. In the process of the pad transfer unit 140 returning from the pad storage unit 150 to the pad replacement unit 120, the new pad P2 may be separated from the pad supply container 160 by the pad holder 141 of the pad transfer unit 140.

In the process of the reciprocation of the pad transfer unit 140, the new pad P2 may be located in the pad replacement unit 120 of the station 100. The reciprocation of the pad transfer unit 140 for transferring the new pad P2 may be performed before the robot cleaner 10 arrives at the station 100; however, the disclosure is not limited thereto. For example, the reciprocation of the pad transfer unit 140 for transferring the new pad P2 may be performed after the robot cleaner 10 arrives at the station 100.

The robot cleaner 10 may be mounted with the new pad P2 transferred to the pad replacement unit 120. As such, the station 100 may perform a pad supply function of supplying the new pad P2 to the robot cleaner 10 by transferring the new pad P2 to the pad replacement unit 120 by the pad transfer unit 140.

Moreover, in the above embodiment of the disclosure, the station 100 and the cleaning system 1 including the station 100 has been described focusing on an example for replacing or supplying the cleaning pad P of the robot cleaner 10. However, the purpose or application of the station 100 and the cleaning system 1 including the station 100 according to an embodiment of the disclosure are not limited thereto and may be variously modified. For example, the station 100 according to an embodiment of the disclosure may be applied to replace the cleaning pad P of a cleaner other than the robot cleaner 10, for example, a wireless cleaner.

For the sake of understanding of the disclosure, reference symbols are used in embodiments illustrated in the drawings and particular terms are used to describe the embodiments; however, the disclosure is not limited by the particular terms and the disclosure may include all components that may be generally thought by those of ordinary skill in the art.

Particular implementations described herein are merely embodiments, and do not limit the scope of the disclosure in any way. For the sake of conciseness, descriptions of related art electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. Also, the connections or connection members of lines between components illustrated in the drawings illustrate functional connections and/or physical or circuit connections, and in actual devices, they may be represented as various replaceable or additional functional connections, physical connections, or circuit connections. Also, when there is no particular statement such as “essential” and “important”, it may not be a necessary component for the application of the disclosure. Expressions such as “comprising” and “including” used herein are to be understood as open-ended terms of the description.

The use of the terms “a”, “an”, and “the” and similar indicative terms in the specification of the disclosure (particularly in the attached claims) may be construed to cover both the singular and the plural. Also, when a range is stated herein, it may include the disclosure to which individual values within the range are applied (unless there is a statement to the contrary) and it may be the same as the statement of each individual value constituting the range. Moreover, the operations of a method according to the disclosure may be performed in any suitable order unless otherwise stated herein or otherwise clearly contradicted by the context. The scope of the disclosure is not limited to the stated order of the operations. All examples or example terms (e.g., “such as”) used herein are merely intended to describe the disclosure in detail, and the scope of the disclosure is not limited by the examples or example terms unless otherwise defined in the attached claims. Also, those of ordinary skill in the art may clearly understand that various modifications and changes may be easily made therein without departing from the scope and spirit of the disclosure.

The station and the cleaning system according to an embodiment of the disclosure may receive the used cleaning pad from the robot cleaner and supply the new cleaning pad without user assistance.

The station and the cleaning system according to an embodiment of the disclosure may have a compact size while being able to replace the cleaning pad of the robot cleaner.

According to an embodiment of the disclosure, a station for use with a robot cleaner may include a pad replacement unit; a pad storage unit above the pad replacement unit and including a received pad container and a pad supply container; and a pad transfer unit, wherein the pad replacement unit, the pad storage unit, and the pad transfer unit may be configured so that (a) the pad transfer unit is movable in a first direction along a movement path from the pad replacement unit to the pad storage unit while supporting a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit to be received in the received pad container, and (b) the pad transfer unit is movable in a second direction, opposite the first direction, along the movement path from the pad storage unit to the pad replacement unit while supporting a new pad that was stored in the pad supply container and supplied to the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner. According to an embodiment, the pad storage unit may be configured to move the received pad container and the pad supply container so that the received pad container is located on the movement path when the used pad is to be received in the received pad container, and the pad supply container is located on the movement path when the new pad is to be supplied to the pad transfer unit.

According to an embodiment of the disclosure, the first direction may be up along an up/down direction, the second direction may be down along the up/down direction, and the pad transfer unit may include (a) a pad holder configured to support the used pad when the pad transfer unit moves in the first direction along the movement path and to support the new pad when the pad transfer unit moves in the second direction along the movement path, and (b) a movement module configured to move the pad holder in the first direction and the second direction.

According to an embodiment of the disclosure, the pad storage unit and the pad transfer unit may be configured so that (a) the pad storage unit moves the received pad container to be located on the movement path so that, when the pad holder is supporting the used pad and the movement module moves the pad holder in the first direction, the pad holder becomes inserted into the received pad container, and (b) when the new pad is to be supplied to the pad transfer unit, the movement module moves the pad holder in the first direction in an empty state without supporting the used pad, and the pad storage unit moves the pad supply container to be located on the movement path so that the pad holder moving in the first direction becomes inserted into the pad supply container.

According to an embodiment of the disclosure, the pad storage unit may be configured to move the received pad container and the pad supply container by rotating the pad supply container and the received pad container to change positions with each other.

According to an embodiment of the disclosure, the pad supply container and the received pad container may be at a same height when changing positions.

According to an embodiment of the disclosure, when the received pad container is located on the movement path, the pad supply container is not located on the movement path, and, when the pad supply container is located on the movement path, the received pad container is not located on the movement path.

According to an embodiment of the disclosure, the pad holder may have a support posture in which the pad holder supports the used pad or the new pad, and a separation posture in which the pad holder allows separation of the used pad or the new pad from the pad holder.

According to an embodiment of the disclosure, the pad holder may have the separation posture or the support posture depending on position of the pad holder along the up/down direction.

According to an embodiment of the disclosure, the pad holder may have the separation posture when located at the pad replacement unit, the pad holder may have the support posture when moving from the pad replacement unit toward the received pad container, and the pad holder may have the separation posture when located at the received pad container.

According to an embodiment of the disclosure, the pad holder may include a plurality of hook members configured to pivot to support the new pad or the used pad in the support posture.

According to an embodiment of the disclosure, the station may further include a first rotation guide unit configured to guide pivoting of the plurality of hook members when the pad holder is located at the pad replacement unit so that the pad holder has the separation posture at the pad replacement unit.

According to an embodiment of the disclosure, the received pad container may include a second rotation guide unit configured to guide pivoting of the plurality of hook members when the pad holder is located at the received pad container so that the pad holder has the separation posture at the received pad container.

According to an embodiment of the disclosure, a cleaning system may include a robot cleaner; a pad replacement unit; a pad storage unit above the pad replacement unit and including a received pad container and a pad supply container; and a pad transfer unit, wherein the robot cleaner, the pad replacement unit, the pad storage unit, and the pad transfer unit may be configured so that (a) the pad transfer unit is movable in a first direction along a movement path from the pad replacement unit to the pad storage unit while supporting a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit to be received in the received pad container, and (b) the pad transfer unit is movable in a second direction, opposite the first direction, along the movement path from the pad storage unit to the pad replacement unit while supporting a new pad that was stored in the pad supply container and supplied to the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner. According to an embodiment of the disclosure, the pad storage unit may be configured to move the received pad container and the pad supply container so that the received pad container is located on the movement path when the used pad is to be received in the received pad container, and the pad supply container is located on the movement path when the new pad is to be supplied to the pad transfer unit.

According to an embodiment of the disclosure, the first direction may be up along an up/down direction, the second direction may be down along the up/down direction. According to an embodiment of the disclosure, the pad transfer unit may include a pad holder configured to support the used pad when the pad transfer unit moves in the first direction along the movement path and to support the new pad when the pad transfer unit moves in the second direction along the movement path, and a movement module configured to move the pad holder in the first direction and the second direction. Moreover, according to an embodiment of the disclosure, the pad transfer unit and the pad storage unit may be configured so that (a) the pad storage unit moves the received pad container to be located on the movement path so that, when the pad holder is supporting the used pad and the movement module moves the pad holder in the first direction, the pad holder becomes inserted into the received pad container, and (b) when the new pad is to be supplied to the pad transfer unit, the movement module moves the pad holder in the first direction in an empty state without supporting the used pad, and the pad storage unit moves the pad supply container to be located on the movement path so that the pad holder moving in the first direction becomes inserted into the pad supply container.

According to an embodiment of the disclosure, a station for use with a robot cleaner may include a pad replacement unit; a pad storage unit above the pad replacement unit and including a received pad container and a pad supply container; and a pad transfer unit, wherein the pad replacement unit, the pad storage unit, and the pad transfer unit may be configured so that (a) the pad transfer unit moves the received pad container and the pad supply container so that the received pad container is located on a movement path of the pad transfer unit extending from the pad replacement unit to the pad storage unit, and the pad supply container is not located on the movement path, (b) with the received pad container located on the movement path, the pad transfer unit ascends along the movement path while supporting a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit, (c) after the used pad is moved to the pad storage unit, the pad transfer unit descends along the movement path so that the used pad is stored in the received pad container, (d) after the used pad is stored in the received pad container, the pad transfer unit moves the received pad container and the pad supply container so that the pad supply container is located on the movement path, and the received pad container is not located on the movement path, (e) after the pad supply container is located on the movement path, the pad transfer unit ascends along the movement path so that a new pad stored in the pad supply container is picked up by the pad transfer unit, and (f) after the new pad is picked up by the pad transfer unit, the pad transfer unit descends along the movement path while supporting the new pad that was picked up by the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner.

According to an embodiment of the disclosure, a cleaning pad replacement method for a cleaning system is provided. According to an embodiment, the cleaning system may include a robot cleaner and a station that includes a pad replacement unit, a pad storage unit above the pad replacement unit and including a received pad container and a pad supply container, and a pad transfer unit The cleaning pad replacement method may include (a) moving, by the pad storage unit, the received pad container and the pad supply container so that the received pad container is located on a movement path of the pad transfer unit that extends from the pad replacement unit to the pad storage unit and the pad supply container is not located on the movement path; (b) moving the pad transfer unit in a first direction along the movement path from the pad replacement unit to the pad storage unit while the received pad container is located on the movement path and the pad transfer unit supports a used pad that was detached from the robot cleaner and loaded in the pad replacement unit, so that the used pad is moved by the pad transfer unit to the pad storage unit to be received in the received pad container; (c) after the used pad is received in the received pad container, moving, by the pad storage unit, the received pad container and the pad supply container so that the pad supply container is located on the movement path and the received pad container is not located on the movement path; (d) supplying a new pad stored in the pad supply container located on the movement path to the pad transfer unit; and (e) moving the pad transfer unit in a second direction, opposite the first direction, along the movement path from the pad storage unit to the pad replacement unit while the pad transfer unit supports the new pad supplied to the pad transfer unit, so that the new pad is moved by the pad transfer unit to the pad replacement unit to be attached to the robot cleaner.

According to an embodiment of the disclosure, it may be possible to provide a station and a cleaning system that may receive a used cleaning pad from a robot cleaner and supply a new cleaning pad without user assistance.

According to an embodiment of the disclosure, it may be possible to provide a station and a cleaning system that may have a compact size while being able to replace a cleaning pad of a robot cleaner.

	Number	Date	Country
Parent	PCT/KR2024/008698	Jun 2024	WO
Child	18763456		US

STATION, CLEANING SYSTEM INCLUDING STATION, AND CLEANING PAD REPLACING METHOD OF STATION

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