Patent Publication Number: US-2023157499-A1

Title: Cleaning device having vacuum cleaner and docking station and method of controlling the same

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application is a continuation application of prior application Ser. No. 17/828,742 filed on May 31, 2022; which is a continuation application of prior application Ser. No. 17/315,905 filed on May 10, 2021, which issued as U.S. Pat. No. 11,357,374 on Jun. 14, 2022; which is a continuation application of prior application Ser. No. 17/014,384 filed on Sep. 8, 2020, which issued as U.S. Pat. No. 11,503,969 on Nov. 22, 2022; and which is based on and claims priority under 35 U.S.C. § 119(a) of a Korean Patent Application No. 10-2019-0110380 filed on Sep. 5, 2019, and of a Korean Patent Application No. 10-2020-0070265 filed on Jun. 10, 2020, in the Korean Intellectual Property Office, the disclosures of each of which is incorporated by reference herein in its entirety. 
    
    
     BACKGROUND 
     1. Field 
     The disclosure relates to a cleaning device including a vacuum cleaner and a docking station. 
     2. Description of the Related Art 
     In general, a vacuum cleaner is a device that is equipped with a fan motor generating a suction power and configured to suck foreign substance, such as dust, together with air through the suction power generated by the fan motor, separate and collect the suctioned foreign substance from the air so that cleaning is performed. 
     To this end, the vacuum cleaner includes a dust collecting container for collecting foreign substance, and the user needs to periodically remove the collected foreign substance from the dust collecting container. However, when the user removes the foreign substance from the dust collecting container, the foreign substance may be scattered, which may increase the concentration of dust in the room. 
     The above information is presented as background information only to assist with an understanding of the disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the disclosure. 
     SUMMARY 
     Aspects of the disclosure are to address at least the above-mentioned problems and/or disadvantages and to provide at least the advantages described below. Accordingly, as aspect of the disclosure is to provide a cleaning device including a docking station that allows foreign substances in a dust collecting container of a vacuum cleaner to be automatically discharged by providing an irregular suction airflow when the dust collecting container is docked. 
     Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments. 
     In accordance with an aspect, a cleaning device is provided. The cleaning device includes a vacuum cleaner including a dust collecting container, and a docking station to which the dust collecting container is coupled, wherein the docking station includes a suction device configured to move air from the dust collecting container to an inside of the docking station, a collector configured to collect a foreign substance that is moved together with the air by driving of the suction device, a suction flow path along which air moves inside the docking station, a flow adjusting device configured to open or close the suction flow path, and at least one processor configured to control the suction device to operate in response to the dust collecting container being coupled to the docking station, and control the flow adjusting device to periodically open and close the suction flow path in a state in which the suction device operates. 
     The at least one processor may further be configured to control the suction device and the flow adjusting device to stop operating based on a preset operation time elapsing after initiation of the operation of the suction device. 
     The at least one processor may further be configured to set the preset operation time to be longer based on an external power frequency becoming lower. 
     The at least one processor may further be configured to set the preset operation time such that the flow adjusting device stops in a state of the suction flow path being open, based on an opening and closing period of the flow adjusting device for the suction flow path. 
     The at least one processor may further be configured to control the flow adjusting device to close the suction flow path based on a preset waiting time elapsing after the suction device stops operation. 
     The docking station may further include a position detection sensor configured to output a first value in response to the flow adjusting device closing the suction flow path, and output a second value in response to the flow adjusting device opening the suction flow path, and the at least one processor, as an external power frequency becomes lower, may further be configured to delay a time point at which the suction flow path is determined as being closed after initiation of the output of the first value. 
     When controlling the suction device to operate, the at least one processor may further be configured to supply a voltage to the suction device and control the flow adjusting device to open the suction flow path while the voltage supplied to the suction device is increasing to a target voltage. 
     The docking station may further include an inputter configured to receive an input from a user. 
     The at least one processor, in response to receiving an action command through the inputter in response to the dust collecting container being connected to the docking station, may further be configured to control the suction device and the flow adjusting device to operate for the preset operation time. 
     The at least one processor, in response to receiving a stop command through the inputter while the suction device and the dust collecting container are operating, may further be configured to control the flow adjusting device to open the suction flow path and control the suction device to stop operation after a predetermined waiting time from the input of the stop command. 
     The at least one processor, in response to receiving an input of a suction mode through the inputter, may further be configured to control the suction device to operate and control the flow adjusting device to open the suction flow path while the suction device is operating. 
     The docking station may further include a display part on which an operation state is displayed, and a collector sensor configured to detect whether the collector is in a full state, wherein the at least one processor may further be configured to control the display part to display fullness of the collector in response to the collector being in a full state. 
     The docking station may further include an ultraviolet lamp configured to irradiate at least one of the dust collecting container or the collector with ultraviolet rays. 
     In accordance with another aspect of the disclosure, a cleaning device is provided. The cleaning device includes a vacuum cleaner including a dust collecting container, and a docking station to which the dust collecting container is coupled, wherein the docking station includes a suction fan configured to move air from the dust collecting container to an inside of the docking station, a motor configured to rotate the suction fan, and at least one processor configured to adjust at least one of a driving time of the motor or a rotation speed of the motor while repeating on and off operations of the motor. 
     The at least one processor may further be configured to adjust at least one of a time for which the motor is at an on-state or a time for which the motor is at an off-state whenever the motor is alternately turned on and off. 
     The at least one processor may further be configured to adjust a pulse width of a supply voltage supplied to the motor whenever the motor is alternately turned on and off, to adjust the rotation speed of the motor. 
     The at least one processor may further be configured to set different pulse widths for pulses of the supply voltage within at least one time section among time sections in which the motor is turned on or off, so that the motor is vibrated. 
     The docking station may further include a suction flow path along which the air moves inside the docking station, and a flow adjusting device configured to open or close the suction flow path, wherein the at least one processor is further configured to control the motor to be at an on-state in response to the flow adjusting device opening the suction flow path, and control the motor to be at an off-state in response to the flow adjusting device closing the suction flow path. 
     In accordance with another aspect of the disclosure, a method of controlling a cleaning device comprising a vacuum cleaner is provided. The method includes a dust collecting container and a docking station to which the dust collecting container is coupled, the method including controlling a suction device, which is configured to move air from the dust collecting container to an inside of the docking station, to operate in response to the dust collecting container being coupled to the docking station, and controlling a flow adjusting device to periodically open and close a suction flow path along which the air moves inside the docking station, in a state in which the suction device operates. 
     The method may further include controlling the suction device and the flow adjusting device to stop operating based on a preset operation time elapsing after initiation of the operation of the suction device. 
     Other aspects, advantages, and salient features of the disclosure will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses various embodiments of the disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and other aspects, features and advantages of certain embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which: 
         FIG.  1    is an external view illustrating a cleaning device according to an embodiment of the disclosure; 
         FIG.  2    is a view illustrating a state in which a dust collecting container of a vacuum cleaner is connected to a docking station according to an embodiment of the disclosure; 
         FIG.  3    is an exploded perspective view illustrating a docking station according to an embodiment of the disclosure; 
         FIG.  4    is a side cross-sectional view illustrating a docking station according to an embodiment of the disclosure; 
         FIG.  5    is a control block diagram illustrating a docking station according to an embodiment of the disclosure; 
         FIG.  6    is a view illustrating a case in which a docking station automatically operates when connected with a dust collecting container according to an embodiment of the disclosure; 
         FIG.  7    is a view illustrating a case in which a docking station operates in response to input of an action command according to an embodiment of the disclosure; 
         FIG.  8    is a view for describing a time point when a docking station determines closing of a suction flow path in association with an external power frequency according to an embodiment of the disclosure; 
         FIG.  9    is a view for describing a case in which a docking station starts operation according to an embodiment of the disclosure; 
         FIG.  10    is a view illustrating a case in which a docking station stops operation in response to input of a stop command with a suction flow path being open according to an embodiment of the disclosure; 
         FIG.  11    is a view illustrating a case in which a docking station stops operation in response to an input of a stop command with a suction flow path being closed according to an embodiment of the disclosure; 
         FIG.  12    is a graph showing time variant on-off control of a first motor according to an embodiment of the disclosure; 
         FIG.  13    is a view for describing a case in which a different rotation speed is provided whenever an on-operation of a first motor is repeated according to an embodiment of the disclosure; 
         FIG.  14    is a view for describing a case in which a first motor vibrates to transmit vibration to a dust collecting container according to an embodiment of the disclosure; 
         FIG.  15    is a view for describing control of a first motor in association with an operation of a flow path valve according to an embodiment of the disclosure; 
         FIG.  16    is a view for describing a case in which a docking station performs a suction mode according to an embodiment of the disclosure; 
         FIG.  17    is a view for describing a case in which a docking station performs a display mode according to an embodiment of the disclosure; 
         FIG.  18    is a view for describing a case in which a docking station determines fullness of a collector according to an embodiment of the disclosure; 
         FIG.  19    is a view for describing a case in which a docking station radiates ultraviolet rays according to an embodiment of the disclosure; 
         FIG.  20    is a flowchart of a method of controlling a cleaning device according to an embodiment, which shows automatic operation when connected with a dust collecting container according to an embodiment of the disclosure; 
         FIG.  21    is a flowchart of a method of controlling a cleaning device, which shows operation in response to input of an action command of the disclosure; 
         FIG.  22    is a flowchart of a method of controlling a cleaning device, which shows stopping operation in response to input of a stop command according to an embodiment of the disclosure; 
         FIG.  23    is a flowchart of a method of controlling a cleaning device, which shows a case in which a flow rate of a suction airflow is adjusted by controlling a first motor according to an embodiment of the disclosure; 
         FIG.  24    is a flowchart of a method of controlling a cleaning device, which shows a case in which a first motor is controlled in association with an operation of a flow path valve according to an embodiment of the disclosure; 
         FIG.  25    is a flowchart of a method of controlling a cleaning device, which shows performing a suction mode according to an embodiment of the disclosure; 
         FIG.  26    is a flowchart of a method of controlling a cleaning device, which shows performing a display mode according to an embodiment of the disclosure; and 
         FIG.  27    is a flowchart of a method of controlling a cleaning device, which shows displaying fullness of a collector according to an embodiment of the disclosure. 
     
    
    
     Throughout the drawings, like reference numerals will be understood to refer to like parts, components, and structures. 
     DETAILED DESCRIPTION 
     The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the disclosure. In addition, descriptions of well-known functions and constructions may be omitted for clarity and conciseness. 
     The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the disclosure. Accordingly, it should be apparent to those skilled in the art that the following description of various embodiments of the disclosure is provided for illustration purpose only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents. 
     It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a component surface” includes reference to one or more of such surfaces. 
     It will be further understood that the term “connect” or its derivatives refer both to direct and indirect connection, and the indirect connection includes a connection over a wireless communication network. 
     The terms used herein are for the purpose of describing the embodiments and are not intended to restrict and/or to limit the disclosure. For example, the singular expressions herein may include plural expressions, unless the context clearly dictates otherwise. Also, the terms “comprises” and “has” are intended to indicate that there are features, numbers, operations, elements, parts, or combinations thereof described in the specification, and do not exclude the presence or addition of one or more other features, numbers, operations, elements, parts, or combinations thereof. 
     It will be understood that, although the terms first, second, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are only used to distinguish one component from another. For example, without departing from the scope of the disclosure, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term “and/or” includes any combination of a plurality of related items or any one of a plurality of related items. 
     Moreover, terms described in the specification such as “part,” “module,” and “unit,” refer to a unit of processing at least one function or operation, and may be implemented by software, a hardware component such as a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), or a combination of software and hardware. 
     Reference numerals used for method operations are just used for convenience of explanation, but not to limit an order of the operations. Thus, unless the context clearly dictates otherwise, the written order may be practiced otherwise. 
     Hereinafter, various embodiments according to the disclosure will be described in detail with reference to the accompanying drawings. 
       FIG.  1    is an external view illustrating a cleaning device according to an embodiment of the disclosure, and  FIG.  2    is a view illustrating a state in which a dust collecting container of a vacuum cleaner is connected to a docking station according to an embodiment of the disclosure. 
     Referring to  FIG.  1   , a cleaning device  1  according to an embodiment may include a vacuum cleaner  10  including a dust collecting container  15  configured to store suctioned foreign substances and a docking station  100  configured to suction the foreign substances stored in the dust collecting container  15  when connected with the dust collecting container  15  to remove the foreign substances from the dust collecting container. 
     The vacuum cleaner  10  according to the embodiment includes a cleaner main body  11 , an extension tube (not shown) detachably coupled to the cleaner main body  11 , a suction unit (not shown) detachably coupled to the extension tube (not shown), and a dust collecting container  15  detachably coupled to the cleaner main body  11 . 
     The cleaner main body  11  may include a suction motor (not shown) that generates a suction force required to suction foreign substances on a surface to be cleaned, and the dust collecting container  15  in which foreign substances suctioned from the surface to be cleaned are accommodated. 
     The dust collecting container  15  is disposed upstream of an airflow relative to the suction motor and configured to filter and collect dust or dirt in the air flowing into the dust collecting container  15  through the suction unit (not shown). The dust collecting container  15  may be detachably provided on the cleaner main body  11 . 
     The vacuum cleaner  10  may include a filter housing  12 . The filter housing  12  is provided in a substantially donut shape to accommodate a filter (not shown) therein. The type of filter is not limited, but a high-efficiency particulate air (HEPA) filter, for example, may be disposed inside the filter housing  12 . The filter may filter ultrafine dust and the like that are not filtered out of the dust collecting container  15 . The filter housing  12  may include an outlet  13  so that air passing through the filter is discharged to the outside of the vacuum cleaner  10 . 
     The cleaner main body  11  may include a handle  14  that may be gripped by the user to manipulate the vacuum cleaner  10 . The user may hold the handle  14  and move the vacuum cleaner  10  forward and backward. 
     The cleaner main body  11  may include a battery  16  providing driving force to the vacuum cleaner  10 . The battery  16  may be detachably mounted to the main body  11 . 
     The cleaner main body  11  may include a manipulating part  17 . The user may turn on/off the vacuum cleaner  10  or adjust the suction strength by manipulating a power button or the like provided on the manipulating part  17 . 
     The cleaner main body  11  may include a dust collecting guide  30  that guides foreign substance to the dust collecting container  15  by connecting the dust collecting container  15  to the extension tube (not shown) and the suction unit (not shown). 
     The dust collecting guide  30  may be coupled to the above-described extension tube (not shown) while guiding the foreign substance to the dust collecting container  15  as described above. In addition, the dust collecting guide  30  may be provided to be directly coupled to the suction unit (not shown) in addition to the extension tube (not shown) or to be couplable to other components, such as an auxiliary suction unit. 
     Accordingly, the user may couple various components to the dust collecting guide  30  according to the cleaning situation, increasing the convenience of cleaning. 
     Referring to  FIG.  2   , the docking station  100  according to the embodiment may include a main body  101  and a docking housing  102  formed to allow the dust collecting container  15  of the vacuum cleaner  10  to be docked thereto. The docking housing  102  may include a seating portion  181  on which the dust collecting container  15  is seated. 
     In addition, the docking station  100  may include a cover  103  disposed above the main body  101  and configured to open and close the docking housing  102 . 
     In addition, the docking station  100  may include an inputter  120  provided on an upper portion thereof to receive an input from a user. The inputter  120 , as shown in  FIG.  2   , may be provided as a button, a switch, and the like. However, the location and type of the inputter  120  are not limited thereto as long as the inputter can receive an input from a user. 
     In addition, the docking station  100  may include a panel  104  disposed on a front surface of the main body  101  and provided to be detachable from the main body  101 . The panel  104  may be disposed on a side surface or a rear surface, as well as the front surface of the main body  101  so as to be detachable from the main body  101 . 
     As the panel  104  is separated from the main body  101 , the user may open a collector, which will be described below, and may easily replace a dust bag of the collector. 
     In addition, the docking station  100  may further include a display part  170  provided on the front surface thereof and displaying an operation state of the docking station  100 . For example, as shown in  FIG.  2   , the display part  170  may correspond to a light emitting diode (LED) panel that emits light. However, the location and type of the display unit  170  are not limited thereto as long as the display part  170  can display an operating state. 
     In this case, the docking station  100  may be provided to automatically discharge foreign substances in the dust collecting container  15  by varying the suction airflow supplied to the dust collecting container  15  of the vacuum cleaner  10 . 
     Referring to  FIGS.  1  and  2   , the docking station  100  according to the embodiment may be configured to allow only the dust collecting container  15  to be docked thereto without a configuration to which the dust collecting guide  30  is docked. 
     That is, in the docking station  100  according to the embodiment, even when only the dust collecting container  15  of the vacuum cleaner  10  is docked to the docking station  100 , automatic discharge of the docking station  100  may be efficiently performed. 
     Therefore, the user may separate only the dust collecting container  15  from the vacuum cleaner  10  and dock the dust collecting container  15  to the docking station  100  rather than docking the vacuum cleaner  10  as a whole to the docking station  100 . Accordingly, the size of the docking station  100  may be miniaturized, and dust may be automatically discharged by simply separating the dust collecting container  15 . 
     However, the type of the docking station  100  is not limited to the above example, and according to an embodiment, the docking station  100  may include a component to which the dust collecting guide  30  is docked so that the vacuum cleaner  10  as a whole may be docked to the docking station  100 , and may provide a suction airflow to the dust collecting container  15  with the vacuum cleaner  10  as a whole docked. 
     Hereinafter, an embodiment of the dust collecting container  15  separated and docked to the docking station  100  will be described, but the disclosure is not limited thereto, and the following description may apply to an embodiment of the vacuum cleaner  10  as a whole docked to the docking station  100 . 
       FIG.  3    is an exploded perspective view illustrating the docking station  100  according to an embodiment of the disclosure, and  FIG.  4    is a side cross-sectional view illustrating the docking station  100  according to an embodiment of the disclosure. 
     Referring to  FIGS.  3  and  4   , the docking station  100  according to the embodiment may be provided with a suction device  150  and discharge foreign substances collected in the dust collecting container  15  from the dust collecting container  15 . The suction device  150  may be disposed inside the main body  101 , and includes a suction fan  153  for moving air and a first motor  151  for rotating the suction fan  153 . 
     The docking station  100  according to the embodiment may include the collector  190  in which foreign substances discharged from the dust collecting container  15  are collected. The collector  190  may be disposed inside the main body  101 . The collector  190  may be disposed upstream of the airflow relative to the suction device  150 . 
     The docking station  100  according to the embodiment includes a suction flow path  180  including one end connected to the dust collecting container  15  and the other end connected to the suction device  150 , and through which air moved by the suction device  150  flows. 
     In detail, the suction flow path  180  may connect the docking housing  102  to the suction device  150 . In this case, the collector  190  may be provided on the suction flow path  180 . 
     That is, the suction flow path  180  connects the docking housing  102  to the collector  190  so that foreign substance discharged from the dust collecting container  15  is suctioned into the collector  190  through the docking housing  102 . 
     The docking housing  102  may include the seating portion  181  that communicates with the suction flow path  180  and on which the dust collecting container  15  is seated. 
     The seating portion  181  may be a space in the docking housing  102  that is open to the outside such that the dust collecting container  15  is insertedly seated thereon. When the dust collecting container  15  is seated on the seating portion  181 , docking of the dust collecting container  15  to the docking station  100  may be completed. 
     Although not shown in the drawings, a sensor may be provided inside the seating portion  181  to detect whether the dust collecting container  15  is connected. Therefore, when the dust collecting container  15  is seated on the seating portion  181 , the docking station  100  may identify the state of the dust collecting container  15  being docked to the docking station  100  through an output value of the sensor  110 . 
     A multi-cyclone  18  may be disposed inside the dust collecting container  15 . The dust collecting container  15  may be provided to collect foreign substances in a lower side  18   a  of the multi-cyclone  18 . The dust collecting container  15  includes a first dust collector  15   a  that collects relatively large foreign substances that are primarily collected, and a second dust collector  15   b  that collects relatively small foreign substances that are collected by the multi-cyclone  18 . 
     Both the first dust collector  15   a  and the second dust collector  15   b  may be provided to be open to the outside when a dust collecting container door  19  is opened. 
     Accordingly, when the dust collecting container door  19  disposed under the dust collecting container  15  is opened, foreign substances collected in the dust collecting container  15  may be easily discharged to the seating portion  181 . 
     To this end, the dust collecting container  15  may include the dust collecting container door  19  provided to open the dust collecting container  15  when connected to the docking station  100 , and the docking station  100  may include an opening guide configured to press one side of the dust collecting container door  19  to open the dust collecting container door  19  when the dust collecting container  15  is connected to the docking station  100 . 
     The opening guide may be formed as a part of an inner circumferential surface of the seating portion  181 . However, the disclosure is not limited thereto, and the opening guide may be provided as one region protruding from the inner circumferential surface of the seating portion  181  to the center side, or may be provided in a shape of a protrusion, a rib, or the like protruding from the inner circumferential surface of the seating portion  181  to the central side. However, the position and type of the opening guide are not limited to the above example, and the opening guide may be implemented in various structures without limitation as long as it can open the dust collecting container door  19  when the dust collecting container  15  is seated. 
     Therefore, when the dust collecting container  15  is docked to the seating portion  181 , a push part is automatically pressed against the opening guide so that the dust collecting container door  19  may be opened at the same time when the dust collecting container  15  is docked to the docking station  100 . 
     The suction flow path  180  may pass through the main body  101  from the docking housing  102  and then be connected to the suction device  150 . 
     The suction flow path  180  may transfer the flow of airflow generated by the suction device  150  to the dust collecting container  15 . That is, the suction airflow generated by the suction device  150  is transferred to the inside of the dust collecting container  15  along the collector  190  and the seating portion  181  through the suction flow path  180 , and through the suction airflow, foreign substances inside the dust collecting container  15  are discharged from the dust collecting container  15  to the seating portion  181  according to the flow of airflow, and then are collected by the collector  190  through the suction flow path  180 . 
     The collector  190  may include a collector housing  191 . The collector housing  191  may form an interior space. That is, the collector housing  191  may correspond to a part of the suction flow path  180 , but it will be described as a separate component for the sake of convenience in description. 
     The collector  190  may include a collector cover  192 . The collector cover  192  may be disposed on the front surface of the collector housing  191 . The collector cover  192  may open or close the collector housing  191  so that the inside of the collector  190  is open to the outside in a state in which the panel  104  is separated. 
     The collector  190  may include a dust bag  193  disposed in the interior space of the collector housing  191  and collecting foreign substances flowing through the suction flow path  180 . 
     The dust bag  193  is formed of a material that transmits air while blocking foreign substances, so that foreign substances introduced from the dust collecting container  15  into the collector  190  may be collected therein. 
     The dust bag  193  may be provided on the suction flow path  441 , and the dust bag  193  may be provided separably from the collector  190 . 
     When the docking station  100  is driven and foreign substances are collected in the dust bag  193 , the user separates the panel  104  and opens the collector cover  192  to separate the dust bag  193  from the collector  190  such that the foreign substances collected in the docking station  100  are discharged. 
     The suction device  150  includes the suction fan  153 , the first motor  151  for rotating the suction fan  153 , and a suction device housing  106  forming the interior space in which the suction fan  153  is disposed. 
     The suction device housing  106  may include a suction device cover  107  that is disposed on the main body  101  and opens and closes the interior of the suction device  150 . The suction device cover  107  may be provided to discharge air suctioned by the suction fan  153 . 
     The suction airflow formed by the suction fan  153  may be supplied to the collector  190  through the suction flow path  180  in the interior space of the suction device housing  106  and then to the dust collecting container  15 . 
     As described above, the suction device  150  may supply the suction airflow to the dust collecting container  15  by rotating the suction fan  153 , and air caused to flow by the suction fan  153  may move from the dust collecting container  15  to the collector, finally moving to the outside of the docking station  100 . 
     The docking station  100  may further include a flow adjusting device  160  provided to selectively change the amount of suction airflow supplied to the dust collecting container  15  according to an embodiment. The flow adjusting device  160  may include a flow path valve  163  configured to open or close the suction flow path  180  and a second motor  161  that transmits power to the flow path valve  163 . 
     The flow adjusting device  160  may be disposed inside the main body  101 . The flow adjusting device  160  may be disposed between the collector  190  and the suction device  150 . In detail, the flow path valve  163  may be disposed in between a connection flow path (the suction flow path)  180  connecting the collector  190  to the suction device  150  and allowing air to flow therein. However, the disclosure is not limited thereto, and the flow path valve  163  may be provided to be disposed in between a connection flow path (the suction flow path)  180  connecting the collector  190  and the seating portion  181 . 
     That is, the flow path valve  163  may open and close the suction flow path  180  based on the power supplied from the second motor  161 . To this end, the flow path valve  163  may be provided on the suction flow path  180 . 
     For example, the flow path valve  163  may include a body portion provided in a plate shape and provided to reciprocate in one direction, and may be provided to open and close the suction flow path  180  through the reciprocating movement of the body portion. 
     In addition, the flow path valve  163  may include a cylindrical form provided to be rotated about a central axis, a body portion providing the cylindrical form, and incision portions formed by cutting both sides of the body portion around the central side, and as the body portion and the incision portions are rotated on the central axis, the suction flow path  180  is opened and closed. 
     However, the type of the flow path valve  163  is not limited to the above example, and the flow path value  165  may be implemented without limitation as long as it can open and close the suction flow path  180  based on power transmitted from the second motor  161 . 
     In the above, the structural characteristics of the cleaning device  1  have been described in detail. The following description will be made in relation to a control configuration of irregularly supplying a suction airflow to the dust collecting container  15  connected to the docking station  100 . 
       FIG.  5    is a control block diagram illustrating the docking station  100  according to an embodiment of the disclosure. 
     Referring to  FIG.  5   , the docking station  100  according to the embodiment includes the sensor  110  for detecting whether the dust collecting container  15  is connected to the docking state  100 , an inputter  120  for receiving an input from a user, a position detection sensor  130  for detecting the position of the flow path valve  163  of the flow adjusting device  160 , a collector sensor  195  for detecting whether the collector  190  is in a full state, a controller  140  for controlling the suction device  150  and the flow adjusting device  160  to provide an irregular suction airflow to the dust collecting container  15 , the suction device  150  including the first motor  151  and the suction fan  153  and generating a suction airflow that is to be supplied to the dust collecting container  15 , the flow adjusting device  160  including the second motor  161  and the flow path valve  163  to open and close the suction flow path  180  and adjusting a flow rate of a suction airflow that is to be supplied to the dust collecting container  15 , the display part  170  on which an operation state is displayed, and an ultraviolet irradiator  185  to irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays. 
     However, some of the components of the docking station  100  shown in  FIG.  5    may be omitted according to an embodiment, and the docking station  100  may further include other components in addition to the components shown in  FIG.  5    (e.g., a storage in which various pieces of information are stored, such as a flash memory, a random access memory (RAM), and a hard disk drive (HDD)). 
     The sensor  110  according to the embodiment may detect whether the dust collecting container  15  is connected to the docking station  100 . 
     To this end, the sensor  110  may be provided at one end of the suction flow path  180  to which the dust collecting container  15  is connected, and an output for a case in which the dust collecting container  15  is connected to the docking station  100  may be different from an output for a case in which the dust collecting container  15  is not connected to the docking station  100 . In detail, the dust collecting container  15  may be seated at one end of the seating portion  181 . 
     For example, the sensor  110  may be provided as an infrared sensor, a piezoelectric sensor, and the like, but is not limited thereto. The sensor may be variously provided without limitation as long as it can vary output values depending on whether the dust collecting container  15  is connected to the docking station  100 . 
     The inputter  120  according to the embodiment may receive input from a user. 
     To this end, the inputter  120  may be provided on the main body  101  of the docking station  100 , and may be implemented using a physical button, a switch, a knob, a touch pad, and the like. 
     For example, the input unit  120  may be provided on the upper side of the docking station  100 , and may be provided as a button or switch. However, the location and type of the input unit  120  is not limited as long as it can receive user input. 
     In detail, the inputter  120  may receive, from a user, an action command and a stop command for an operation of removing foreign substances from the dust collecting container  15 . In addition, the inputter  120  may receive action commands for various modes, such as a suction mode, a display mode, or the like, according to an embodiment. 
     The position detection sensor  130  according to the embodiment may detect the position of the flow adjusting device  160 . 
     In detail, the position detection sensor  130  may detect whether the flow path valve  163  of the flow adjusting device  160  is in a position in which the flow path valve  163  closes the suction flow path  180  or in a position in which the flow path valve  163  closes the suction flow path  180 . 
     For example, the position detection sensor  130  may be provided as a micro-switch that is pressurized according to movement of the flow path valve  163  to output a first value when the flow path valve  163  closes the suction flow path  180  and output a second value when the flow path valve  163  opens the suction flow path  180 . 
     However, the position detection sensor  130  is not limited to the above example, and the position detection sensor  130  may be provided as a motor position sensor configured to measure the position of the second motor  161  that transmits power to the flow path valve  163  to output a first value when the flow path valve  163  closes the suction flow path  180  and output a second value when the flow path valve  163  to opens the suction flow path  180 . In this case, the position detection sensor  130  may detect the position of a rotor included in the second motor  161 , and to this end, may be provided on a surface facing a rotation shaft of the second motor  161 . For example, the position detection sensor  130  may correspond to a hall sensor using a hall effect, but is not limited thereto, and the position detection sensor  130  may be variously provided without limitation as long as it can vary an output signal according to the rotation of the motor. 
     The controller  140  according to the embodiment may control the suction device  150  so that foreign substances in the dust collecting container  15  are discharged into the docking station  100  when the dust collecting container  15  is connected to the docking station  100 . 
     In detail, the controller  140  may determine whether the dust collecting container  15  is connected to the docking station  100  based on the output value of the sensor  110 , and when the dust collecting container  15  is connected to the docking station  100 , may control an operation initiation of the first motor  151 . 
     However, the controller  140  may further consider an action command of a user entered through the inputter  120  in addition to the output value of the sensor  110 , to control the operation initiation only in the presence of the action command from the user. 
     In this case, when the first motor  151  is kept on and the same suction airflow is supplied to the dust collecting container  15 , some of the foreign substances may be caught with internal components of the dust collecting container  15  and may not be discharged to the outside. For example, foreign substances, such as hair, may be caught with the internal structure of the dust collecting container  15 , and despite the suction airflow, may remain inside the dust collecting container  15  without being separated to the outside of the dust collecting container  15 . That is, the suction airflow delivered to the inside of the dust collecting container  15  may be formed only in the same direction. Accordingly, some foreign substances may have a resistance to the direction in which the suction airflow is formed, and thus may not be separated to the outside of the dust collecting container  15  by the suction airflow. As such, foreign substances inside the dust collecting container  15  may not be effectively discharged. 
     The docking station  100  according to the embodiment, while a suction airflow is being supplied to the dust collecting container  15  by the suction fan  153  and air in the dust collecting container  15  is suctioned, allows the suction airflow to be changed to thereby change the flow rate of air inside the dust collecting container  15  and diversify the flow of air inside the dust collecting container  15 . 
     The controller  140 , in order to provide an irregular suction airflow to the dust collecting container  15 , may control the flow adjusting device  160  to periodically open and close the suction flow path  180  during the operation of the suction device  150  (i.e., when the first motor  151  is kept on). 
     In this case, the controller  140  may continuously supply a voltage to the first motor  151  such that the suction device  150  operates, and during the operation of the suction device  150 , the controller  140  may continuously supply a voltage even to the second motor  161  of the flow adjusting device  160 . 
     With such a configuration, the suction device  150  may continuously generate a suction airflow through the suction fan  153 , and the flow adjusting device  160  may periodically open and close the suction flow path  180  so that the flow rate of the suction airflow formed by the suction device  150  is periodically changed. 
     As the direction of the airflow instantaneously changes, some foreign substance having a resistance to a specific direction may lose the resistance due to air flowing in the other direction and thus may escape outside of the dust collecting container  15  together with the airflow. 
     In this case, the foreign substances separated and discharged from the dust collecting container  15  may be moved together with air by the driving of the suction fan  153  and then collected by the collector  190  provided in the suction flow path  180 . 
     That is, the controller  140  may allow the flow adjusting device  160  to periodically open and close the suction flow path  180  so that the flow of air inside the dust collecting container  15  is changed. With such a configuration, foreign substances in the dust collecting container  15  may be more efficiently discharged. 
     An embodiment in which the suction flow path  180  is periodically opened and closed by the flow adjusting device  160  during the continuous operation of the suction device  150  (the first motor  151 ) to remove foreign substances from the dust collecting container  15  will be described below in detail. 
     In addition, the controller  140  according to the embodiment, in order to supply the dust collecting container  15  with the irregular suction airflow, may adjust at least one of the driving time or the rotating speed of the first motor  151  while repeating on/off the first motor  151  of the suction device  150 . 
     That is, the controller  140  may control the first motor  151  such that the first motor  151  is repeatedly turned on and off. 
     In this case, the controller  140  adjusts at least one of the time for which the first motor  151  is turned on or the time for which the motor  150  is turned off whenever the first motor  151  is alternately turned on and off, to thereby adjust the driving time of the first motor  151 . 
     In addition, the controller  140  may adjust the pulse width of the supply voltage supplied to the first motor  151  whenever the first motor  151  is alternately turned on and off, to thereby adjust the rotation speed of the first motor  151 . 
     In this case, the suction fan  153  may provide a suction airflow having a different suction power whenever the first motor  151  is alternately turned on and off, according to the change in driving time of the first motor  151  or rotating speed of the first motor  151 , and as the internal pressure of the dust collecting container  15  changes due to the irregular suction airflow, foreign substances in the dust collecting container  15  may be smoothly discharged from the dust collecting container  15 . 
     That is, as the flow rate of air inside the dust collecting container  15  changes, air spreads in all directions in the space inside the dust collecting container  15 , and accordingly, the airflow inside the dust collecting container  15  may change in various directions. 
     As the direction of the airflow changes instantaneously, some foreign substance having had a resistance to a specific direction may lose the resistance due to air flowing in another direction and may escape outside of the dust collecting container  15  along with the airflow. 
     In this case, the foreign substances separated from the dust collecting container  15  and discharged may be moved together with air by the driving of the suction fan  153  and collected in the collector  190  provided in the suction flow path  180 . 
     That is, the controller  140  may repeat the supply and stop of the suction airflow toward the dust collecting container  15  through the on-off control of the first motor  151 , and changes the supply time or suction power during the supply of the suction airflow, thereby periodically changing the flow of air inside the dust collecting container  15 . With such a configuration, foreign substances in the dust collecting container  15  may be discharged more efficiently. 
     In addition, the controller  140  according to the embodiment may set different pulse widths for the pulses of the supply voltage within at least one of the time sections in which the first motor  151  is turned on and off, so that the first motor  151  vibrates. 
     That is, the controller  140  sets the pulse widths of pulses of the supply voltage to be different from each other within an on-time in which the first motor  151  is turned on by being supplied with the voltage, and provides the first motor  151  with the set pulse widths. 
     For example, the controller  140  may adjust the pulse widths of the supply voltage such that a first pulse width and a second pulse width are alternately provided as the pulses of the supply voltage propagate in at least one time section. 
     In this case, the first motor  151  may be subject to rapid change of the rotation speed based on the pulse width difference between the pulses of the supply voltage, and accordingly, the first motor  151  may vibrate. 
     The vibration of the first motor  151  may be transmitted to the main body of the docking station  100  and the dust collecting container  15  connected to the docking station  100 . That is, the dust collecting container  15  may vibrate according to the vibration of the first motor  151 , and foreign substances in the dust collecting container  15  may be discharged more efficiently according to the vibration. For example, even foreign substances not discharged from the dust collecting container  15  in spite of the suction airflow as being caught in the internal components of the dust collecting container  15  may be discharged from the dust collecting container  15  according to the vibration of the dust collecting container  15  along with the suction airflow. 
     The controller  140  according to the embodiment may repeat the on/off control of the first motor  151  when the dust collecting container  15  is separated from the docking station  100  or a stop command is input, or until the first motor  151  completes a predetermined number of on-operations (i.e., a preset operation time duration). 
     The controller  140 , when the dust collecting container  15  is connected to the docking station  100  and then is separated from the docking station  100 , may drive the first motor  151  for a preset time that is set in advance for foreign substances remaining in the suction flow path  180  to be collected by the collector  190 . 
     The controller  140  according to the embodiment may control the flow path valve  165  in addition to the control of the first motor  151 , so as to periodically open and close the suction flow path  180  while the suction airflow by the suction fan  153  is being supplied according to the driving of the first motor  151 . 
     That is, the controller  140  controls the second motor  161  so that the flow path valve  163  periodically opens and closes the suction flow path  180 , to repeat supply and stop of the suction airflow toward the dust collecting container  15 , so that the flow of air inside the dust collecting container  15  is periodically changed. In other words, the flow path valve  163  may adjust the flow rate of air moved by the suction fan  153 , and completely stop the suction airflow that may remain during an off-time in which the voltage is not supplied to the first motor  151 , thereby more effectively changing the flow of air inside the dust collecting container  15 . 
     In this case, the controller  140  may determine whether the suction flow path  180  is open or closed by the flow path valve  163  based on the output value of the position detection sensor  130 , and drive the first motor  151  based on the opening or closing of the suction flow path  180 , so that noise and overload of the first motor  151  may be improved. 
     In detail, the controller  140  controls the first motor  151  to be turned on when the flow path valve  163  opens the suction flow path  180 , and controls the first motor  151  to be turned off when the flow path valve  163  closes the suction flow path  180 . 
     That is, the controller  140  controls the first motor  151  and the second motor  161  in conjunction with each other, thereby performing the supply and repetition of the suction airflow more efficiently, and preventing the suction fan  153  from causing noise due to being rotated when the suction flow path  180  is closed while improving overload of the first motor  151 . 
     The controller  140  may control the second motor  161  such that the flow path valve  163  opens and closes the suction flow path  180  at a preset cycle, or may control the second motor  161  to operate in response to the driving time of the first motor  151  that is changed whenever the first motor  151  is alternately turned on and off. 
     That is, when the on-time in which the voltage is supplied to the first motor  151  or the off-time in which the voltage is not supplied to the first motor  151  is changed, the controller  140  may control the second motor  161  to operate the flow path valve  163  in response to the changed on-time or off-time. 
     The controller  140  according to the embodiment may control the flow path valve  163  to close the suction flow path  180  when the dust collecting container  15  is separated from the docking station  100 . That is, the controller  140  may control the second motor  161  such that the flow path valve  163  closes the suction flow path  180 . 
     In this case, the closing of the suction flow path  180  according to an embodiment may be performed after the first motor  150  is driven for a preset time which is set such that foreign substances remaining in the suction flow path  180  are collected by the collector  190 . 
     An embodiment in which the suction device  150  (the first motor  151 ) repeats on and off operations to remove foreign substances from the dust collecting container  15  will be described below in detail. 
     The controller  140  according to the embodiment, in response to receiving an action command for a suction mode through the inputter  120 , may control the suction device  150  to operate by continuously supplying the voltage to the suction device  150  and control the flow adjusting device  160  to open the suction flow path  180  such that the suction fan  153  is continuously rotated without the suction flow path  180  being closed. 
     The controller  140  according to the embodiment may determine whether the collector  190  is in a full state on the basis of an output of the collector sensor  195 , and when the collector  190  is in a full state, the controller  140  may control the display part  170  to display fullness of the collector  190 . 
     The controller  140  according to the embodiment may control the ultraviolet irradiator  185  to irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays. 
     In detail, the controller  140  may control the ultraviolet irradiator  185  for ultraviolet irradiation when the suction device  150  operates to remove foreign substances from the dust collecting container  15 , and may control the ultraviolet irradiator  185  for ultraviolet irradiation on the basis of a user input inputted through the inputter  120 . 
     The controller  140  according to the embodiment, in response to receiving a user input for a display mode through the inputter  120 , may control the display part  170  to emit light. 
     The controller  140  may include at least one memory in which a program for performing the above-described operations and operations described below is stored, and at least one processor for executing the stored program. When the memory and the processor are provided in plural, the plurality of memories and the plurality of processors may be integrated into one chip, or may be provided in physically separate locations. 
     The suction device  150  according to the embodiment may supply a suction airflow to the dust collecting container  15 , and to this end, may include the suction fan  153  and the first motor  151  for transmitting power to the suction fan  153 . 
     The first motor  151  rotates according to the supply voltage to transmit the rotational force to the suction fan  153 . 
     The suction fan  153  rotates based on the power supplied from the first motor  151  to move air from the dust collecting container  15  into the docking station  100 . 
     To this end, the suction fan  155  may be provided at the other end of the suction flow path  180  whose one end is connected to the dust collecting container  15 , and may be mechanically connected to the first motor  151  to receive power from the first motor  151 . 
     The flow adjusting device  160  according to the embodiment may open and close the suction flow path  180  at a predetermined cycle when supplied with a voltage. To this end, the flow adjusting device  160  includes the flow path valve  163  capable of opening and closing the suction flow path  180  and the second motor  161  that transmits power to the flow path valve  163 . 
     The second motor  161  may transmit power to the flow path valve  163  to open and close the suction flow path  180 . 
     In detail, the second motor  161 , under the control of the controller  140 , may transmit power to the flow path valve  163  at a preset cycle or may transmit power to the flow path valve  163  to correspond to the driving time of the first motor  151  that is changed whenever the first motor  151  is alternately turned on and off. 
     The flow path valve  163  according to the embodiment may open and close the suction flow path  180  based on the power supplied from the second motor  161 . To this end, the flow path valve  163  may be provided on the suction flow path  180 . 
     For example, the flow path valve  163  may include a body portion provided in a plate shape and provided to be reciprocated in one direction, and may open and close the suction flow path  180  through the reciprocating motion of the body portion. 
     In addition, the flow path valve  163  may include a cylindrical form provided to be rotated about a central axis, a body portion providing the cylindrical form, and incision portions formed by cutting both sides of the body portion with respect to the central axis, and the flow path valve  163  may be provided to open and close the suction flow path  180  as the body portion and the incision portions rotate with respect to the central axis. 
     However, the type of the flow path valve  163  is not limited to the above example, and the flow path value  163  may be implemented without limitation as long as it can open and close the suction flow path  180  based on the power transmitted from the second motor  161 . 
     The display part  170  according to the embodiment may display an operation state of the docking station  100 . 
     For example, the display part  170  may correspond to a light emitting diode (LED) panel for emitting light, and may include a front display provided at the front surface of the docking station  100  to emit light outside of the docking station  100  and an internal display provided on the seating portion  181  to emit light to the dust collecting container  15  from the inside of the seating portion  181 . 
     The display part  170  may correspond to an LED panel provided on the seating portion  181  and emit light to the dust collecting container  15  from inside the seating portion  181 . 
     However, the position and type of the display part  170  are not limited thereto as long as the display part  170  can display an operating state. 
     The ultraviolet irradiator  185  according to the embodiment may irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays. 
     To this end, the ultraviolet irradiator  185  may be provided as an ultraviolet lamp provided on the seating portion  181  and emitting ultraviolet rays. In this case, ultraviolet rays emitted from the ultraviolet irradiator  185  may be irradiated to the dust collecting container  15  connected to the docking station  100 , and irradiated to the collector  190  through the suction flow path  180 . 
     In addition, the ultraviolet irradiator  185  according to an embodiment may include a motor, and may irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays by mechanically adjusting the irradiation angle based on the rotational force of the motor. 
     In addition, the ultraviolet irradiator  185  according to an embodiment may include a plurality of ultraviolet lamps and may irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays by adjusting the irradiation intensity of each of the plurality of ultraviolet lamps in an array to electronically adjust the irradiation angle. 
     In addition, the ultraviolet irradiator  185  according to an embodiment may include an ultraviolet lamp provided on the seating portion  181  to irradiate the dust collecting container  15  with ultraviolet rays and an ultraviolet lamp provided on the collector housing  191  to irradiate the collector  190  with ultraviolet rays. 
     The collector sensor  195  according to the embodiment may detect whether the collector  190  is in a full state. 
     For example, the collector sensor  195  may be provided as a pressure sensor, and when the collector  190  is in a full state and interferes with the suction airflow of the suction device  150 , the collector sensor  195  may detect a pressure different from that in a normal operation. With such a configuration, the controller  140  may determine that the collector  190  is in a full state when the collector sensor  195  outputs a pressure different from that in a normal operation. 
     However, the collector sensor  195  is not limited to the above example, and may be various provided as long as it can detect fullness of the collector  190 , for example, an optical sensor or a camera. 
     In the above, components of the docking station  100  have been described in detail. The following description will be made in relation to supplying an irregular suction airflow to the dust collecting container  15  such that foreign substances in the dust collecting container  15  are efficiently discharged. 
     First, an embodiment in which, in order to supply an irregular suction airflow to the dust collecting container  15 , the suction device  150  is controlled to continuously operate, and the flow adjusting device  160  is controlled to periodically to open and close the suction flow path  180  will be described in detail. 
       FIG.  6    is a view illustrating a case in which the docking station  100  automatically operates when connected with the dust collecting container  15  according to an embodiment of the disclosure,  FIG.  7    is a view illustrating a case in which the docking station  100  operates in response to input of an action command according to an embodiment of the disclosure,  FIG.  8    is a view for describing a time point when the docking station  100  determines closing of the suction flow path  180  in association with an external power frequency according to an embodiment of the disclosure, and  FIG.  9    is a view for describing a case in which the docking station  100  initiates operation according to an embodiment of the disclosure. 
     Referring to  FIG.  6   , the controller  140  according to the embodiment may be configured to, when connected with the dust collecting container  15 , may initiate an operation for removing foreign substances from the dust collecting container  15  by supplying voltage to the suction device  150  and the flow adjusting device  160  without receiving a separate user input. 
     In detail, the controller  140 , in response to determining that the dust collecting container  15  is docked to the seating portion  181  of the docking station  100  based on the output of the sensor  110 , may control the suction device  150  and the flow adjusting device  160  to be supplied with voltage to initiate the operation for removing foreign substances from the dust collecting container  15 . 
     In addition, referring to  FIG.  7   , the controller  140  according to the embodiment may be configured to, when receiving an action command from a user through the inputter  120  in a state of being connected with the dust collecting container  15 , initiate an operation for removing foreign substances from the dust collecting container  15  by supplying voltage to the suction device  150  and the flow adjusting device  160 . 
     For example, the user may input an action command by pressing a button corresponding to the inputter  120 . 
     Regardless of whether the operation is initiated by the connection of the dust collecting container  15  or by the input of the action command from the user, details of the operation for removing foreign substance from the dust collecting container  15  are the same, and hereinafter, the operation for removing foreign substances from the dust collecting container  15  will be described with reference to  FIGS.  6  and  7   . 
     The controller  140 , when the initiation of the operation is determined based on the connection of the dust collecting container  15  or the user input of the action command, may control the suction device  150  to operate for dust removal. That is, the controller  140  may supply a voltage to the suction device  150  to drive the suction fan  153  to form a suction airflow. 
     In addition, the controller  140  may control the flow adjusting device  160  to periodically open and close the suction flow path  180  while the suction device  150  is operating. That is, the controller  140  may supply a voltage to the flow adjusting device  160  to open and close the suction flow path  180  at a preset cycle. 
     With such a configuration, the suction device  150  may continuously generate the suction airflow through the suction fan  153 , and the flow adjusting device  160  may periodically open and close the suction flow path  180  to periodically change the flow rate of the suction airflow generated by the suction device  150 . 
     As the direction of the airflow changes instantaneously, some foreign substance having had a resistance to a specific direction may lose the resistance due to air flowing in another direction and may escape outside of the dust collecting container  15  along with the airflow. 
     In this case, the foreign substances separated from the dust collecting container  15  and discharged may be moved together with air by the driving of the suction fan  155  and collected in the collector  190  provided in the suction flow path  180 . 
     That is, the controller  140  may change the flow of air inside the dust collecting container  15  by allowing the flow adjusting device  160  to periodically open or close the suction flow path  180 . With such a configuration, foreign substances in the dust collecting container  15  may be discharged more efficiently. 
     The controller  140  according to the embodiment may control the suction device  150  and the flow adjusting device  160  to stop the dust discharge operation when a preset operation time T O  has elapsed after initiation of the operation of the suction device  150 . 
     That is, the controller  140  may control the suction device  150  and the flow adjusting device  160  to operate during a preset operation time T O  for discharging foreign substances from the dust collecting container  15 , and when the preset operation time T O  has elapsed after the initiation of the operation, may stop supplying the voltages to the suction device  150  and the flow adjusting device  160 . 
     In this case, the flow adjusting device  160  may repeat the opening and closing of the suction flow path  180  by a preset number of times (e.g., five times) during the preset operation time T O . That is, the preset operation time T O  may be a time set to repeat the opening and closing of the suction flow path  180  by a preset number of times (e.g., five times) in consideration of the opening and closing period of the flow adjusting device  160 . 
     In this case, the controller  140  may set the operation time T O  to be longer as the external power frequency becomes lower. As the external power frequency become lower, the number of rotations per hour of the second motor  151  driving the flow adjusting device  160  may be increased, and the period for opening and closing the flow adjusting device  160  may be extended. Therefore, the controller  140  may adjust the operation time T O  such that the number of times the suction flow path  180  is opened and closed by the flow adjusting device  160  is constant even when the external power frequency is changed. 
     For example, when the external power frequency is 60 hertz (Hz), the opening and closing period of the flow adjusting device  160  may correspond to 3.3 seconds, and when the external power frequency is 50 Hz, the opening and closing period of the flow adjusting device  160  may correspond to 3.9 seconds. Therefore, the controller  140  may allow the suction device  150  and the flow adjusting device  160  to operate for an operation time (e.g., twenty-one seconds) at the external power frequency of 50 Hz that is longer than an operation time (e.g., eighteen seconds) at the external power frequency of 60 Hz. 
     With such a configuration, the docking station  100  ensures the number of times the suction flow path  180  is opened and closed regardless of the external power frequency, thereby ensuring the performance of removing foreign substances from the dust collecting container  15 . 
     In this case, the controller  140  according to an embodiment may set the preset operation time T O  such that the flow adjusting device  160  stops in a state in which the suction flow path  180  is open on the basis of the opening and closing period of the flow adjusting device  160  for the suction flow path  180 . 
     The controller  140  may stop supplying voltages to the suction device  150  and the flow adjusting device  160  after the operation time T O . However, even with no supply voltage to the suction device  150 , the suction fan  153  may continue to rotate due to the inertia. Until the suction fan  153  is completely stopped after the interruption of the supply voltage to the suction device  150 , the suction airflow on the suction flow path  180  may remain while decreasing. When the suction flow path  180  is closed by the flow adjusting device  160  in a situation where the air pressure changes due to a change in suction airflow, noise may be generated due to the instantaneous change in air pressure. 
     The controller  140  may set the operation time T O  such that the flow adjusting device  160  is stopped in a state of the suction flow path  180  being open when the operation time T O  has elapsed after the initiation of the operation, so that the suction flow path  180  is prevented from being closed in a situation in which the suction fan  153  continues to rotate after the supply voltage to the suction device  150  is interrupted, so that noise is prevented. 
     For example, when the flow adjusting device  160  initiates operating in a state of the suction flow path  180  closed, the controller  140  may determine the operation time T O  to be an odd multiple of the opening and closing period of the flow adjusting device  160  for the suction flow path  180  in consideration of the opening and closing period. 
     The controller  140  according to the embodiment may control the flow adjusting device  160  to close the suction flow path  180  when a preset waiting time TW (e.g., 2.5 seconds) has elapsed after the operation time T O . 
     That is, the controller  140  may allow the suction flow path  180  to be closed by controlling the flow adjusting device  160  after the operation time T O , so that the suction device  150  is protected from foreign substances remaining on the suction flow path  180 , and when initiating the operation, allow the suction device  150  to be turned on in a state of the suction flow path  180  open, so that noise is reduced. 
     As described above, the controller  140  controls the flow adjusting device  160  to open the suction flow path  180  during the waiting time TW after the operation time T O , and then to close the suction flow path  180 . 
     That is, the controller  140  may prevent the suction flow path  180  from being closed before the suction fan  153  is completely stopped after interruption of the supply voltage to the suction device  150 , and may control the flow adjusting device  160  to close the suction flow path  180  when the suction fan  153  is completely stopped when the waiting time T w  has elapsed after the operation time T O . 
     In other words, the controller  140 , in order to prevent noise from occurring due to a change in suction airflow by the residual rotational force after the stop of the operation of removing foreign substances from the dust collecting container  15 , may stop the flow adjusting device  160  such that the suction flow path  180  remains open for a predetermined waiting time. In addition, the controller  140  may control the flow adjusting device  160  to close the suction flow path  180  after the waiting time, so that the suction device  150  is protected from foreign substances remaining in the suction flow path  180 , and when initiating the operation of removing foreign substances, may allow the suction device  150  to operate in a situation where the suction flow path  180  is open, so that noise is prevented from occurring. 
     In this case, the controller  140  may adjust the time point of determining to the suction flow path  180  according to the external power frequency. 
     As described above, as the external power frequency becomes lower, the number of rotations of the second motor  161  decreases, and the opening and closing period of the flow adjusting device  160  for the suction flow path  180  may be extended. 
     Accordingly, as the external power frequency becomes lower, the time of closing the suction flow path  180  may become longer. For example, the closing time at 60 Hz may be 0.8 seconds, and the closing time at 50 Hz may be 1.05 seconds. 
     Accordingly, when controlling the flow adjusting device  160  to close the suction flow path  180  after the waiting time TW, the controller  140  may delay the time point at which the suction flow path  180  is determined as being closed in proportion to decrease of the external power frequency. 
     For example, the controller  140 , referring to  FIG.  8   , when the external power frequency is 60 Hz, may determine the suction flow path  180  as being closed when a time T a1  (e.g., 0.1 seconds) has elapsed since the position detection sensor  130  outputs the first value indicating closing of the suction flow path  180  after the waiting time TW. In addition, the controller  140 , as shown in  FIG.  8   , when the external power frequency is 50 Hz, may determine the suction flow path  180  as being closed when a time T a2  (e.g., 0.5 seconds) has elapsed since the position detection sensor  130  outputs the first value indicating closing of the suction flow path  180  after the waiting time TW. 
     That is, the controller  140  may delay the time point at which the suction flow path  180  is determined as being closed after the initiation of the output of the first value of the position detection sensor  130 , since the time of closing the suction flow path  180  is extended as the external power frequency becomes lower. 
     With such a configuration, when newly initiating the operation of removing foreign substances from the dust collecting container  15 , the suction device  150  may initiate the operation in a situation in which the suction flow path  180  is open regardless of the external power frequency. 
     That is, the controller  140  may be configured to, in response to a decrease in external power frequency, delay the time point at which the suction flow path  180  is determined as being closed after the first value starts to be output by the position detection sensor  130 , so that the time taken for the flow adjusting device  160  to initiate opening the suction flow path  180  when a new operation is initiated may be constant regardless of the external power frequency, and thus variation in noise caused by different external power frequencies may be reduced. As shown in  FIG.  8   , a time T b1  taken to open the suction flow path  180  at an external power frequency of 60 Hz may be the same as or may differ slightly from a time T b2  taken to open the suction flow path  180  at an external power frequency of 50 Hz. 
     In other words, considering that the time of closing the suction flow path  180  at an external power frequency of 50 Hz is longer than that at an external power frequency of 60 Hz, the controller  140  may delay the closing determination time point at an external power frequency of 50 Hz to be later than that at an external power frequency of 60 Hz such that the flow adjusting device  160  is further operated for the delayed time. With such a configuration, the time remaining before the closing at an external power frequency of 60 Hz may be the same as or differ slightly from that at an external power frequency of 50 Hz, so that when a new operation is initiated, the variation in noise generation is negligible. 
     When supplying the voltage to the suction device  150  to initiate the operation, the controller  140  may gradually increase the magnitude of the voltage supplied during a soft start time, and from a time point when the soft start time has elapsed, supply a voltage having a magnitude corresponding to that of the target voltage. 
     That is, the voltage supplied to the suction device  150  may gradually increase during the soft start time and reach the target voltage, and then may be maintained at the target voltage until the operation time T O  is reached. 
     This is to prevent the first motor  151  from greatly vibrating as being instantaneously supplied with a high voltage, and prevent the docking station  100  from being vibrated due to the great vibration of the first motor  151  while preventing noise from occurring due to the vibration of the docking station  100 . 
     During the soft start time in which the voltage supplied to the suction device  150  increases, the flow rate of a suction airflow generated by the suction device  150  may increase, and when the suction flow path  180  is closed in a situation in which the flow rate of the suction airflow increases, noise may be generated due to a sudden change in air pressure in the suction flow path  180 . 
     The controller  140  may control the flow adjusting device  160  to open the suction flow path  180  during the soft start time in which the voltage supplied to the suction device  150  increases to the target voltage to prevent noise from occurring. 
     For example, the controller  140 , as shown in  FIGS.  6  and  7   , may determine the soft start time T SS  to correspond to the time T f1  of opening the flow path  180  by considering the opening and closing period T f  of the flow control device  160  for the suction flow path  180 . 
     That is, the soft start time T SS  may be determined as a time from a time point when the opening of the suction flow path  180  is started to a time point when the closing of the suction flow path  180  is started in the continuous operation of the flow adjusting device  160 . 
     In addition, the controller  140  may determine the soft start time T SS  regardless of the opening and closing period T f  of the flow path device  160  of the flow control device  160 . For example, the controller  140  may set the soft start time T SS  to be longer than the time T f1  of opening the suction flow path  180  in the opening and closing period T f  of the flow adjusting device  160  for the suction flow path  180  so that vibration of the docking station  100  may be minimized. 
     In this case, the controller  140 , as shown in  FIG.  9   , may stop the flow adjusting device  160  for a time T f3  corresponding to a difference between the soft start time T SS  and the time T f1  of opening the suction flow path  180  such that the suction flow path  180  is open during the soft start time T SS . 
     In addition, the controller  140  according to an embodiment, when starting an operation for removing foreign substances in the dust collecting container  15  in a state in which the suction flow path  180  is open, may stop the operation of the flow adjusting device  160  for a predetermined time such that the suction flow path  180  is open during the soft start time T SS , and may control the flow adjusting device  160  to close the suction flow path  180  after the soft start time T SS . 
     With such configuration, the docking station  100  may prevent noise from occurring due to the suction flow path  180  being closed during the soft start time in which the voltage supplied to the suction device  150  increases. 
     The above description has been made in relation to an embodiment in which in order to supply an irregular suction airflow to the dust collecting container  15 , the suction device  150  is controlled to continuously operate, and the flow adjusting device  160  is controlled to periodically open and close the suction flow path  180 . Hereinafter, an embodiment in which a stop command is received from a user during the suction device  150  continuously operating and the flow adjusting device  160  periodically opening and closing the suction flow path  180  will be described in detail. 
       FIG.  10    is a view illustrating a case in which the docking station  100  stops operation in response to input of a stop command with the suction flow path  180  being open according to an embodiment of the disclosure. 
       FIG.  11    is a view illustrating a case in which the docking station  100  stops operation in response to input of a stop command with the suction flow path  180  being closed according to an embodiment of the disclosure. 
     Referring to  FIGS.  10  and  11   , the controller  140  according to the embodiment, in response to receiving an input of a stop command for the dust discharge operation through the inputter  120  while the suction device  150  and  160  are operating for discharging dust, may control  160  the open the suction flow path  180  and control the suction device  150  to stop operating after a first waiting time T W1  (e.g., one second) since the stop command is input. 
     As described above, even when the supply voltage to the suction device  150  is interrupted, the suction fan  153  may continue to rotate due to the inertia. Until the suction fan  153  is completely stopped after the interruption of the supply voltage to the suction device  150 , the suction airflow on the suction flow path  180  may remain while decreasing. In a situation where the air pressure changes due to a change in the suction airflow, when the suction flow path  180  is closed by the flow adjusting device  160 , noise may occur due to the instantaneous change in air pressure. 
     Therefore, the controller  140 , in response to receiving a stop command for the dust discharge operation after the initiation of the operation for dust discharge, may control the flow adjusting device  160  to stop operation in a state in which the suction flow path  180  is open by the flow adjusting device  160 , so that the suction flow path  180  is prevented from being closed in a situation in which the suction fan  153  continues to rotate after the interruption of the supply voltage to the suction device  150 , so that noise is prevented from occurring. 
     In detail, the controller  140  according to the embodiment, as shown in  FIG.  10   , when receiving the input for the stop command for the dust discharge operation in a state in which the suction flow path  180  is open, may stop the flow adjusting device  160  such that the suction flow path  180  remains open. 
     That is, the controller  140 , in response to receiving an input of a stop command when the flow adjusting device  160  is in a position of opening the suction flow path  180  during the operation, may stop supplying the voltage to the flow adjusting device  160  to keep the suction flow path  180  open. 
     The controller  140  may stop supplying the voltage to the suction device  150  such that the suction device  150  stops operation when a first waiting time T W1  has elapsed after the time point at which the stop command is input. 
     In this case, the controller  140 , according to an embodiment, may control the flow adjusting device  160  to close the suction flow path  180  when a second waiting time T W2  (e.g., 2.5 seconds) has elapsed after the time at which the stop command is input. 
     With such a configuration, the controller  140  may prevent the suction flow path  180  from being closed in a situation in which the suction fan  153  continues to rotate after the supply voltage to the suction device  150  is interrupted, so that noise is prevented from occurring. 
     Referring to  FIG.  11   , the controller  140  according to the embodiment, in response to receiving the input for the stop command for the dust discharge operation in a state in which the suction flow path  180  is closed, may operate the flow adjusting device  160  to open the suction flow path  180 . 
     That is, the controller  150 , in response to receiving the input of the stop command for the dust discharge when the flow adjusting device  160  is in a position of closing the suction flow path  180  during the operation, may maintain the voltage supply to the flow adjusting device  160  for a first waiting time T W1  after the input of the stop command so that the suction flow path  180  is opened. In this case, the first waiting time T W1  may correspond to a time required for the flow adjusting device  160  to move from the position where the suction flow path  180  is closed to the position where the suction flow path  180  is open. 
     The controller  140  may stop supplying the voltage to the suction device  150  such that the suction device  150  stops operation when the first waiting time T W1  has elapsed after the input time of the stop command for the dust discharge operation, and with the voltage supply to the suction device  150  being stopped, also stop the voltage supply to the flow adjusting device  160 , so that the suction device  150  and the flow adjusting device  160  may be stopped in a state in which the suction flow path  180  is opened by the flow adjusting device  160 . 
     As described above, the controller  140  may control the suction device  150  and the flow adjusting device  160  to stop operation by counting the first waiting time T W1 , and according to an embodiment, may control the suction device  150  and the flow adjusting device  160  to stop operation by determining whether the flow adjusting device  160  opens the suction flow path  180  on the basis of the output value of the position detection sensor  130 . 
     That is, the controller  140  may control the suction device  150  and the flow adjusting device  160  to stop operation in response to determining that the suction flow path  180  is open based on the output value of the position detection sensor  130  after the input of the stop command for the dust discharge operation of the docking station  100 . 
     In this case, the controller  140 , according to an embodiment, may control the flow adjusting device  160  to close the suction flow path  180  when the second waiting time T W2  (e.g., 2.5 seconds) has elapsed after the interruption of the voltage supply to the suction device  150 . 
     With such a configuration, the controller  140  may prevent the suction flow path  180  from being closed in a situation in which the suction fan  153  continues to rotate after the interruption of the supply voltage to the suction device  150 , thereby preventing noise from occurring. 
     As described above, the controller  140  terminates a cycle by finally closing the suction flow path  180  after the input of the stop command for the dust discharge operation, so that the suction device  150  may be prevented from foreign substances remaining in the suction flow path  180 , and when newly initiating an operation for removing foreign substances, allows the suction device  150  to operate in a state of the suction flow path  180  being open, so that noise may be prevented from occurring. 
     In the above, an embodiment in which the suction airflow supplied to the dust collecting container  15  is changed through the flow adjusting device  160  in a situation in which the suction device  150  is continuously operated has been described. Hereinafter, an embodiment in which the suction airflow supplied to the dust collecting container  15  is changed by changing on/off operation of the first motor  151  of the suction device  150  will be described in detail. 
       FIG.  12    is a graph showing time variant on-off control of the first motor  151  according to the embodiment of the disclosure, and  FIG.  13    is a view for describing a case in which a different rotation speed is provided whenever an on-operation of the first motor  151  is repeated according to an embodiment of the disclosure. 
     Referring to  FIG.  12   , the docking station  100  according to the embodiment may control the suction device  150  such that foreign substances in the dust collecting container  15  are discharged when the dust collecting container  15  of the vacuum cleaner  10  is connected to the docking station  100 . 
     In detail, the docking station  100  may determine whether the dust collecting container  15  is connected to the docking station  100  based on the output value of the sensor  110 , and when the dust collecting container  15  is connected to the docking station  100 , initiate control of the first motor  151 . 
     However, the controller  140  may further consider a user&#39;s control command inputted through the inputter  120  in addition to the output value of the sensor  110  such that the control of the first motor  151  is initiated only in the presence of the action command from the user. 
     In this case, when the first motor  151  is kept on and the same suction airflow is supplied to the dust collecting container  15 , some of the foreign substances may be caught with internal components of the dust collecting container  15  and may not be discharged to the outside. For example, foreign substances, such as hair, may be caught with the internal structure of the dust collecting container  15 , and despite the suction airflow, may remain inside the dust collecting container  15  without being separated to the outside of the dust collecting container  15 . That is, the suction airflow delivered to the inside of the dust collecting container  15  may be formed only in the same direction. Accordingly, some foreign substances may have a resistance to the direction in which the suction airflow is formed, and thus may not be separated to the outside of the dust collecting container  15  by the suction airflow. Accordingly, foreign substances inside the dust collecting container  15  may not be effectively discharged. 
     The docking station  100  according to the embodiment, while a suction airflow is being supplied to the dust collecting container  15  by the suction fan  153  and air in the dust collecting container  15  is being suctioned, changes the suction airflow so that the flow rate of air inside the dust collecting container  15  is changed and the flow of air inside the dust collecting container  15  is diversified. 
     The controller  140 , in order to provide an irregular suction airflow to the dust collecting container  15 , may adjust at least one of the driving time or the rotating speed of the first motor  151  while repeating on/off the first motor  151 . 
     That is, as illustrated in  FIG.  12   , the controller  140  may control the first motor  151  such that the first motor  151  is repeatedly turned on and off. 
     In detail, the controller  140  may control the first motor  151  such that the first motor  151  is turned on and then turned off in each of a plurality of time sections. 
     For example, referring to  FIG.  12   , the first motor  151  may repeat on/off according to progress of the time sections. In this case, one time section may include an on-time in which the first motor  151  is turned on by being supplied with the rated voltage, and an off-time in which the first motor  151  is turned off without being supplied with the rated voltage, and in order to vary the rotation speed at the beginning of each time section, the time (the soft start time) taken until the voltage supplied to the first motor  151  is boosted to the rated voltage may be set to be different for each time section. 
     In this case, the controller  140  adjusts at least one of the time for which the first motor  151  is turned on or the time for which the first motor  151  is turned off whenever the first motor  151  is alternately turned on and off, that is, whenever the time section is changed, so that the driving time of the first motor  151  is adjusted. 
     For example, an on-time in a first time section may be longer than an on-time in a second time section, and an off-time in the first time section may be shorter than an off-time in a third time section. 
     In addition, the controller  140  may adjust the pulse width of the supply voltage supplied to the first motor  151  whenever the first motor  151  is alternately turned on and off, to adjust the rotation speed of the first motor  151 . 
     For example, referring to  FIG.  13   , the controller  140  may set the pulse width of the supply voltage supplied to the first motor  151  during the on-time of the first time section to 80%, and may set the pulse width of the supply voltage supplied to the first motor  151  during the on-time of the second time section followed by the first time section to 65%. Accordingly, the rotation speed of the first motor  151  may be reduced as progressing from the first time section to the second time section. 
     In this case, the suction fan  153  may provide the dust collecting container  15  with a suction airflow of a different suction power whenever the first motor  151  is alternately turned on and off, according to the change in driving time of the first motor  151  or rotating speed of the first motor  151 , and as the internal pressure of the dust collecting container  15  changes due to the irregular suction airflow, foreign substances in the dust collecting container  15  may be smoothly discharged from the dust collecting container  15 . 
     That is, as the flow rate of air inside the dust collecting container  15  changes, air spreads in all directions in the inner space of the dust collecting container  15 , and thus the airflow inside the dust collecting container  15  may change in various directions. 
     As the direction of the airflow changes instantaneously, some foreign substance having had a resistance to a specific direction may lose the resistance due to air flowing in another direction and may escape outside of the dust collecting container  15  along with the airflow. 
     In this case, the foreign substances separated from the dust collecting container  15  and discharged may be moved together with air by the driving of the suction fan  153  and collected in the collector  190  provided in the suction flow path  180 . 
     That is, the controller  140  repeats the supply and interruption of the suction airflow to the dust collecting container  15  through the on-off control of the first motor  151 , and changes the supply time or suction power when supplying the suction airflow, thereby periodically changing the flow of air inside the dust collecting container  15 . With such a configuration, foreign substances in the dust collecting container  15  may be discharged more efficiently. 
     The above description has been made on supplying the irregular suction airflow to the dust collecting container  15  by repeatedly turning on and off the first motor  151  of the suction device  150  such that the foreign substances in the dust collecting container  15  are efficiently discharged. Hereinafter, transmission of vibration to the dust collecting container  15  such that foreign substances in the dust collecting container  15  are efficiently discharged will be described in detail. 
       FIG.  14    is a view for describing a case in which the first motor  151  vibrates to transmit vibration to the dust collecting container  15  according to an embodiment of the disclosure. 
     Referring to  FIG.  14   , the controller  140  according to the embodiment may set different pulse widths for pulses of the supply voltage within at least one of the time sections in which the first motor  150  is turned on and off so that the first motor  151  vibrates. 
     That is, the controller  140  sets the pulse widths of pulses of the supply voltage to be different from each other within an on-time in which the first motor  151  is turned on by being supplied with the voltage, and provides the first motor  150  with the set pulse widths. 
     For example, referring to  FIG.  14   , the controller  140  may adjust the pulse widths of the supply voltage such that a first pulse width {circle around (1)} and a second pulse width {circle around (2)} are alternately provided as the pulses of the supply voltage propagate in a third time section. 
     In this case, the first motor  151  may be subject to rapid change of the rotation speed based on the pulse width difference between the pulses of the supply voltage, so that the first motor  151  may vibrate. 
     The vibration of the first motor  151  may be transmitted to the main body of the docking station  100  and the dust collecting container  15  connected to the docking station  100 . That is, the dust collecting container  15  may vibrate according to the vibration of the first motor  151 , and foreign substances in the dust collecting container  15  may be discharged more efficiently according to the vibration. For example, even the foreign substances failing to escape from the dust collecting container  15  in spite of the suction airflow due to being caught in the internal components of the dust collecting container  15  may be discharged from the dust collecting container  15  according to the vibration of the dust collecting container  15  along with the suction airflow. 
     As described above, the docking station  100  according to the embodiment repeats supply and interruption of the suction airflow to the dust collecting container  15  through on-off control of the first motor  151 , and adjusts pulse widths at a time of supplying a suction airflow within the same time section to cause vibration of the dust collecting container  15 , so that foreign substances in the dust collecting container  15  may be discharged more efficiently. 
     The controller  140  according to the embodiment may repeat the on/off control of the first motor  151  until the dust collecting container  15  is separated from the docking station  100  or the first motor  151  is turned on by a preset number of times. 
     The controller  140  according to the embodiment may drive the first motor  151  for a preset time that is set for foreign substances remaining in the suction flow path  180  to be collected by the collector  190  when the dust collecting container  15  is connected to the docking station  100  and then is separated from the docking station  100 . 
     In the above, transmission of vibration to the dust collecting container  15  so that foreign substances in the dust collecting container  15  are efficiently discharged has been described in detail. The following description will be made with regard to controlling the second motor  161  to open and close the suction flow path  180  through the flow adjusting device  160  in conjunction with the control of the first motor  151  for the irregular suction airflow. 
       FIG.  15    is a view for describing control of the first motor  151  according to an operation of the flow path valve  163  according to an embodiment of the disclosure. 
     Referring to  FIG.  15   , the controller  140  according to the embodiment may control the flow adjusting device  160  in addition to the control of the first motor  151  so as to periodically open and close the suction flow path  180  while the suction airflow by the suction fan  153  is being supplied according to the driving of the suction device  150 . 
     That is, the controller  140  controls the second motor  161  so that the flow path valve  163  periodically opens and closes the suction flow path  180 , to repeat supply and stop of the suction airflow to the dust collecting container  15 , so that the flow of air inside the dust collecting container  15  is periodically changed. In other words, the flow path valve  163  may adjust the flow rate of air moved by the suction fan  153 , and completely stop the suction airflow that may remain during an off time in which the voltage is not supplied to the first motor  151 , thereby more effectively changing the flow of air inside the dust collecting container  15 . 
     In this case, the controller  140  determines whether the suction flow path  180  is opened or closed by the flow path valve  163  based on the output value of the position detection sensor  130 , and based on whether the suction flow path  180  is opened or closed, drives the first motor  151 , so that noise and overload of the first motor  151  may be improved. 
     In detail, the controller  140  controls the first motor  151  to be turned on when the flow adjusting device  160  opens the suction flow path  180 , and controls the first motor  151  to be turned off when the flow adjusting device  160  closes the suction flow path  180 . 
     That is, the controller  140  controls the first motor  151  and the second motor  161  in connection with each other, thereby performing the supply and repetition of the suction airflow more efficiently, and preventing the suction fan  153  from causing noise due to being rotated when the suction flow path  180  is closed, and improving overload of the first motor  151 . 
     In this case, the controller  140  may control the second motor  161  such that the flow path valve  163  opens and closes the suction flow path  180  at a preset cycle, and may control the second motor  161  to correspond to the driving time of the first motor  151  that is changed whenever the first motor  151  is alternately turned on and off. 
     That is, when the on-time in which the voltage is supplied to the first motor  151  or the off-time in which the voltage is not supplied to the first motor  151  is changed, the controller  140  may control the second motor  161  to operate the flow path valve  163  to correspond to the changed on-time and off-time. 
     The controller  140  according to the embodiment may control the flow path valve  163  to close the suction flow path  180  when the dust collecting container  15  is separated from the docking station  100 . That is, the controller  140  may control the second motor  161  such that the flow path valve  163  closes the suction flow path  180 . 
     In this case, the closing of the suction flow path  180  may be performed after the first motor  151  is driven for a predetermined time that is set in advance such that foreign substances remaining in the suction flow path  180  are collected by the collector  190 . 
     Hereinafter, a suction mode in which the suction device  150  continuously operates with the suction flow path  180  being open will be described in detail. 
       FIG.  16    is a view for describing a case in which the docking station  100  performs a suction mode according to an embodiment of the disclosure. 
     Referring to  FIG.  16   , the controller  140  according to the embodiment, when receiving an action command for a suction mode through the inputter  120 , may control the suction device  150  and the flow adjusting device  160  such that a suction airflow is continuously supplied in a state in which the suction flow path  180  is open. 
     In detail, the controller  140 , in response to receiving an action command for a suction mode from a user in a state in which the dust collecting container  15  is connected to the docking station  100 , may control the suction device  150  and the flow adjusting device  160  to perform the suction mode. 
     The controller  140  may determine whether the dust collecting container  15  is connected to the docking station  100  based on output of the sensor  110 , and determine the input of the suction mode based on output of the inputter  120 . 
     The suction mode is a mode for checking the suction force of the suction device  150 , and may refer to a cycle in which a suction airflow is continuously supplied in a state in which the suction flow path  180  is open. 
     The controller  140 , in response to receiving an input of the suction mode, may control the flow adjusting device  160  to open the suction flow path  180 . 
     In detail, referring to  FIG.  16   , the controller  140  may supply the flow adjusting device  160  with a voltage to open the suction flow path  180  when the suction flow path  180  is closed at a time of receiving the input of the suction mode, and may stop supplying the voltage to the flow adjusting device  160  when the suction flow path  180  becomes open. 
     In addition, different from  FIG.  16   , the controller  140 , when the suction flow path  180  is open at a time of receiving the input of the suction mode, may control the flow adjusting device  160  to stop such that the suction flow path  180  remains open. 
     The controller  140 , in response to receiving the input of the suction mode, may control the suction device  150  to operate, and may continuously supplying the voltage to the first motor  151 . 
     Referring to  FIG.  16   , the controller  140  may perform the suction mode until the dust collecting container  15  is separated from the docking station  100  or an input of a stop command is received. That is, the controller  140  may control the suction device  150  to stop when the dust collecting container  15  is separated from the docking station  100  or a stop command of the suction mode is received. However, the controller  140  according to an embodiment may control the suction device  150  to perform the suction mode only for a preset operation time and stop when the preset operation time has elapsed. 
     In addition, the controller  140  according to an embodiment may control the flow adjusting device  160  to close the suction flow path  180  when a predetermined waiting time has elapsed after the termination of the suction mode. 
     That is, the controller  140  may allow the suction flow path  180  to be closed by controlling the flow adjusting device  160  when a predetermined waiting time has elapsed after the supply of the voltage to the suction device  150  is stopped, so that the suction flow path  180  is prevented from being closed in a situation in which the suction fan  153  continues to rotate after the supply voltage to the suction device  150  is stopped, and thus noise is prevented from occurring. 
     The controller  140  according to an embodiment terminates a cycle by finally closing the suction flow path  180  after the termination of the suction mode, so that the suction device  150  may be protected from foreign substances remaining in the suction flow path  180 , and when newly initiating an operation for removing foreign substances, allows the suction device  150  to operate in a state of the suction flow path  180  being open, so that noise may be prevented from occurring. 
     Hereinafter, a display mode in which the display part  170  continuously emits light will be described in detail. 
       FIG.  17    is a view for describing a case in which the docking station  100  performs a display mode according to an embodiment of the disclosure. 
     Referring to  FIG.  17   , the controller  140  according to the embodiment, in response to receiving an input of a display mode through the inputter  120 , may perform a display mode by controlling the display part  170  to emit light. 
     In detail, the controller  140 , in response to receiving an input of a display mode through the inputter  120 , may control at least one of a front display  170   a  provided on the front surface of the docking station  100  to emit light to the outside of the docking station  100  or an internal display  170   b  provided on the seating portion  181  to emit light from the inside of the seating portion  181  to the dust collecting container  15 . 
     The controller  140 , when performing the display mode, may control the display part  170  to continuously emit light regardless of the operation of the suction device  150 , and may continue performing the display mode until the external power supply is stopped. 
     Hereinafter, an embodiment in which the display part  170  displays whether the collector  190  performs collection according to whether the collector  190  is in a full state will be described in detail. 
       FIG.  18    is a view for describing a case in which the docking station  100  determines fullness of the collector  190  according to an embodiment of the disclosure. 
     Referring to  FIG.  18   , the controller  140  according to the embodiment may determine whether the collector  190  is in a full state based on the output of the collector sensor  195 , and may control the display part  170  to display fullness of the collector  190  when the collector  190  is in a full state. 
     For example, the controller  140  may control the front display  170   a  to output “red” light when the collector  190  is in a full state, and control the front display  170   a  to keep outputting “red” light until the dust bag  193  of the collector  190  is replaced. 
     The collector sensor  195 , according to an embodiment, may be provided as a pressure sensor located in the suction flow path  180 . For example, the collector sensor  195  may be provided in the collector housing  191  as illustrated in  FIG.  18   . However, the disclosure is not limited thereto, and the collector sensor  195  may be variously located as long as it can measure the pressure of the suction airflow. For example, the collector sensor  195  may be located on the suction device housing  106 . 
     In this case, the collector sensor  195  may sense a pressure different from that in a normal operation when the collector  190  in a full state inhibits the suction airflow of the suction device  150 . 
     With such a configuration, the controller  140  may determine fullness of the collector  190  when the collector sensor  195  outputs a pressure different from that in a normal operation, and may control the display part  170  to display fullness of the collector  190 . 
     However, the collector sensor  195  is not limited to the above example, and may be provided as an optical sensor or a camera provided in the collector housing  191  and capable of detecting fullness of the collector  190 . 
     As described above, the docking station  100  may notify the user of a situation in which foreign substances in the dust collector  15  are not normally discharged due to fullness of the collector  190 , and may notify the user to replace the dust bag  193 . 
     Hereinafter, an embodiment in which the dust collecting container  15  or the collector  190  is sterilized by irradiating the dust collecting container  15  or the collector  190  with ultraviolet rays will be described in detail. 
       FIG.  19    is a view for describing a case in which the docking station  100  radiates ultraviolet rays according to an embodiment of the disclosure. 
     Referring to  FIG.  19   , the controller  140  according to the embodiment may control the ultraviolet irradiator  185  to irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays for sterilization. 
     The ultraviolet irradiator  185  according to the embodiment may irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays. 
     To this end, the ultraviolet irradiator  185  may be provided as an ultraviolet lamp that is provided on the seating unit  181  and irradiates ultraviolet rays. In this case, ultraviolet rays from the ultraviolet irradiator  185  may be transmitted to the dust collecting container  15  connected to the docking station  100 , and may be transmitted to the collector  190  through the suction flow path  180 . 
     In addition, the ultraviolet irradiator  185  according to an embodiment may include a motor, and may irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays by mechanically adjusting the irradiation angle based on the rotational force of the motor. 
     In addition, the ultraviolet irradiator  185  according to an embodiment may include a plurality of ultraviolet lamps, and may irradiate the dust collecting container  15  or the collector  190  with ultraviolet rays by electronically adjusting the irradiation angle through adjustment of the irradiation intensity of each of the plurality of ultraviolet lamps in an array. 
     In addition, the ultraviolet irradiator  185  according to an embodiment may include an ultraviolet lamp provided on the seating portion  181  to transmit ultraviolet rays to the dust collecting container  15  and an ultraviolet lamp provided on the collector housing  191  to transmit ultraviolet rays to the collector  190 . 
     The controller  140  may control the ultraviolet irradiator  185  for ultraviolet irradiation when the suction device  150  operates to remove foreign substances from the dust collecting container  15  according to an embodiment. 
     In addition, the controller  140  according to an embodiment, when receiving a user input for ultraviolet irradiation through the inputter  120 , may control the ultraviolet irradiator  185  to radiate ultraviolet rays for a preset time. 
     As such, the docking station  100  may sterilize the dust collecting container  15  and the collector  190  by irradiating the dust collecting container  15  and the collector  190  with ultraviolet rays. 
     Hereinafter, an embodiment of a method of controlling the cleaning device  1  according to an aspect will be described. The cleaning device  1  according to the above-described embodiment may be used for the method of controlling the cleaning device  1 . Therefore, the above description made with reference to  FIGS.  1  to  19    may apply to the method of controlling the cleaning device  1 . 
       FIG.  20    is a flowchart of a method of controlling the cleaning device  1  according to an embodiment, which shows automatic operation when connected with the dust collecting container  15  according to an embodiment of the disclosure. 
     Referring to  FIG.  20   , the docking station  100  of the cleaning device  1  according to the embodiment, when connected with the dust collecting container (YES in operation  2010 ), may control the suction device  150  and the flow adjusting device  160  to operate for dust discharge in operation  2020 . 
     That is, the controller  140 , in response to determining that the dust collecting container  15  is docked to the seating portion  181  of the docking station  100  based on the output of the sensor  110 , may control the suction device  150  and the flow adjusting device  160  to be supplied with a voltage to initiate an operation for removing foreign substances from the dust collecting container  15 . 
     The controller  140 , when the initiation of the operation is determined based on the connection of the dust collecting container  15 , may control the suction device  150  to operate. That is, the controller  140  may supply a voltage to the suction device  150  to drive the suction fan  153  to form a suction airflow. 
     In addition, the controller  140  may control the flow adjusting device  160  to periodically open and close the suction flow path  180  while the suction device  150  is operating. That is, the controller  140  may supply a voltage to the flow adjusting device  160  to open and close the suction flow path  180  at a preset cycle. 
     With such a configuration, the suction device  150  may continuously generate the suction airflow through the suction fan  153 , and the flow adjusting device  160  may periodically open and close the suction flow path  180  to thereby periodically change the flow rate of the suction airflow generated by the suction device  150 . 
     As the direction of the airflow changes instantaneously, some foreign substances having a resistance to a specific direction may lose the resistance due to air flowing in the other direction and may escape outside of the dust collecting container  15  together with the airflow. 
     The docking station  100  of the cleaning device  1  according to the embodiment may control the suction device  150  and the flow adjusting device  160  to stop the dust discharge operation when a preset operation time T O  has elapsed (YES in operation  2030 ) after the initiation of the operation of the suction device  150  in operation  2040 . 
     That is, the controller  140  may control the suction device  150  and the flow adjusting device  160  to operate during a preset operation time T O  for discharging foreign substances from the dust collecting container  15 , and when the preset operation time T O  has elapsed after the initiation of the operation, may stop supplying the voltage to the suction device  150  and the flow adjusting device  160 . 
     In this case, the flow adjusting device  160  may repeat the opening and closing of the suction flow path  180  by a preset number of times (e.g., five times) during the preset operation time T O . That is, the preset operation time T O  may be a time set to repeat the opening and closing of the suction flow path  180  by a preset number of times (e.g., five times) in consideration of the opening and closing period of the flow adjusting device  160 . 
     In this case, the controller  140  according to the embodiment may set the preset operation time T O  such that the flow adjusting device  160  stops in a state in which the suction flow path  180  is open on the basis of the opening and closing period of the flow adjusting device  160  for the suction flow path  180 . 
     The controller  140  may set the operation time T O  such that the flow adjusting device  160  is stopped in a state of the suction flow path  180  being open when the operation time T O  has elapsed after the initiation of the operation, so that the suction flow path  180  is prevented from being closed in a situation in which the suction fan  153  continues to rotate after the supply voltage to the suction device  150  is interrupted, so that noise is prevented. 
     The docking station  100  of the cleaning device  1  according to the embodiment may control the flow adjusting device  160  to close the suction flow path  180  when a preset waiting time TW (e.g., 2.5 seconds) has elapsed (YES in operation  2050 ) after the operation time T O  in operation  2060 . 
     That is, the controller  140  may allow the flow adjusting device  160  to stop such that the suction flow path  180  is open during a predetermined waiting time, to prevent noise from occurring due to a change in suction airflow caused by the suction force that remains after the stop of the operation for removing foreign substances from the dust collecting container  15 . In addition, the controller  140  may control the flow adjusting device  160  to close the suction flow path  180  after the waiting time, so that the suction device  150  is protected from foreign substances remaining on the suction flow path  180 , and when initiating the operation for removing foreign substances, allow the suction device  150  to operate in a state of the suction flow path  180  being open, so that noise is reduced. 
       FIG.  21    is a flowchart showing a method of controlling the cleaning device  1 , which shows operation in response to input of an action command according to an embodiment of the disclosure. 
     Referring to  FIG.  21   , the docking station  100  of the cleaning device  1  according to the embodiment, while connected with the dust collecting container  15  (YES in operation  2110 ), may configured to, in response to receiving an action command (YES in operation  2120 ), control the suction device  150  and the flow adjusting device  160  to operate for dust discharge in operation  2130 . 
     Thereafter, the docking station  100  of the cleaning device  1  according to the embodiment may control the suction device  150  and the flow adjusting device  160  to stop the dust discharge operation when a preset operation time T O  has elapsed (YES in operation  2140 ) after the initiation of the operation of the suction device  150  in operation  2150 . 
     In addition, the controller  140  according to the embodiment may control the flow adjusting device  160  to close the suction flow path  180  when a preset waiting time TW (e.g., 2.5 seconds) has elapsed (YES in operation  2160 ) after the operation time T O  in operation  2170 . 
     Since operations  2130  to  2170  correspond to operations  2030  to  2060  in  FIG.  20   , detailed descriptions will be omitted. 
       FIG.  22    is a flowchart showing a method of controlling the cleaning device  1 , which shows stopping operation in response to input of a stop command according to an embodiment of the disclosure. 
     Referring to  FIG.  22   , the docking station  100  of the cleaning device  1  according to the embodiment may control the suction device  150  and the flow adjusting device  160  to operate for dust discharge based on the connection of the dust collecting container  15  or the input of the action command of the user in operation  2210 . 
     In this case, the controller  140  according to the embodiment, when a stop command for the dust discharge operation is input (YES in operation  2220 ) and the suction flow path  180  is closed (YES in operation  2230 ), may control the suction device  150  and the flow adjusting device  160  to stop the dust discharge operation when the suction flow path  180  becomes open (YES in operation  2240 ) as the first waiting time T W1  has elapsed after the input of the stop command in operation  2250 . 
     That is, the controller  140  according to the embodiment, in response to receiving the input of the stop command for the dust discharge operation in a state in which the suction flow path  180  is closed, may operate the flow adjusting device  160  to open the suction flow path  180 . 
     In other words, the controller  150 , in response to receiving the input of the stop command when the flow adjusting device  160  is in a position of closing the suction flow path  180  during the operation, may maintain the voltage supply to the flow adjusting device  160  for a first waiting time T W1  from the time point at which the stop command is input so that the suction flow path  180  is opened. In this case, the first waiting time T W1  may correspond to a time required for the flow adjusting device  160  to move from the position where the suction flow path  180  is closed to the position where the suction flow path  180  is opened. 
     As such, the controller  140  may stop supplying the voltage to the suction device  150  such that the suction device  150  stops operation when the first waiting time T W1  has elapsed after the input of the stop command for the dust discharge operation, and with the voltage supply to the suction device  150  being stopped, also stops the voltage supply to the flow adjusting device  160 , so that the suction device  150  and the flow adjusting device  160  are stopped in a state in which the flow adjusting device  160  opens the suction flow path  180 . 
     As described above, the controller  140  may control the suction device  150  and the flow adjusting device  160  to stop operation by counting the first waiting time T W1 , and also may control the suction device  150  and the flow adjusting device  160  to stop operation by determining whether the flow adjusting device  160  opens the suction flow path  180  on the basis of the output value of the position detection sensor  130 . 
     That is, the controller  140  may control the suction device  150  and the flow adjusting device  160  to stop operation in response to determining that the suction flow path  180  is open on the basis of the output value of the position detection sensor  130  after the input of the stop command for the dust discharge operation of the docking station  100 . 
     With such a configuration, the controller  140  may prevent the suction flow path  180  from being closed in a situation in which the suction fan  153  continues to rotate after the supply voltage to the suction device  150  is interrupted, thereby preventing noise from occurring. 
     As described above, even with no supply voltage to the suction device  150 , the suction fan  153  may continue to rotate due to the inertia. Until the suction fan  153  is completely stopped after the interruption of the supply voltage to the suction device  150 , the suction airflow on the suction flow path  180  may remain while decreasing. When the suction flow path  180  is closed by the flow adjusting device  160  in a situation where the air pressure changes due to a change in suction airflow, noise may be generated due to the instantaneous change in air pressure. 
     Therefore, the controller  140 , in response to receiving a stop command for the dust discharge operation after the initiation of the operation for dust discharge, may control the flow adjusting device  160  to stop operation in a state in which the flow adjusting device  160  opens the suction flow path  180 , so that the suction flow path  180  is prevented from being closed in a situation in which the suction fan  153  continues to rotate after the interruption of the supply voltage to the suction device  150 , so that the noise is prevented from occurring. 
     In addition, the controller  140  according to the embodiment, when the stop command for the dust discharge operation is input (YES in operation  2220 ) and the suction flow path  180  is open (NO in operation  2230 ), may control the flow adjusting device  160  to stop operation  2260 . Thereafter, the docking station  100  of the cleaning device  1  may control the suction device  150  to stop operation when the first waiting time T W1  has elapsed (YES in operation  2270 ) after the stop command is input in operation  2280 . 
     That is, the controller  140  according to the embodiment, in response to receiving the input pf the stop command for the dust discharge operation in a state in which the suction flow path  180  is open, may allow the flow adjusting device  160  to stop such that the suction flow path  180  is kept open by the flow adjusting device  160 . 
     In other words, the controller  140 , in response to receiving the input of the stop command when the flow adjusting device  160  is in a position of opening the suction flow path  180  during the operation, may stop supplying the voltage to the flow adjusting device  160  to keep the suction flow path  180  open. 
     With such a configuration, the controller  140  may prevent the suction flow path  180  from being closed in a situation in which the suction fan  153  continues to rotate after the supply voltage to the suction device  150  is interrupted, so that noise is prevented from occurring. 
     The docking station  100  of the cleaning device  1  according to the embodiment may control the flow adjusting device  160  to close the suction flow path  180  when the second waiting time T W2  (e.g., 2.5 seconds) has elapsed after the stop of the flow adjusting device  160  in operation  2290 . 
     As described above, the controller  140  terminates a cycle by finally closing the suction flow path  180  after the input of the stop command for the dust discharge operation, so that the suction device  150  is protected from foreign substances remaining in the suction flow path  180 , and when newly initiating an operation for removing foreign substances, allows the suction device  150  to operate in a state in which the suction flow path  180  is open, so that noise is prevented from occurring. 
       FIG.  23    is a flowchart showing the method of controlling the cleaning device  1 , which shows a case in which a flow rate of a suction airflow is adjusted by controlling the first motor  151  according to an embodiment of the disclosure. 
     Referring to  FIG.  23   , the docking station  100  of the cleaning device  1  according to the embodiment may determine whether the dust collecting container  15  is connected to the docking station  100  based on the output value of the sensor  110  in operation  2310 . 
     The docking station  100  of the cleaning device  1  according to the embodiment may control the first motor  151  to be turned on and then off when the dust collecting container  15  is connected to the docking station  100  (YES in  2320 ). 
     That is, the controller  140  of the docking station  100  may control the first motor  151  such that foreign substances in the dust collecting container  15  are discharged when the dust collecting container  15  of the vacuum cleaner  10  is connected to the docking station  100 . 
     In detail, the controller  140  may determine whether the dust collecting container  15  is connected to the docking station  100  based on the output value of the sensor  110 , and when the dust collecting container  15  is connected to the docking station  100 , initiate performing control on the first motor  151 . 
     However, the controller  140  may further consider a control command of a user input through the inputter  120  in addition to the output value of the sensor  110 , and initiate performing control on the first motor  151  only in the presence of a command from the user. 
     The docking station  100  of the cleaning device  1  according to the embodiment, while a suction airflow is being supplied to the dust collecting container  15  by the suction fan  153  according to the driving of the first motor  151  and air in the dust collecting container  15  is suctioned, allows the suction airflow to be changed to thereby change the flow rate of air inside the dust collecting container  15  and diversify the flow of air inside the dust collecting container  15 . 
     To this end, the docking station  100  of the cleaning device  1 , when the dust collecting container  15  is not separated (No in operation  2340 ), and the number of times the first motor  151  is turned on does not reach a preset number of times (NO in operation  2350 ), may adjust at least one of the driving time of the first motor  151  or the rotation speed of the first motor  151  in operation  2360 . Thereafter, the docking station  100  of the cleaning device  1  may control the first motor  151  such that the first motor  151  is turned and then turned off based on the adjusted driving time and/or the adjusted rotation speed in operation  2330 . 
     As such, the controller  140 , in order to provide an irregular suction airflow to the dust collecting container  15 , may adjust at least one of the driving time or the rotating speed of the first motor  151  while repeating on/off the first motor  151 . 
     That is, the controller  140  may control the first motor  151  such that the first motor  151  is alternately turned on and off. 
     In this case, the controller  140  may adjust the driving time of the first motor  151  by adjusting at least one of the time for which the first motor  151  is turned on or the time for which the first motor  151  is turned off whenever the first motor  151  is alternately turned on and off. 
     In addition, the controller  140  may adjust the rotating speed of the first motor  151  by adjusting a pulse width of a supply voltage supplied to the first motor  151  whenever the first motor  151  is alternately turned on and off. 
     In this case, the suction fan  153  may provide a suction airflow having a different suction power whenever the first motor  151  is alternately turned on and off according to a change in the driving time of the first motor  151  or the rotating speed of the first motor  151 , and as the internal pressure of the dust collecting container  15  changes due to the irregular suction airflow, foreign substances in the dust collecting container  15  may be smoothly discharged from the dust collecting container  15 . 
     That is, as the flow rate of air inside the dust collecting container  15  changes, air spreads in all directions in the space inside the dust collecting container  15 , and accordingly, the airflow inside the dust collecting container  15  may change in various directions. 
     As the direction of the airflow changes instantaneously, some foreign substances having had a resistance to a specific direction may lose the resistance due to air flowing in another direction and may escape outside the dust collecting container  15  along with the airflow. 
     That is, the controller  140  repeats the supply and interruption of the suction airflow to the dust collecting container  15  through the on-off control of the first motor  151 , and changes the supply time or suction power when supplying the suction airflow, thereby periodically changing the flow of air inside the dust collecting container  15 . With such a configuration, foreign substances in the dust collecting container  15  may be discharged more efficiently. 
     According to the embodiment, the controller  140  may set different pulse widths for pulses of the supply voltage within at least one of the time sections in which the first motor  151  is alternately turned on and off, so that the first motor  151  vibrates. 
     In this case, the first motor  151  may be subject to rapid change of the rotation speed based on the pulse width difference between the pulses of the supply voltage, and accordingly, the first motor  151  may vibrate. 
     The vibration of the first motor  151  may be transmitted to the main body of the docking station  100  and the dust collecting container  15  connected to the docking station  100 . That is, the dust collecting container  15  may vibrate according to the vibration of the first motor  151 , and foreign substances in the dust collecting container  15  may be discharged more efficiently according to the vibration. 
     The docking station  100  of the cleaning device  1  according to the embodiment may repeat the on/off control of the first motor  151  until the dust collecting container  15  is separated from the docking station  100  (YES in operation  1040 ) or the first motor  151  is turned on by a preset number of times (YES in operation  1050 ). In this case, the preset number of times may be set in the design stage of the cleaning device  1 , or may be set by the user through the inputter  120 . However, the disclosure is not limited thereto, and the preset number of times may be set by the controller  140  based on information about the amount of foreign substances collected in the dust collecting container  15  obtained by a sensor or the like. 
     The controller  140  according to the embodiment may drive the first motor  151  for a preset time that is set for foreign substances remaining in the suction flow path  180  to be collected by the collector  190  when the dust collecting container  15  is connected to the docking station  100  and then is separated from the docking station  100 . 
       FIG.  24    is a flowchart showing a method of controlling the cleaning device  1 , which shows a case in which the first motor  151  is controlled according to an operation of the flow path valve  163  according to an embodiment of the disclosure. 
     Referring to  FIG.  24   , the docking station  100  of the cleaning device  1  according to the embodiment may determine whether the dust collecting container  15  is connected to the docking station  100  based on the output value of the sensor  110  in operation  2410 . 
     The docking station  100  of the cleaning device  1  according to the embodiment, when the dust collecting container  15  is connected to the docking station  100  (YES in operation  2420 ), may control the second motor  161  such that the flow path valve  163  periodically opens and closes the suction flow path  180  in operation  2430 . 
     In detail, the controller  140  according to the embodiment may control the flow path valve  163  in addition to the control of the first motor  151  so as to periodically open and close the suction flow path  180  while the suction airflow by the suction fan  153  is being supplied according to the driving of the first motor  151 . 
     That is, the controller  140  controls the second motor  161  so that the flow path valve  163  periodically opens and closes the suction flow path  180 , to repeat supply and interruption of the suction airflow to the dust collecting container  15 , so that the flow of air inside the dust collecting container  15  is periodically changed. In other words, the flow path valve  163  may adjust the flow rate of air moved by the suction fan  153 , and completely stop the suction airflow that may remain during an off time in which the voltage is not supplied to the first motor  151 , thereby more effectively changing the flow of air inside the dust collecting container  15 . 
     The docking station  100  of the cleaning device  1  according to the embodiment may control on/off of the first motor  151  in response to opening and closing of the suction flow path  180  in operation  2440 . 
     In other words, the controller  140  of the docking station  100  determines whether the suction flow path  180  is opened or closed by the flow path valve  163  based on the output value of the position detection sensor  130 , and based on whether the suction flow path  180  is opened or closed, drives the first motor  151 , so that noise and overload of the first motor  151  may be improved. 
     In detail, the controller  140  controls the first motor  151  to be turned on when the flow path valve  163  opens the suction flow path  180 , and controls the first motor  151  to be turned off when the flow path valve  163  closes the suction flow path  180 . 
     That is, the controller  140  controls the first motor  151  and the second motor  161  in conjunction with each other, thereby performing the supply and repetition of the suction airflow more efficiently, and preventing the suction fan  153  from causing noise due to being rotated when the suction flow path  180  is closed, and improving overload of the first motor  151 . 
     In this case, the controller  140  may control the second motor  161  such that the flow path valve  163  opens and closes the suction flow path  180  at a preset cycle, and may control the second motor  161  to correspond to the driving time of the first motor  151  that is changed whenever the first motor  151  is alternately turned on and off. 
     That is, when the on-time in which the voltage is supplied to the first motor  151  or the off-time in which the voltage is not supplied to the first motor  151  is changed, the controller  140  may control the second motor  161  to operate the flow path valve  163  to correspond to the changed on-time and off-time. 
       FIG.  25    is a flowchart showing the method of controlling the cleaning device  1 , which shows performing a suction mode according to an embodiment of the disclosure. 
     Referring to  FIG.  25   , the docking station  100  of the cleaning device  1  according to the embodiment, when connected with the dust collecting container (YES in operation  2510 ) and receiving a command for a suction mode (YES in operation  2520 ) may control the flow adjusting device  160  to open the suction flow path  180  in operation  2530  and control the suction device  150  to operate in operation  2540 . 
     That is, the controller  140  according to the embodiment, in response to receiving an action command for a suction mode through the inputter  120 , may control the suction device  150  and the flow adjusting device  160  such that a suction airflow is continuously supplied in a state in which the suction flow path  180  is open. 
     In detail, the controller  140 , in response to receiving an action command for a suction mode from a user in a state in which the dust collecting container  15  is connected to the docking station  100 , may control the suction device  150  and the flow adjusting device  160  to perform the suction mode. 
     The controller  140  may determine whether the dust collecting container  15  is connected to the docking station  100  based on the output of the sensor  110 , and determine the input of the suction mode based on the output of the inputter  120 . 
     The suction mode is a mode for checking the suction force of the suction device  150 , and may refer to a cycle in which a suction airflow is continuously supplied in a state in which the suction flow path  180  is open. 
     The controller  140 , in response to receiving an input of the suction mode, may control the flow adjusting device  160  to open the suction flow path  180 . 
     In detail, the controller  140  may supply a voltage to the flow adjusting device  160  to open the suction flow path  180  when the suction flow path  180  is closed at a time of receiving the input of the suction mode, and may stop supplying the voltage to the flow adjusting device  160  when the suction flow path  180  becomes open. 
     In addition, the controller  140 , when the suction flow path  180  is open at a time of receiving the input of the suction mode, may control the flow adjusting device  160  to stop operation such that the suction flow path  180  remains open. 
     The controller  140 , in response to receiving the input of the suction mode, may control the suction device  150  to operate and may keep supplying the voltage to the first motor  151  of the suction device  150 . 
     The docking station  100  of the cleaning device  1  according to the embodiment, when the dust collecting container is separated (YES in operation  2550 ), or a stop command for the suction mode is received through the inputter  120  (YES in operation  2560 ), may control the suction device  150  to stop operation  2570 . 
     As such, the controller  140  may perform the suction mode until the dust collecting container  15  is separated from the docking station  100  or an input of a stop command is received. That is, the controller  140  may control the suction device  150  to stop operation when the dust collecting container  15  is separated from the docking station  100  or a stop command of the suction mode is received. However, the controller  140  according to an embodiment may control the suction device  150  to perform the suction mode only for a preset operation time and stop when the preset operation time has elapsed. 
     In addition, the docking station  100  of the cleaning device  1  according to the embodiment may control the flow adjusting device  160  to close the suction flow path  180  when a predetermined waiting time has elapsed after the termination of the suction mode. 
       FIG.  26    is a flowchart showing the method of controlling the cleaning device  1 , which shows performing a display mode according to an embodiment of the disclosure. 
     Referring to  FIG.  26   , the docking station  100  of the cleaning apparatus  1  according to the embodiment, in response to receiving an input of a display mode in operation  2610 , may control the display part  170  to emit light in operation  2620 , and terminate the display mode when the external power is interrupted (YES in operation  2630 ). 
     In detail, the controller  140 , in response to receiving an input of the display mode through the inputter  120 , may control at least one of the front display  170   a  provided on the front surface of the docking station  100  to emit light to the outside of the docking station  100  or the internal display  170   b  provided on the seating portion  181  to emit light from the inside of the seating portion  181  to the dust collecting container  15 . 
     The controller  140 , when performing the display mode, may control the display part  170  to continuously emit light regardless of the operation of the suction device  150 , and may continue performing the display mode until the external power supply is stopped. 
       FIG.  27    is a flowchart showing the method of controlling the cleaning device  1 , which shows display fullness of the collector  190  according to an embodiment of the disclosure. 
     Referring to  FIG.  27   , the docking station  100  of the cleaning device  1  according to the embodiment may control the suction device  150  and the flow adjusting device  160  to operate for dust discharge on the basis of a connection of the dust collecting container  15  or an input of an action command from a user in operation  2710 . 
     The docking station  100  of the cleaning device  1  according to the embodiment, when the collector  190  is in a full state (YES in operation  2720 ), may control the display part  170  to display fullness of the collector  190  in operation  2730 . 
     In addition, the docking station  100  of the cleaning device  1  according to the embodiment, when the suction device  150  and the  60  newly perform the operation for dust discharge (YES in operation  2740 ), may re-determine whether the collector  190  is in a full state and when the collector is not in a full state (YES in operation  2750 ), control the display part  170  not to display whether the collector  190  is in a full state in operation  2760 . 
     For example, the controller  140  may control the front display  170   a  to output “red” light when the collector  190  is in a full state, and control the front display  170   a  to keep outputting “red” light until the dust bag  193  of the collector  190  is replaced. 
     As such, the docking station  100  may notify the user of a situation in which foreign substances in the dust collector  15  are not normally discharged due to fullness of the collector  190 , and may notify the user to replace the dust bag  193 . 
     Meanwhile, the disclosed embodiments may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium. 
     The computer-readable recording medium includes all kinds of recording media in which instructions which may be decoded by a computer are stored, for example, a Read Only Memory (ROM), a Random-Access Memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like. 
     As is apparent from the above, the cleaning device according to the embodiment allows foreign substance in a dust collecting container of a vacuum cleaner to be automatically and efficiently removed by providing an irregular suction airflow when the vacuum cleaner is docked to a docking station. 
     While the disclosure has been shown and described with reference to various embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.