Patent Description:
A cleaner is a device that performs cleaning by suctioning dirt such as dust from the floor or mopping dirt on the floor. Recently, a cleaner capable of performing mopping has been developed. In addition, a robot cleaner is a device that performs cleaning autonomously via self-driving.

There has been known a robot cleaner capable of moving using a mop surface as the prior art (<CIT>).

<CIT> discloses a robotic cleaner provided with a left and a right spin mop.

A first object of the present invention is to increase frictional force between a mop and a floor surface so that a cleaner performs a mopping operation and travels effectively.

The aforementioned robot cleaner of the prior art is supported by a pair of left and right mops in a two-point support manner, and thus has a problem in that stability in the forward-and-backward direction is deteriorated. A second object of the present invention is to solve this problem, thereby improving the stability of the robot cleaner in the leftward-and-rightward direction and in the forward-and-backward direction.

The aforementioned robot cleaner of the prior art moves via rotation of a pair of left and right mops. However, the frictional force that is generated by rotation of the pair of mops varies frequently, and it is therefore difficult for the robot cleaner of the prior art to travel straight. If the robot cleaner cannot travel straight, an area that is not wiped by the robot cleaner increases in a floor surface on which the robot cleaner needs to travel straight, e.g. a floor surface near a wall. A third object of the present invention is to solve this problem.

The aforementioned robot cleaner of the prior art, which moves via rotation of a pair of left and right mops, has limitations pertaining to a traveling speed and a traveling route. A fourth object of the present invention is to solve this problem, thereby enabling the robot cleaner to realize various traveling speeds and traveling routes.

The aforementioned robot cleaner of the prior art, which moves via rotation of a pair of left and right mops, has a problem in that it is difficult to perform a mopping operation without rotating in place or moving linearly. A fifth object of the present invention is to solve this problem, thereby enabling the robot cleaner to perform a mopping operation even when the robot cleaner stays in place without rotating.

A sixth object of the present invention is to efficiently remove moisture that is left on a floor surface after a wet mopping operation.

A seventh object of the present invention is to provide a cleaner that performs mopping and sterilization at the same time.

An eighth object of the present invention is to provide a device that is capable of performing a wet mopping operation and a dry cleaning operation (dry mopping, vacuum cleaning, and/or sweeping using brushes) in combination, thereby performing a thorough and efficient mopping operation.

In accordance with the present invention, the above and other objects can be accomplished by the provision of a cleaner including a first cleaning module including a left spin mop and a right spin mop provided so as to come into contact with a floor while rotating in a clockwise direction or in a counterclockwise direction when viewed from the upper side, a second cleaning module configured so as to come into contact with the floor at a position spaced apart from the left spin mop and the right spin mop in a forward-and-backward direction, a body supported by the first cleaning module and the second cleaning module, and a water supply module configured to supply water to the first cleaning module and including a water tank disposed inside the body, the cleaner being further defined by appended claim <NUM>.

The body may move via rotation of the left spin mop and the right spin mop without a separate driving wheel.

The second cleaning module may include a rolling member configured to rotate about a rotation axis extending in the horizontal direction.

The body may move via rotation of at least one of the left spin mop, the right spin mop, or the rolling member without a separate driving wheel.

Water supplied by the water supply module may reach the first cleaning module before reaching the floor.

The direction in which the rolling member rotates may be changeable.

When the first cleaning module performs a predetermined constant rotation operation, the rolling member may perform two or more different rotation operations.

The second cleaning module may include a mop unit or a brush, a rotary member for fixing the mop unit or the brush, a first shaft member for connecting one end portion of the rotary member and the body to each other, a second shaft member for connecting the opposite end portion of the rotary member and the body to each other, and a rolling drive unit for providing drive force for rotating the rolling member.

The rolling member may rotate about a rotation axis extending in the leftward-and-rightward direction.

The rolling member may include any one of a mop unit for mopping the floor and a brush for sweeping the floor.

The first cleaning module may include a left rotating plate for fixing a mop unit of the left spin mop, a left spin shaft fixed to the left rotating plate to rotate the left rotating plate, a left spin-drive unit for providing power required for rotating the left spin shaft, a right rotating plate for fixing a mop unit of the right spin mop, a right spin shaft fixed to the right rotating plate to rotate the right rotating plate, and a right spin-drive unit for providing power required for rotating the right spin shaft.

The point on the bottom surface of the left spin mop that receives largest frictional force from the floor may be located to the left of the rotation center of the left spin mop, and the point on the bottom surface of the right spin mop that receives largest frictional force from the floor may be located to the right of the rotation center of the right spin mop.

The second cleaning module may include a rolling member including a mop unit configured to rotate about a rotation axis extending in the leftward-and-rightward direction. The contact area between the rolling member and the floor may overlap the entire area of the gap between the rotation center of the left spin mop and the rotation center of the right spin mop when viewed from the front side.

The water supply module may supply water to the first cleaning module without supplying water to the second cleaning module. Each of the first cleaning module and the second cleaning module may be configured to mop the floor.

The water tank may be disposed such that the center of gravity of the water tank is located closer to a portion of the first cleaning module that contacts the floor than to a portion of the second cleaning module that contacts the floor in the forward-and-backward direction.

The cleaner may further include a battery for supplying power. The battery may be disposed such that the center of gravity of the battery is located closer to a portion of the first cleaning module that contacts the floor than to a portion of the second cleaning module that contacts the floor in the forward-and-backward direction.

The cleaner may further include an ultraviolet (UV) light-emitting diode configured to emit UV rays downwards and disposed between the first cleaning module and the second cleaning module.

The cleaner may further include a sterilized-water-generating module configured to generate sterilized water via electrolysis of water inside the water tank.

The cleaner may further include a sensing module including at least one of a bumper for sensing contact with an external obstacle, an obstacle sensor for sensing an external obstacle that is spaced apart from the cleaner, or a cliff sensor for sensing presence or absence of a cliff on a traveling surface, and a controller configured to receive a sensing signal from the sensing module and to control autonomous travel of the cleaner.

the cleaner is supported by the first cleaning module and the second cleaning module, thereby enhancing mopping efficiency.

In addition, the stability of the cleaner in the leftward-and-rightward direction may be ensured by the left spin mop and the right spin mop, which are arranged in the leftward-and-rightward direction, and the stability of the cleaner is also improved by the second cleaning module, which is disposed behind the first cleaning module and is brought into contact with the floor.

Specifically, on the basis of the support point of the first cleaning module, the second cleaning module prevents the cleaner from overturning in the backward direction, and the mop surface of the first cleaning module prevents the cleaner from overturning in the forward direction.

In addition, since wobbling of the cleaner in the leftward-and-rightward direction is minimized by the frictional force provided by the second cleaning module, the cleaner is capable of traveling straight while being moved by the frictional force of the mop surface.

In addition, through the provision of the water tank disposed inside the body, the body transmits a relatively large load to the first cleaning module, thereby performing more effective mopping.

In addition, through the provision of the water supply module for supplying water to the first cleaning module, the cleaner is capable of performing wet mopping without requiring the user to supply water to the mop.

In addition, through the provision of the rolling member that rotates about a rotation axis extending in the horizontal direction, additional moving force may be efficiently applied to the body via rotation of the rolling member. Accordingly, it is possible to realize various types of traveling motion (traveling route and traveling speed) of the cleaner.

In addition, through the provision of the rolling member that rotates about a rotation axis extending in the leftward-and-rightward direction, moving force may be additionally applied to the body in the forward-and-backward direction via rotation of the rolling member. Accordingly, it is possible to realize various and efficient traveling motion of the cleaner.

When the first cleaning module performs a predetermined constant rotation operation, the rolling member is capable of performing two or more different rotation operations. Accordingly, it is possible to realize various traveling routes and traveling speeds of the cleaner.

In addition, since the rotating direction of the rolling member can be changed, it is possible to combine one of two types of frictional force generated in two directions by the rolling member with the frictional force generated by the first cleaning module. Accordingly, the cleaner is capable of performing various operations. Specifically, the allowable maximum speed of the cleaner in the forward-and-backward direction may be further increased. In addition, the cleaner is capable of turning to the right or to the left with various turning radii. In addition, the cleaner is capable of turning to the right or to the left while moving backward, and is capable of performing mopping via rotation while the body stays in place.

In addition, in the configuration in which water is first sprayed onto the floor and left and right spin mops subsequently wipe the floor, there is a high probability that some water is left on the floor and that only a portion of the spin mop is wet with a large amount of water and thus water is not evenly supplied to the entire area of the spin mop. The present invention is configured such that water reaches the first cleaning module before reaching the floor, thereby reducing the probability that water is left on the floor after mopping and facilitating dispersion of water to the entire area of the spin mop.

By allowing the contact area between the rolling member and the floor to overlap the entire area of the gap between the rotation center of the left spin mop and the rotation center of the right spin mop, the rolling member performs an operation of mopping an area of the floor that corresponds to the gap between the left spin mop and the right spin mop, thereby supplementing the mopping operation of the first cleaning module. In addition, the rolling member performs an operation of mopping an area of the floor to which relatively low frictional force is applied from the mop surface of the first cleaning module, thereby supplementing the mopping operation of the first cleaning module.

In addition, by allowing the center of gravity of the water tank and/or the center of gravity of the battery to be located relatively close to the first cleaning module, it is possible to further increase the ratio of the size of the load that is transmitted to the first cleaning module to the size of the load that is transmitted to the second cleaning module and to allow the first cleaning module, which is capable of realizing various operations, to primarily control the travel of the cleaner.

Through the provision of the UV LED that is disposed between the first cleaning module and the second cleaning module, when the cleaner performs cleaning while moving forwards, the UV LED radiates UV rays to the floor mopped by the first cleaning module to sterilize the same, and subsequently the second cleaning module performs an operation of cleaning the floor sterilized by the UV rays.

By supplying sterilized water to the first cleaning module, the UV LED radiates UV rays to the floor mopped with the sterilized water by the first cleaning module to sterilize the same, and subsequently the second cleaning module performs an operation of cleaning the floor sterilized by the UV rays.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope of the invention as defined by the accompanying claims.

Expressions referring to directions such as "front (F)/rear (R)/left (Le)/right (R)/upper (U)/lower (D)" mentioned below are defined based on the illustrations in the drawings, but this is merely given to describe the present invention for clear understanding thereof, and it goes without saying that the respective directions may be defined differently depending on where the reference is placed.

With regard to any one spin mop with reference to <FIG>, the center axis X is the rotational axis about which the spin mop rotates, the centrifugal direction XO is the direction moving away from the center axis X, and the counter-centrifugal direction XI is the direction approaching the center axis X.

The use of terms, in front of which adjectives such as "first", "second", and "third" are used to describe constituent elements mentioned below, is intended only to avoid confusion of the constituent elements, and is unrelated to the order, importance, or relationship between the constituent elements. For example, an embodiment including only a second component but lacking a first component is also feasible.

The "mop" mentioned below may be variously embodied in terms of material, such as cloth or paper material, and may be used repeatedly by washing, or may be disposable.

The present invention may be applied to a cleaner that is manually moved by a user, a robot cleaner that autonomously travels, or the like. Hereinafter, the present embodiment will be described with reference to a robot cleaner.

Referring to <FIG>, a cleaner <NUM> according to an embodiment of the present invention includes a body <NUM> and a controller <NUM> mounted in the body <NUM>. The cleaner <NUM> includes a first cleaning module <NUM> for supporting the body <NUM>. The cleaner <NUM> includes a second cleaning module <NUM> for supporting the body <NUM>. The body <NUM> is supported by the first cleaning module <NUM> and the second cleaning module <NUM>.

The first cleaning module <NUM> is configured to perform mopping via contact with the floor. The first cleaning module <NUM> includes a left spin mop 120a and a right spin mop 120b, which are configured to perform mopping while rotating clockwise or counterclockwise when viewed from the upper side. The left spin mop 120a and the right spin mop 120b are configured so as to come into contact with the floor. The first cleaning module <NUM> is disposed at the lower side of the body <NUM>. The first cleaning module <NUM> is disposed in front of the second cleaning module <NUM>. The cleaner <NUM> may be configured such that the body <NUM> can move via rotation of the first cleaning module <NUM> without a separate driving wheel. That is, the body may move via rotation of the left spin mop 120a and the right spin mop 120b without a separate driving wheel. Here, the term "driving wheel" refers to a wheel having a traveling function to move the body, and thus an auxiliary wheel, which does not have a traveling function but supports the body with respect to the floor, is not considered a driving wheel.

The first cleaning module <NUM> includes a pair of spin mop modules <NUM>. The first cleaning module <NUM> includes a left spin mop module <NUM>, which is provided with a left spin mop 120a. The first cleaning module <NUM> includes a right spin mop module <NUM>, which is provided with a right spin mop 120b. The left spin mop module <NUM> and the right spin mop module <NUM> are configured to perform mopping. Each of the left spin mop module <NUM> and the right spin mop module <NUM> includes a mop unit <NUM>, a rotating plate <NUM>, a water supply reservoir <NUM>, a spin shaft <NUM>, a spin-drive unit <NUM>, and a driving transmission unit <NUM>. Each of the left spin mop module <NUM> and the right spin mop module <NUM> includes a tilting frame <NUM>, a tilting rotary shaft <NUM>, and an elastic member <NUM>. The components that the first cleaning module <NUM> includes may be understood as components that each of the left spin mop module <NUM> and the right spin mop module <NUM> includes.

The second cleaning module <NUM> is configured so as to come into contact with the floor. The second cleaning module <NUM> may be configured to perform mopping via contact with the floor. The second cleaning module <NUM> is disposed at the lower side of the body <NUM>. The second cleaning module <NUM> is disposed behind the first cleaning module <NUM> so as to come into contact with the floor.

In the present embodiment, the second cleaning module <NUM> is configured to perform mopping via rotation thereof. In another example, the second cleaning module may include a mop pad, which performs mopping via sliding on the floor along with the movement of the body <NUM>. In a further example, the second cleaning module may be configured to perform a vacuum-cleaning operation.

The second cleaning module <NUM> may include a rolling member 130a.

The second cleaning module <NUM> may be configured to perform mopping or sweeping via rotation thereof. The rolling member 130a may include a mop unit <NUM> for mopping the floor or a brush (not shown) for sweeping the floor.

In the present embodiment, the rolling member 130a includes a mop unit <NUM> for mopping the floor. The mop unit <NUM> is provided so as to be rotatable. The mop unit <NUM> may rotate about a rotation axis that extends in the substantially horizontal direction. The mop unit <NUM> may rotate about a rotation axis that extends in the substantially leftward-and-rightward direction.

In another example, the rolling member 130a may include a brush for sweeping the floor. The brush may be rotatably provided. The brush may rotate about a rotation axis that extends in the substantially horizontal direction. The brush may rotate about a rotation axis that extends in the substantially leftward-and-rightward direction. The cleaner may include a dust container. When the brush sweeps the floor, a foreign substance having a relatively large volume may be introduced into the dust container.

Although the present invention will be described below with reference to the present embodiment, the concrete configuration for the cleaning operation of the second cleaning module <NUM> may be variously modified.

The second cleaning module <NUM> is configured to perform mopping while rotating clockwise or counterclockwise when viewed from one side (the left side or the right side). The cleaner <NUM> may be configured such that the body <NUM> can move via rotation of the second cleaning module <NUM> without a separate driving wheel. The body <NUM> may move via rotation of the rolling member 130a without a separate driving wheel.

The cleaner <NUM> is configured such that the body <NUM> moves via rotation of at least one of the first cleaning module <NUM> or the second cleaning module <NUM> without a separate driving wheel. The body <NUM> may move only via rotation of the first cleaning module <NUM>. The body <NUM> may move only via rotation of the second cleaning module <NUM>. The body <NUM> may move via rotation of the first cleaning module <NUM> and rotation of the second cleaning module <NUM>. The cleaner <NUM> is configured such that the body <NUM> moves via rotation of at least one of the left spin mop 120a, the right spin mop 120b, or the rolling member 130a without a separate driving wheel.

The cleaner <NUM> includes a water supply module <NUM> for supplying water required for mopping. The water supply module <NUM> may supply water required for the mopping operation of the first cleaning module <NUM> or the second cleaning module <NUM>. In the present embodiment, the water supply module <NUM> supplies water to the first cleaning module <NUM>. The water supply module <NUM> supplies water to the left spin mop module <NUM> and the right spin mop module <NUM>. The water supply module <NUM> supplies water to the left spin mop 120a and the right spin mop 120b.

The water supply module <NUM> includes a water tank <NUM> for storing water that is to be supplied to the first cleaning module <NUM> or the second cleaning module <NUM>. In the present embodiment, the water tank <NUM> stores water that is to be supplied to the first cleaning module <NUM>. The water tank <NUM> is disposed within the body <NUM>.

The water supplied by the water supply module <NUM> reaches the first cleaning module before reaching the floor. The water supplied by the water supply module <NUM> reaches the left spin mop 120a and the right spin mop 120b before reaching the floor. The water supplied by the water supply module <NUM> is supplied to the top surfaces of the left spin mop 120a and the right spin mop 120b, and penetrates the left spin mop 120a and the right spin mop 120b.

The first cleaning module <NUM> and the second cleaning module <NUM> are configured to mop the floor. In the present embodiment, the first cleaning module <NUM> is configured to perform wet mopping (mopping with water), and the water supply module <NUM> supplies water to the first cleaning module <NUM>. In addition, in the present embodiment, the second cleaning module <NUM> is configured to perform dry mopping (mopping without water), and the water supply module <NUM> does not supply water to the second cleaning module <NUM>. In the present embodiment, the water supply module <NUM> supplies water only to the first cleaning module <NUM>, but not to the second cleaning module <NUM>. According to the present embodiment, configured as described above, when the cleaner <NUM> performs a cleaning operation via forward movement, the first cleaning module <NUM> may first perform a wet mopping operation with respect to the floor surface, and subsequently the second cleaning module <NUM> may perform a dry mopping operation with respect to the wet-mopped floor surface.

Hereinafter, the embodiment will be described under the assumption that the first cleaning module <NUM> performs wet mopping and the second cleaning module <NUM> performs dry mopping, but the invention is not limited thereto. The water supply module <NUM> may be configured to supply water to the second cleaning module <NUM>, rather than to the first cleaning module <NUM>, or may be configured to supply water to both the first cleaning module <NUM> and the second cleaning module <NUM>.

The cleaner <NUM> includes a battery <NUM> for supplying power. The battery <NUM> may supply power required for rotation of the first cleaning module <NUM>. The battery <NUM> may supply power required for rotation of the second cleaning module <NUM>.

Referring to <FIG>, the center of gravity Mw of the water tank <NUM> refers to the center of gravity Mw of the water tank <NUM> and water W in the state in which the water tank <NUM> is filled with water W. The center of gravity Mw of the water tank <NUM> may be located closer to the portion of the first cleaning module <NUM> that contacts the floor than to the portion of the second cleaning module <NUM> that contacts the floor in the forward-and-backward direction. Because water W has a relatively high specific gravity, the water W may increase the ratio of the amount of weight of the body <NUM> that is applied to the first cleaning module <NUM> to the amount of weight of the body <NUM> that is applied to the second cleaning module <NUM>. Accordingly, the rotation of the first cleaning module <NUM> has a greater influence on the movement of the body <NUM> than the rotation of the second cleaning module <NUM>.

Referring to <FIG>, the center of gravity Mb of the battery <NUM> may be located closer to the portion of the first cleaning module <NUM> that contacts the floor than to the portion of the second cleaning module <NUM> that contacts the floor in the forward-and-backward direction. Because the battery <NUM> has a relatively high specific gravity, the battery <NUM> may increase the ratio of the amount of weight of the body <NUM> that is applied to the first cleaning module <NUM> to the amount of weight of the body <NUM> that is applied to the second cleaning module <NUM>. Accordingly, the rotation of the first cleaning module <NUM> has a greater influence on the movement of the body <NUM> than the rotation of the second cleaning module <NUM>.

The cleaner <NUM> includes a case <NUM> forming the external appearance thereof. The case <NUM> forms the top surface, the front surface, the rear surface, the left surface and the right surface of the body <NUM>. The cleaner <NUM> includes a base <NUM> forming the bottom surface of the body <NUM>. The first cleaning module <NUM> is fixed to the base <NUM>. The second cleaning module <NUM> is fixed to the base <NUM>. The cleaner <NUM> includes a rolling member housing <NUM>, which is disposed at the base <NUM> and is recessed upwards in order to receive the upper portion of the rolling member 130a. The controller <NUM>, the water supply module <NUM> and the battery <NUM> are disposed in the internal space, which is defined by the case <NUM>, the base <NUM> and the rolling member housing <NUM>.

The cleaner <NUM> includes a water tank opening/closing unit <NUM> for opening or closing the water tank <NUM>. The water tank opening/closing unit <NUM> is disposed at the top surface of the body <NUM>. The cleaner <NUM> may include a water level indicator (not shown) for indicating the water level in the water tank <NUM>. The water level indicator may be formed of a transparent material so that a user can observe the water level in the water tank <NUM> disposed in the body <NUM>.

The cleaner <NUM> includes a sensing module (not shown) for sensing the external circumstances. The sensing module may include at least one of a bumper <NUM> for sensing contact with an external obstacle, an obstacle sensor <NUM> for sensing an external obstacle that is spaced apart from the cleaner, or a cliff sensor <NUM> for sensing the presence or absence of a cliff on the traveling surface (the floor). The sensing module may include an image sensor (not shown) for capturing an image of the external circumstances. The cleaner <NUM> may be configured to move autonomously. It is possible to realize a robot cleaner <NUM> that is capable of traveling autonomously using information sensed by the sensing module.

The cleaner <NUM> includes the obstacle sensor <NUM> that senses an obstacle ahead of the cleaner <NUM>. The obstacle sensor <NUM> may include a plurality of obstacle sensors 16a, 16b and 16c. The obstacle sensor <NUM> is disposed at the front surface of the body <NUM>.

The cleaner <NUM> includes the cliff sensor <NUM>, which senses the presence or absence of a cliff on the floor within the region to be cleaned. The cliff sensor <NUM> may include a plurality of cliff sensors 17a, 17b and 17c. The cliff sensor 17a may sense the presence or absence of a cliff ahead of the first cleaning module <NUM>. The cliff sensors 17b and 17c may sense the presence or absence of a cliff behind the second cleaning module <NUM>. Referring to <FIG>, the cliff sensor <NUM> senses the presence or absence of a cliff by transmitting a sensing signal in the downward direction CS. The cliff sensor 17a senses the presence or absence of a cliff in the region ahead of the lowest points P1a and P1b of the first cleaning module <NUM>. The cliff sensors 17b and 17c sense the presence or absence of a cliff in the region behind the lowest point (the portion that contacts the floor) of the second cleaning module <NUM>.

The cleaner <NUM> may include a power switch (not shown) for turning on or off the supply of power. The cleaner <NUM> may include an input unit (not shown), to which a user inputs various commands. The cleaner <NUM> may include a communication module (not shown) for communicating with an external device.

The cleaner <NUM> includes an ultraviolet (UV) light-emitting diode (LED) <NUM> that emits UV rays downwards. The UV LED <NUM> is disposed between the first cleaning module <NUM> and the second cleaning module <NUM>. The UV LED <NUM> is disposed at the bottom surface of the body <NUM> so as to emit UV rays to the external floor surface. The UV LED <NUM> is disposed at the bottom surface of the base <NUM>. The UV LED <NUM> may include a plurality of UV LEDs 18a and 18b. The UV LEDs 18a and 18b include a UV LED 18a disposed between the left spin mop 120a and the rolling member 130a and a UV LED 18b disposed between the right spin mop 120b and the rolling member 130a. Accordingly, when the cleaner <NUM> performs a cleaning operation via forward movement, the first cleaning module <NUM> may first perform an operation of mopping the floor, the UV LED <NUM> may radiate UV rays to the mopped floor to sterilize the same, and subsequently the second cleaning module <NUM> may perform an operation of cleaning the floor sterilized by the UV rays.

The cleaner <NUM> may include the communication module (not shown), which is configured to communicate with a predetermined network. According to the communication protocol, the communication module may be implemented using a wireless communication technology, such as IEEE <NUM> WLAN, IEEE <NUM> WPAN, Ultra-Wide Band (UWB), Wi-Fi, ZigBee, Z-wave, Bluetooth, or the like. For example, the communication module may include a UWB sensor so as to detect the current indoor location of the cleaner <NUM>.

The cleaner <NUM> may include an inertial measurement unit (IMU) (not shown). The cleaner <NUM> may stabilize the traveling motion thereof based on information from the IMU.

The cleaner <NUM> includes the controller <NUM> for controlling the autonomous travel thereof. The controller <NUM> may receive a sensing signal from the sensing module and may control the traveling of the cleaner. The controller <NUM> may process the sensing signal of the obstacle sensor <NUM>. The controller <NUM> may process the sensing signal of the cliff sensor <NUM>. The controller <NUM> may process the sensing signal of the bumper <NUM>. The controller <NUM> may process the sensing signal of the UWB sensor and the sensing signal of the IMU. The controller <NUM> may process the signal of the input unit or the signal transmitted via the communication module. The controller <NUM> may control the water supply module <NUM>. The controller <NUM> may control a pump <NUM> so as to adjust the supplied amount of water. The amount of water that is supplied to the spin mop module <NUM> per unit time may be adjusted by controlling the pump <NUM>. In another example, the controller <NUM> may control a valve, which will be described later, in order to control whether to supply water. The controller <NUM> includes a printed circuit board (PCB) <NUM> disposed inside the body <NUM> (refer to <FIG>).

The body <NUM> forms the external appearance of the cleaner. The body <NUM> includes a first unit <NUM>, which is disposed at the upper side of the first cleaning module <NUM>, and a second unit <NUM>, which is disposed at the upper side of the second cleaning module <NUM> (refer to <FIG>). The first unit <NUM> and the second unit <NUM> are formed integrally with each other. The bottom surface of the body <NUM>, which is formed between the first cleaning module <NUM> and the second cleaning module <NUM>, is recessed upwards so as to form a body gap 110c. The body gap 110c may be disposed between the first unit <NUM> and the second unit <NUM>. The body gap 110c may be formed such that the left and right surfaces of the body <NUM> are recessed inwards.

The body <NUM> includes the bumper <NUM> for sensing external shocks. The bumper <NUM> is disposed at the upper side of the rotating plate <NUM> of the first cleaning module <NUM>. The bumper <NUM> is disposed at the front portion and the lateral portions of the body <NUM>. The bumper <NUM> may include a plurality of bumpers 115a and 115b. The bumper 115a may be disposed at the front portion and the left portion of the left spin mop 120a. The bumper 115b may be disposed at the front portion and the right portion of the right spin mop 120b.

The cleaner <NUM> includes a contact unit <NUM>, which is disposed at the edge of the body <NUM> so as to contact an external object. The contact unit <NUM> is formed to extend from the front portion of the body <NUM> to the lateral portion of the body <NUM> so as to be bent along the body <NUM>. The cleaner <NUM> includes a bumper switch <NUM>, which senses whether the contact unit <NUM> is pressed by an external object. The bumper switch <NUM> may be configured to be pressed by the contact unit <NUM> when the contact unit <NUM> is pushed. The bumper switch <NUM> may include a first bumper switch 1152a, which is disposed behind the front portion of the contact unit <NUM>. The bumper switch <NUM> may include a second bumper switch 1152b, which is disposed inwards from the lateral portion of the contact unit <NUM>. When the contact unit <NUM> is pushed back, the first bumper switch 1152a is pressed. When the contact unit <NUM> is pushed laterally, the second bumper switch 1152b is pressed.

The body <NUM> includes the case <NUM> and the base <NUM>, which form the external appearance of the cleaner.

The base <NUM> has therein an opening, in which a tilting frame <NUM> is disposed. The tilting frame <NUM> is connected to the base <NUM> via a tilting rotary shaft <NUM>. The tilting rotary shaft <NUM> is rotatably fixed to the base <NUM>.

The base <NUM> includes a limit for limiting the rotation range of the tilting frame <NUM>. The limit may include an upper-end limit 13d and a lower-end limit 13f.

The base <NUM> includes the upper-end limit 13d for limiting the upward-rotation range of the tilting frame <NUM>. The left upper-end limit 13d may be disposed on the left of the left tilting frame <NUM>. The right upper-end limit 13d may be disposed on the right of the right tilting frame <NUM>. The left upper-end limit 13d is disposed so as to contact an upper-end-limit contact portion 125f of the left spin mop module <NUM>. The right upper-end limit 13d is disposed so as to contact an upper-end-limit contact portion 125f of the right spin mop module <NUM>. The upper-end-limit contact portion 125f may be disposed at the tilting frame <NUM>. When the cleaner <NUM> is normally placed on an external horizontal plane, the upper-end-limit contact portion 125f is in contact with the upper-end limit 13d, and inclination angles Ag1 and Ag2 have the smallest values.

The base <NUM> includes the lower-end limit 13f for limiting the downward-rotation range of the tilting frame <NUM>. The lower-end limit 13f may be disposed at the inner surface of the base <NUM>. The lower-end limit 13f may be disposed at the lower side of the spin-drive unit <NUM>. The lower-end limit 13f is configured to contact a lower-end-limit contact portion 120f when the tilting frame <NUM> is maximally rotated in the downward direction. The lower-end-limit contact portion 120f may be disposed at the bottom surface of the spin-drive unit <NUM>. When the cleaner <NUM> is normally placed on an external horizontal plane, the lower-end-limit contact portion 120f is spaced apart from the lower-end limit 13f. In the state in which there is no force on the bottom surfaces of the spin mops 120a and 120b to push the same upwards, the tilting frame <NUM> is rotated to a maximum angle, the lower-end-limit contact portion 120f comes into contact with the lower-end limit 13f, and the inclination angles Ag1 and Ag2 have the largest values.

The base <NUM> includes a second support portion 13b for fixing an end of the elastic member <NUM>. When the tilting frame <NUM> is rotated, the elastic member <NUM> is elastically deformed or elastically restored by a first support portion 125d fixed to the tilting frame <NUM> and the second support portion 13b fixed to the base <NUM>.

The base <NUM> includes a tilting rotary shaft support portion 13c for supporting the tilting rotary shaft <NUM>. The tilting rotary shaft support portion 13c supports two opposite ends of the tilting rotary shaft <NUM>.

The base <NUM> may include a separate support member 13a for supporting the tilting frame <NUM>. The support member 13a may be formed as a part separate from the remaining portion of the base <NUM>. The support member 13a extends along the periphery of the opening formed in the bottom surface of the base <NUM>. The support member 13a has an opening formed in the center portion thereof, and the tilting frame <NUM> is disposed in the opening.

The support member 13a may include the second support portion 13b. The support member 13a may include the tilting rotary shaft support portion 13c. The support member 13a may include the upper-end limit 13d. The support member 13a includes a support member fixing portion 13e, which is coupled to the other portion of the base <NUM>.

Referring to <FIG>, <FIG>, and <FIG>, the second cleaning module <NUM> is configured to contact the floor behind the first cleaning module <NUM>. The second cleaning module <NUM> is configured to perform mopping via contact with the floor along with the movement of the body <NUM>. The second cleaning module <NUM> is configured to perform dry mopping.

The second cleaning module <NUM> may include the rolling member 130a, which rotates about a rotation axis Or that extends in the horizontal direction. In the present embodiment, the rotation axis Or extends in the leftward-and-rightward direction. However, in another embodiment, the rotation axis Or may extend in the forward-and-backward direction, or may extend in a direction intermediate to the forward-and-backward direction and the leftward-and-rightward direction. Accordingly, a force that moves the body <NUM> in the horizontal direction (the direction perpendicular to the rotation axis Or) may be applied to the body <NUM> by rotation of the rolling member 130a. Since the moving force generated by the rolling member 130a is additionally applied to the body <NUM> in addition to the moving force applied to the body <NUM> by the first cleaning module <NUM>, it is possible to realize various types of traveling motion of the cleaner <NUM>.

In the present embodiment, the second cleaning module <NUM> includes the rolling member 130a, which rotates about the rotation axis Or, which extends in the leftward-and-rightward direction. The rolling member 130a may rotate about the rotation axis Or, which extends in the direction parallel to the direction in which the left spin mop 120a and the right spin mop 120b are arranged. Accordingly, a force that moves the body <NUM> in the forward-and-backward direction may be applied to the body <NUM> by rotation of the rolling member 130a. Since the moving force generated by the rolling member 130a is additionally applied to the body <NUM> in the forward-and-backward direction in addition to the moving force applied to the body <NUM> by the first cleaning module <NUM>, it is possible to efficiently realize various types of traveling motion of the cleaner <NUM>. A detailed explanation of the various types of traveling motion will be made later.

Referring to <FIG> and <FIG>, when viewed from the right side, the clockwise rotation direction of the rolling member 130a is defined as a third forward direction w3f, and the counterclockwise rotation direction of the rolling member 130a is defined as a third reverse direction w3r.

When the cleaner <NUM> moves forwards, the rolling member 130a follows the first cleaning module <NUM>, and performs an operation of mopping the floor that has been cleaned by the first cleaning module <NUM>. The rolling member 130a is configured to perform a dry mopping operation so as to remove moisture from the floor that has been wet-mopped by the left spin mop 120a and the right spin mop 120b. In the present embodiment, the second cleaning module <NUM> includes one rolling member 130a. However, in another embodiment, the second cleaning module <NUM> may include a plurality of rolling members. Each of the rolling members may be configured to rotate about a corresponding one of the rotation axes that are arranged parallel to each other.

The second cleaning module <NUM> includes the mop unit <NUM> or the brush. A portion of the weight of the body <NUM> may be transmitted to the floor via the mop unit <NUM> or the brush. The mop unit <NUM> or the brush is arranged to surround the periphery of a rotary member <NUM>. The mop unit <NUM> or the brush is arranged along the periphery about the rotation axis Or. The mop unit <NUM> or the brush may be fixedly coupled to the rotary member <NUM>, or may be separably coupled to the rotary member <NUM>.

In the present embodiment, the second cleaning module <NUM> includes the mop unit <NUM>. A portion of the weight of the body <NUM> may be transmitted to the floor via the mop unit <NUM>. The mop unit <NUM> is arranged to surround the periphery of the rotary member <NUM>. The mop unit <NUM> is arranged along the periphery about the rotation axis Or. The mop unit <NUM> may be fixedly coupled to the rotary member <NUM>, or may be separably coupled to the rotary member <NUM>.

The second cleaning module <NUM> includes the rotary member <NUM>, which is configured so as to rotate.

The mop unit <NUM> or the brush of the rolling member 130a is fixed to the rotary member <NUM>. The rotary member <NUM> may rotate together with the mop unit <NUM> or the brush.

In the present embodiment, the mop unit <NUM> of the rolling member 130a is fixed to the rotary member <NUM>. The rotary member <NUM> may rotate together with the mop unit <NUM>.

The rotary member <NUM> is rotated by receiving drive force from a rolling drive unit <NUM>. The rotary member <NUM> rotates about the rotation axis Or.

The rotary member <NUM> is formed in a cylindrical shape. The rotary member <NUM> is formed so as to be elongated in the direction in which the rotation axis Or extends. The rotary member <NUM> has therein a hollow portion <NUM>. The mop unit <NUM> is fixed to the outer circumferential surface of the rotary member <NUM>.

The second cleaning module <NUM> includes a first shaft member <NUM>, which is disposed at one end portion of the rotary member <NUM>. The second cleaning module <NUM> includes a second shaft member <NUM>, which is disposed at the opposite end portion of the rotary member <NUM>. The first shaft member <NUM> and the second shaft member <NUM> are respectively disposed at the two opposite ends of the second cleaning module <NUM> in the direction in which the rotation axis Or extends. In the present embodiment, the first shaft member <NUM> is disposed at the right end portion of the rotary member <NUM>, and the second shaft member <NUM> is disposed at the left end portion of the rotary member <NUM>. The one end portion of the rotary member <NUM> is recessed in the inward direction, and the first shaft member <NUM> is disposed in the recessed portion in the one end portion of the rotary member <NUM>. The opposite end portion of the rotary member <NUM> is recessed in the inward direction, and the second shaft member <NUM> is disposed in the recessed portion of the opposite end portion of the rotary member <NUM>.

The first shaft member <NUM> connects the one end portion of the rotary member <NUM> and the body <NUM> to each other. The first shaft member <NUM> is fixedly connected to the rotary member <NUM>. The first shaft member <NUM> is formed to protrude in the direction in which the rotation axis Or extends. In the present embodiment, the first shaft member <NUM> protrudes to the right. The first shaft member <NUM> is inserted into a recess formed in a drive force transmission unit 137a so as to rotate simultaneously when the drive force transmission unit 137a rotates. The cross-section of the first shaft member <NUM> that is perpendicular to the rotary shaft Or has a shape other than a circular shape (for example, a polygonal shape). The drive force transmission unit 137a has therein a recess formed in a shape that corresponds to the shape of the first shaft member <NUM>.

The second shaft member <NUM> connects the opposite end portion of the rotary member <NUM> and the body <NUM> to each other. The second shaft member <NUM> is rotatably connected to the rotary member <NUM>. The second shaft member <NUM> is formed to protrude in the direction in which the rotation axis Or extends. In the present embodiment, the second shaft member <NUM> protrudes to the left. The second shaft member <NUM> is fixedly inserted into recesses formed in the body <NUM> and a coupler <NUM>. When the first shaft member <NUM> is rotated by the drive force transmission unit 137a, the rotary member <NUM> and the mop unit <NUM> rotate together with the first shaft member <NUM>. The rotary member <NUM> rotates relative to the fixed second shaft member <NUM>. A bearing may be disposed between the second shaft member <NUM> and the rotary member <NUM>. The cross-section of the second shaft member <NUM> that is perpendicular to the rotary shaft Or has a shape other than a circular shape (for example, a polygonal shape). The body <NUM> and/or the coupler <NUM> have therein recesses formed in a shape that corresponds to the shape of the second shaft member <NUM>.

The second cleaning module <NUM> includes the rolling drive unit <NUM> that provides drive force for rotating the rolling member 130a. The rolling drive unit <NUM> provides drive force for rotating the rotary member <NUM>. The rolling drive unit <NUM> includes a motor 137d. The motor 137d is disposed in the body <NUM>. The rolling drive unit <NUM> includes a gear assembly 137c for transmitting torque of the motor 137d. The gear assembly 137c includes a plurality of gears that mesh with each other and rotate. For example, the gears may include a driving gear, which rotates together with the shaft of the motor 137d, and a driven gear, which meshes with the driving gear and rotates. The driven gear may be provided in a plural number, and the plurality of driven gears may mesh with each other and may rotate. The rolling drive unit <NUM> may include a shaft 137b, which rotates together with any one of the driven gears. The rolling drive unit <NUM> may include the drive force transmission unit 137a that transmits rotational force to the first shaft member <NUM>. The shaft 137b transmits the rotational force of the one of the driven gears to the drive force transmission unit 137a. The drive force transmission unit 137a has therein a recess, into which the first shaft member <NUM> is inserted. The shaft 137b, the drive force transmission unit 137a and the first shaft member <NUM> rotate together with each other.

The cleaner <NUM> may include the coupler <NUM>, which is separably coupled to the body <NUM>. The coupler <NUM> is disposed at the base <NUM>. The coupler <NUM> supports the lower end of the second shaft member <NUM>. The second shaft member <NUM> is supported by the base <NUM>. The coupler <NUM> may have therein a recess, into which the second shaft member <NUM> is inserted. The rotary member <NUM> and the mop unit <NUM> may be removed from or coupled to the body <NUM> using the coupler <NUM>. For example, in the state in which the coupler <NUM> is removed, a user is capable of easily drawing the first shaft member <NUM> out of the drive force transmission unit 137a after pulling the end portion of the rotary member <NUM>, at which the second shaft member <NUM> is disposed, out of the body <NUM>. Conversely, in the state in which the coupler <NUM> is removed, the end portion of the first shaft member <NUM> may first be inserted into the recess in the drive force transmission unit 137a, and subsequently the second shaft member <NUM> and the coupler <NUM> may be inserted into the body <NUM>. In order to maintain the coupling of the rotary member <NUM> to the body <NUM>, a user may fix the coupler <NUM> to the body <NUM>. Further, in order to remove the rotary member <NUM> from the body <NUM>, a user may remove the coupler <NUM> from the body <NUM>.

Referring to <FIG>, <FIG>, <FIG>, and <FIG>, the first cleaning module <NUM> includes the left spin mop 120a and the right spin mop 120b, which are configured to contact the floor while rotating clockwise or counterclockwise when viewed from the upper side. The first cleaning module <NUM> is configured to perform mopping via rotation of the left spin mop 120a and the right spin mop 120b.

Among the components of the first cleaning module <NUM>, a component in which "left" is affixed to the front of the name thereof is a component for operating the left spin mop 120a, and a component in which "right" is affixed to the front of the name thereof is a component for operating the right spin mop 120b. In a description related to the components of the first cleaning module <NUM>, when it is unnecessary to distinguish "left" and "right" from each other, the corresponding description may be applied to both "left" and "right".

Referring to <FIG>, the point at which the rotation axis of the left spin mop 120a and the bottom surface of the left spin mop 120a meet is defined as a rotation center Osa of the left spin mop 120a. The point at which the rotation axis of the right spin mop 120b and the bottom surface of the right spin mop 120b meet is defined as a rotation center Osb of the right spin mop 120b. When viewed from the lower side, the clockwise rotation direction of the left spin mop 120a is defined as a first forward direction w1f, and the counterclockwise rotation direction of the left spin mop 120a is defined as a first reverse direction w1r. When viewed from the lower side, the counterclockwise rotation direction of the right spin mop 120b is defined as a second forward direction w2f, and the clockwise rotation direction of the right spin mop 120b is defined as a second reverse direction w2r.

Referring to <FIG>, when the left spin mop 120a rotates, the point Pla on the bottom surface of the left spin mop 120a that receives the largest frictional force from the floor is located to the left of the rotation center Osa of the left spin mop 120a. The largest frictional force may be generated at the point Pla by transmitting a larger load from the point Pla to the floor than from any other point on the bottom surface of the left spin mop 120a. In the present embodiment, the point Pla is located exactly to the left of the rotation center Osa. However, in another embodiment, the point Pla may be located to the left and in front of the rotation center Osa or to the left and behind the rotation center Osa.

Referring to <FIG>, when the right spin mop 120b rotates, the point Plb on the bottom surface of the right spin mop 120b that receives the largest frictional force from the floor is located to the right of the rotation center Osb of the right spin mop 120b. The largest frictional force may be generated at the point Plb by transmitting a larger load from the point Plb to the floor than from any other point on the bottom surface of the right spin mop 120b. In the present embodiment, the point Plb is located exactly to the right of the rotation center Osb. However, in another embodiment, the point Plb may be located to the right and in front of the rotation center Osb or to the right and behind the rotation center Osb.

The point Pla and the point Plb are located at positions that are bilaterally symmetrical to each other.

In order to make the point Pla receive larger frictional force from the floor than any other point on the bottom surface of the left spin mop 120a (or in order to make the point Plb receive larger frictional force from the floor than any other point on the bottom surface of the right spin mop 120b), configuration may be variously made according to the embodiments set forth below.

In one embodiment illustrated in <FIG>, the left spin mop 120a may be arranged such that the bottom surface thereof is inclined downwards in the direction from the rotation center Osa to the point Pla. In this case, the point Pla becomes the lowest point Pla on the bottom surface of the left spin mop 120a. In this case, the angle that the bottom surface I1 of the left spin mop 120a makes with an imaginary horizontal plane H and the angle that the bottom surface I2 of the right spin mop 120b makes with the imaginary horizontal plane H are defined as the inclination angles Ag1 and Ag2. The angle that the bottom surface I1 of the left spin mop 120a makes with the external horizontal plane H is the inclination angle Ag1, and the angle that the bottom surface I2 of the right spin mop 120b makes with the external horizontal plane H is the inclination angle Ag2. These two inclination angles Ag1 and Ag2 may be the same as each other.

In another embodiment illustrated in <FIG>, the left spin mop 120a may be arranged such that the bottom surface thereof lies horizontally. The embodiment may be configured such that a moment is applied to the left spin mop 120a using an elastic member. The moment applied to the left spin mop 120a is a clockwise moment when viewed from the front side. In this case, even when the left spin mop 120a lies horizontally with respect to the external horizontal plane H, the point Pla comes into strongest contact with the external horizontal plane H, thereby generating the largest frictional force. A detailed description of a first embodiment and a second embodiment for realizing the above characteristics will now be made.

In the first embodiment, the first cleaning module <NUM> is disposed at a tilting frame <NUM>, which will be described later. The moment may be applied to the first cleaning module <NUM> by the elastic force of an elastic member <NUM>, which will be described later. As shown in <FIG>, in the state in which the upper-end-limit contact portion 125f is in contact with the upper-end limit 13d, the bottom surfaces of the spin mops 120a and 120b are arranged parallel to the horizontal plane H. In particular, when the left spin mop 120a lies horizontally, the elastic member <NUM> is elastically deformed to the maximum extent. When the point Pla of the left spin mop 120a is located at a lower position than any other point, the extent of elastic deformation of the elastic member <NUM> is reduced.

In the second embodiment, a plurality of springs (not shown) may be arranged on the top surface of a lower rotating plate (not shown), which fixes the bottom surface of the left spin mop 120a, in the rotation direction about the rotation axis. In this case, an upper rotating plate (not shown), which supports the upper ends of the springs, may be arranged at a downward incline in the direction from the rotation center Osa to the point Pla. When the upper rotating plate rotates, the respective springs also rotate and undergo elastic compression and elastic restoration repeatedly. At this time, among the springs, the spring that is disposed near the point Pla on the basis of the rotation center Osa is compressed to the largest extent. Accordingly, the point Pla receives larger frictional force from the floor than any other point on the bottom surface of the left spin mop 120a.

In order to make the point Plb receive larger frictional force from the floor than any other point on the bottom surface of the right spin mop 120b, the above-described embodiment, the first embodiment, and the second embodiment may be applied in the same manner by those skilled in the art. Hereinafter, a description will be made with reference to the above-described embodiment (refer to <FIG>).

The bottom surface of the left spin mop 120a and the bottom surface of the right spin mop 120b are each arranged at an incline. The inclination angle Ag1 of the left spin mop 120a and the inclination angle Ag2 of the right spin mop 120b are acute angles. In the present embodiment, the inclination angles Ag1 and Ag2 respectively range from about <NUM> to <NUM> degrees. The inclination angles Ag1 and Ag2 may be set to be small such that the points Pla and Plb receive the largest frictional force and such that the entire bottom area of the mop unit <NUM> contacts the floor via rotation of the left spin mop 120a and the right spin mop 120b.

The bottom surface of the left spin mop 120a extends at a downward incline in the leftward direction. The bottom surface of the right spin mop 120b extends at a downward incline in the rightward direction. Referring to <FIG>, the bottom surface of the left spin mop 120a has the lowest point Pla located at the left portion thereof. The bottom surface of the left spin mop 120a has the highest point Pha located at the right portion thereof. The bottom surface of the right spin mop 120b has the lowest point Plb located at the right portion thereof. The bottom surface of the right spin mop 120b has the highest point Phb located at the left portion thereof.

Referring to <FIG>, the movement of the cleaner <NUM> is implemented by the frictional force that the first cleaning module <NUM> and/or the second cleaning module <NUM> generate with the floor.

The first cleaning module <NUM> may generate forward-movement frictional force for moving the body <NUM> forwards or backward-movement frictional force for moving the body <NUM> backwards. The first cleaning module <NUM> may generate leftward-moment frictional force for turning the body <NUM> to the left or rightward-moment frictional force for turning the body <NUM> to the right. The first cleaning module <NUM> may generate frictional force that is a combination of any one of the forward-movement frictional force and the backward-movement frictional force and any one of the leftward-moment frictional force and the rightward-moment frictional force.

The second cleaning module <NUM> may generate forward-movement frictional force for moving the body <NUM> forwards or backward-movement frictional force for moving the body <NUM> backwards.

In order to generate the forward-movement frictional force, the first cleaning module <NUM> may rotate the left spin mop 120a at a predetermined number of revolutions per minute (rpm) R1 in the first forward direction w1f, and may rotate the right spin mop 120b at the predetermined rpm R1 in the second forward direction w2f.

In order to generate the forward-movement frictional force, the second cleaning module <NUM> may rotate the rolling member 130a in the third forward direction w3f.

In order to generate the backward-movement frictional force, the first cleaning module <NUM> may rotate the left spin mop 120a at a predetermined rpm R2 in the first reverse direction w1r, and may rotate the right spin mop 120b at the predetermined rpm R2 in the second reverse direction w2r.

In order to generate the backward-movement frictional force, the second cleaning module <NUM> may rotate the rolling member 130a in the third reverse direction w3r.

In order for the first cleaning module <NUM> to generate the rightward-moment frictional force, the left spin mop 120a may be rotated at a predetermined rpm R3 in the first forward direction w1f, and the right spin mop 120b may be operated as follows: (i) it may be rotated in the second reverse direction w2r; (ii) it may be stopped without rotation; or (iii) it may be rotated in the second forward direction w2f at a predetermined rpm R4, which is lower than the rpm R3.

In order for the first cleaning module <NUM> to generate the leftward-moment frictional force, the right spin mop 120b may be rotated at a predetermined rpm R5 in the second forward direction w2f, and the left spin mop 120a may be operated as follows: (i) it may be rotated in the first reverse direction w1r; (ii) it may be stopped without rotation; or (iii) it may be rotated in the first forward direction w1f at a predetermined rpm R6, which is lower than the rpm R5.

It is possible for the body <NUM> to move or to stay in place via a combination of the frictional force generated by the first cleaning module <NUM> and the frictional force generated by the second cleaning module <NUM>.

In order for the cleaner <NUM> to move straight forwards, both the first cleaning module <NUM> and the second cleaning module <NUM> may generate the forward-movement frictional force. In another example, any one of the first cleaning module <NUM> and the second cleaning module <NUM> may generate the forward-movement frictional force, and the remaining one thereof may remain stationary without rotating. In a further example, any one of the first cleaning module <NUM> and the second cleaning module <NUM> may generate relatively large forward-movement frictional force, and the remaining one thereof may generate relatively small backward-movement frictional force.

In order for the cleaner <NUM> to move straight backwards, both the first cleaning module <NUM> and the second cleaning module <NUM> may generate the backward-movement frictional force. In another example, any one of the first cleaning module <NUM> and the second cleaning module <NUM> may generate the backward-movement frictional force, and the remaining one thereof may remain stationary without rotating. In a further example, any one of the first cleaning module <NUM> and the second cleaning module <NUM> may generate relatively large backward-movement frictional force, and the remaining one thereof may generate relatively small forward-movement frictional force.

In order to turn the cleaner <NUM> to the right, the first cleaning module <NUM> may generate the rightward-moment frictional force, and the rolling member 130a may be operated as follows: (i) it may be rotated in the third forward direction w3f, (ii) it may be stopped without rotation, or (iii) it may be rotated in the third reverse direction w3r.

In order to turn the cleaner <NUM> to the left, the first cleaning module <NUM> may generate the leftward-moment frictional force, and the rolling member 130a may be operated as follows: (i) it may be rotated in the third forward direction w3f, (ii) it may be stopped without rotation; or (iii) it may be rotated in the third reverse direction w3r.

In order for the cleaner <NUM> to stay in place, both the first cleaning module <NUM> and the second cleaning module <NUM> may remain stationary without rotating. In another example, any one of the first cleaning module <NUM> and the second cleaning module <NUM> may generate forward-movement frictional force, and the remaining one thereof may generate backward-movement frictional force that has the same magnitude as the forward-movement frictional force. In particular, in the latter case, while the body <NUM> stays in place, the first cleaning module <NUM> and the second cleaning module <NUM> may respectively rotate and perform an operation of mopping a certain area of the floor.

According to the above-described processes of controlling the movement of the body <NUM>, the direction in which the rolling member 130a rotates can be changed. Accordingly, it is possible to combine any one of the forward-movement frictional force and the backward-movement frictional force, which are generated by the rolling member 130a, with the frictional force generated by the first cleaning module <NUM>, thereby facilitating various types of movement of the cleaner <NUM>. Specifically, it is possible to increase the maximum speed of the cleaner <NUM> in the forward-and-backward direction, to enable the cleaner <NUM> to be turned to the right or to the left with various turn radii, to enable the cleaner <NUM> to be turned to the right or to the left while traveling backwards, and to enable the cleaner <NUM> to perform a mopping operation via rotation while the body <NUM> stays in place.

While the first cleaning module <NUM> performs a predetermined constant rotation operation (an operation of generating the forward-movement frictional force, the backward-movement frictional force, the leftward-moment frictional force, or the rightward-moment frictional force), the rolling member 130a may perform two or more different rotation operations. While the first cleaning module performs a predetermined constant rotation operation, the rolling member 130a may be controlled to rotate in the third forward direction w3f. While the first cleaning module performs a predetermined constant rotation operation, the rolling member 130a may be controlled to rotate in the third reverse direction w3r. While the first cleaning module performs a predetermined constant rotation operation, the rolling member 130a may be controlled to remain stationary without rotating. While the first cleaning module performs a predetermined constant rotation operation, the rolling member 130a may be controlled to rotate in the third forward direction w3f at one selected from among two or more predetermined RPMs. While the first cleaning module performs a predetermined constant rotation operation, the rolling member 130a may be controlled to rotate in the third reverse direction w3r at one selected from among two or more predetermined RPMs. As such, it is possible to realize various traveling routes and traveling speeds of the cleaner <NUM>.

The contact area between the rolling member 130a and the floor may be formed to be elongated in the leftward-and-rightward direction. The right end of the left spin mop 120a and the left end of the right spin mop 120b may be spaced a predetermined distance apart from each other. When viewed from the front side, the contact area between the rolling member 130a and the floor may overlap the entire area of the gap between the left spin mop 120a and the right spin mop 120b. The gap between the left spin mop 120a and the right spin mop 120b is a portion of the first cleaning module <NUM> that may not perform mopping sufficiently well. When the cleaner <NUM> moves in the forward-and-backward direction, the rolling member 130a performs an operation of mopping an area of the floor that corresponds to the gap, thereby supplementing the mopping operation of the first cleaning module <NUM>.

The contact area between the rolling member 130a and the floor may be formed to be elongated in the leftward-and-rightward direction. When viewed from the front side, the contact area between the rolling member 130a and the floor may overlap the entire area between the rotation center Osa of the left spin mop 120a and the rotation center Osb of the right spin mop 120b. The right side of the rotation center Osa of the left spin mop 120a and the left side of the rotation center Osb of the right spin mop 120b are portions to which relatively low frictional force is applied, and thus may not perform mopping sufficiently well, compared to the left side of the rotation center Osa of the left spin mop 120a and the right side of the rotation center Osb of the right spin mop 120b. When the cleaner <NUM> moves in the forward-and-backward direction, the rolling member 130a performs an operation of mopping an area of the floor located between the rotation center Osa of the left spin mop 120a and the rotation center Osb of the right spin mop 120b, thereby supplementing the mopping operation of the first cleaning module <NUM>.

Referring to <FIG>, the first cleaning module <NUM> includes the rotating plate <NUM>, which is rotatably provided at the lower side of the body <NUM>. The rotating plate <NUM> may be formed by a circular plate member. The mop unit <NUM> is fixed to the bottom surface of the rotating plate <NUM>. The spin shaft <NUM> is fixed to the center portion of the rotating plate <NUM>.

The first cleaning module <NUM> includes the left rotating plate <NUM>, which fixes the mop unit <NUM> of the left spin mop 120a, and the right rotating plate <NUM>, which fixes the mop unit <NUM> of the right spin mop 120b.

The rotating plate <NUM> includes a mop-fixing member 122c, which fixes the mop unit <NUM>. The mop unit <NUM> may be separably fixed to the mop-fixing member 122c. The mop-fixing member 122c may be a piece of Velcro tape or the like disposed at the lower side of the rotating plate <NUM>. The mop-fixing member 122c may be a hook or the like disposed on the edge of the rotating plate <NUM>.

The rotating plate <NUM> includes a slope 122d, which is disposed on the lower end of the spin shaft <NUM> so that the water inside a water supply space Sw moves downwards along the slope 122d due to the force of gravity. The slope 122d is formed along the periphery of the lower end of the spin shaft <NUM>. The slope 122d is downwardly inclined in the centrifugal direction XO. The entire slope 122d may be formed in a truncated cone shape. The lower end of the spin shaft <NUM> is fixed to the upper center of the slope 122d.

A water supply hole 122a vertically penetrates the rotating plate <NUM>. The water supply hole 122a connects the water supply space Sw to the lower side of the rotating plate <NUM>. The water inside the water supply space Sw moves to the lower side of the rotating plate <NUM> through the water supply hole 122a. The water inside the water supply space Sw moves to the mop unit <NUM> through the water supply hole 122a. The water supply hole 122a is located in the center portion of the rotating plate <NUM>. The water supply hole 122a is located so as to avoid the spin shaft <NUM>.

The rotating plate <NUM> may be provided with a plurality of water supply holes 122a therein. A connecting portion 122b is disposed between the respective water supply holes 122a. The connecting portion 122b interconnects the portion of the rotating plate <NUM> in the centrifugal direction XO and the portion of the rotating plate <NUM> in the counter-centrifugal direction XI on the basis of the water supply hole 122a.

The plurality of water supply holes 122a may be spaced apart from each other in the peripheral direction of the spin shaft <NUM>. The water supply holes 122a may be spaced apart from each other by a constant distance. Accordingly, when the rotating plate <NUM> rotates, water is supplied evenly to the mop unit <NUM> in all directions on the basis of the spin shaft <NUM>.

The water supply holes 122a are disposed in the centrifugal direction XO in the lower end portion of the slope 122d. Accordingly, the water, which has moved downwards along the slope 122d due to the force of gravity and centrifugal force, may be introduced into the water supply holes 122a. The side surface of the water supply hole 122a in the counter-centrifugal direction XI may be aligned with the lower end portion of the slope 122d.

The side surface Qh of the water supply hole 122a in the centrifugal direction XO and the side surface Qw of the water supply reservoir <NUM> in the counter-centrifugal direction XI are provided so as to extend vertically. The side surface Qh of the water supply hole 122a in the centrifugal direction XO and the side surface Qw of the water supply reservoir <NUM> in the counter-centrifugal direction XI are disposed on substantially the same vertical line. Accordingly, the water, which is forced to move in the centrifugal direction XO by the centrifugal force, is finally introduced into the water supply hole 122a.

The side surface Qh of the water supply hole 122a in the centrifugal direction XO forms a cylindrically curved surface. The side surface Qw of the water supply reservoir <NUM> in the counter-centrifugal direction XI forms a cylindrically curved surface. Both the side surface Qh of the water supply hole 122a in the centrifugal direction XO and the side surface Qw of the water supply reservoir <NUM> in the counter-centrifugal direction XI form a cylindrically curved surface.

The first cleaning module <NUM> includes the mop unit <NUM>, which is configured so as to be brought into contact with the floor. The mop unit <NUM> is coupled to the lower side of the rotating plate <NUM>. The mop unit <NUM> is disposed on each of the bottom surface of the left spin mop 120a and the bottom surface of the right spin mop 120b. The mop unit <NUM> may be fixedly disposed on the rotating plate <NUM>, or may be disposed in a manner such that it is replaceable. The mop unit <NUM> may be separably fixed to the rotating plate <NUM> via a piece of Velcro tape, a hook, or the like. The mop unit <NUM> may be configured as a mop alone, or may include a mop and a spacer (not shown). The mop serves to perform mopping in contact with the floor. The spacer may be disposed between the rotating plate <NUM> and the mop and may serve to adjust the position of the mop. The spacer may be separably fixed to the rotating plate <NUM>, and the mop may be separably fixed to the spacer. Needless to say, the mop 121a may be separably fixed to the rotating plate <NUM> without the spacer.

Referring to <FIG>, <FIG>, and <FIG>, the first cleaning module <NUM> includes the spin shaft <NUM>, which is configured to rotate the rotating plate <NUM>. The spin shaft <NUM> is fixed to the rotating plate <NUM> and transmits the torque of the spin-drive unit <NUM> to the rotating plate <NUM>. The spin shaft <NUM> is connected to the upper side of the rotating plate <NUM>. The spin shaft <NUM> is disposed on the upper center of the rotating plate <NUM>. The spin shaft <NUM> is fixed to the rotation center Osa or Osb of the rotating plate <NUM>. The spin shaft <NUM> includes a gear-fixing portion 128a for fixing a gear 127b. The gear-fixing portion 128a is disposed on the upper end of the spin shaft <NUM>.

The first cleaning module <NUM> includes a left spin shaft <NUM>, fixed to the left rotating plate <NUM> to rotate the left rotating plate <NUM>, and a right spin shaft <NUM>, fixed to the right rotating plate <NUM> to rotate the right rotating plate <NUM>.

The spin shaft <NUM> extends perpendicular to the rotating plate <NUM>. The left spin shaft <NUM> is disposed perpendicular to the bottom surface of the left spin mop 120a, and the right spin shaft <NUM> is disposed perpendicular to the bottom surface of the right spin mop 120b. In an embodiment in which the bottom surface of the spin mop 120a or 120b is inclined relative to the horizontal plane, the spin shaft <NUM> is tilted relative to the vertical axis. The upper end of the spin shaft <NUM> is tilted to one side relative to the lower end. The upper end of the left spin shaft <NUM> is tilted leftward relative to the lower end. The upper end of the right spin shaft <NUM> is tilted rightward relative to the lower end.

The tilting angle of the spin shaft <NUM> relative to the vertical axis may be changed depending on the rotation of the tilting frame <NUM> about the tilting rotary shaft <NUM>. The spin shaft <NUM> is rotatably coupled to the tilting frame <NUM> so as to be integrally tilted with the tilting frame <NUM>. When the tilting frame <NUM> is tilted, the spin-drive unit <NUM>, the driving transmission unit <NUM>, the spin shaft <NUM>, the rotating plate <NUM>, the water supply reservoir <NUM>, and the mop unit <NUM> are integrally tilted.

The first cleaning module <NUM> includes the water supply reservoir <NUM>, which is disposed at the upper side of the rotating plate <NUM> so as to accommodate water therein. The water supply reservoir <NUM> defines the water supply space Sw in which water is accommodated. The water supply reservoir <NUM> surrounds the periphery of the spin shaft <NUM> and is spaced apart from the spin shaft <NUM> so as to define the water supply space Sw therebetween. The water supply reservoir <NUM> allows the water supplied to the upper side of the rotating plate <NUM> to be collected in the water supply space Sw until the water passes through the water supply hole 122a. The water supply space Sw is disposed at the upper side of the center portion of the rotating plate <NUM>. The water supply space Sw has a cylindrical volume overall. The upper side of the water supply space Sw is open so that the water is introduced into the water supply space Sw through the upper side of the water supply space Sw.

The water supply reservoir <NUM> protrudes upwards from the rotating plate <NUM>. The water supply reservoir <NUM> extends in the peripheral direction of the spin shaft <NUM>. The water supply reservoir <NUM> is formed by a ring-shaped rib. The water supply hole 122a is located in the inner lower surface of the water supply reservoir <NUM>. The water supply reservoir <NUM> is spaced apart from the spin shaft <NUM>.

The side surface Qw of the water supply reservoir <NUM> in the counter-centrifugal direction XI faces the outer peripheral surface of the spin shaft <NUM>. The side surface Qw is spaced apart from the spin shaft <NUM>. The side surface Qw is smoothly connected to the side surface Qh in the vertical direction. The lower end of the water supply reservoir <NUM> is fixed to the rotating plate <NUM>. The water supply reservoir <NUM> has a free upper end.

The first cleaning module <NUM> includes the spin-drive unit <NUM>, which provides drive force for rotating the spin mop 120a or 120b. The first cleaning module <NUM> includes a left spin-drive unit <NUM>, which provides power required for rotating the left spin shaft <NUM>, and a right spin-drive unit <NUM>, which provides power required for rotating the right spin shaft <NUM>. The left spin-drive unit <NUM> provides drive force required for rotating the left spin shaft <NUM>. The right spin-drive unit <NUM> provides drive force required for rotating the right spin shaft <NUM>.

The first cleaning module <NUM> includes the driving transmission unit <NUM>, which transmits the torque of the spin-drive unit <NUM> to the spin shaft <NUM>. The driving transmission unit <NUM> may include a plurality of gears and/or a belt, for example.

In the present embodiment, the driving transmission unit <NUM> includes a first gear 127a fixed to a rotating shaft of the spin-drive unit <NUM>. The first gear 127a may be a worm gear. The driving transmission unit <NUM> may include a second gear 127b, which is engaged and rotated with the first gear 127a. The second gear 127b may be a spur gear. The second gear 127b is fixed to the spin shaft <NUM> so as to allow the spin shaft <NUM> to be rotated simultaneously with the rotation of the second gear 127b.

The first cleaning module <NUM> includes the tilting frame <NUM>, which is disposed on the body <NUM> so as to be tiltable within a predetermined angular range. The inclination angle Ag1 or Ag2 of the tilting frame <NUM> may be changed depending on the state of the floor. The tilting frame <NUM> may perform a suspension function for the spin mop 120a or 120b (a function of supporting the weight and alleviating vertical vibration). The tilting frame <NUM> is tiltably supported by the base <NUM>. The tilting frame <NUM> rotatably supports the spin shaft <NUM>.

The first cleaning module <NUM> includes the left tilting frame <NUM>, which supports the left spin shaft <NUM>. The left tilting frame <NUM> is rotatable within a predetermined range about a left tilting rotary shaft <NUM>.

The first cleaning module <NUM> includes the right tilting frame <NUM>, which supports the right spin shaft <NUM>. The right tilting frame <NUM> is rotatable within a predetermined range about a right tilting rotary shaft <NUM>.

For example, when the left spin mop 120a is brought into contact with a recessed portion in the floor, the inclination angle Ag1 of the left spin mop 120a may be increased within a predetermined range by the left tilting frame <NUM>. When the right spin mop 120b is brought into contact with a recessed portion in the floor, the inclination angle Ag2 of the right spin mop 120b may be increased within a predetermined range by the right tilting frame <NUM>.

The tilting frame <NUM> includes a frame base 125a defining the bottom surface thereof. The spin shaft <NUM> is disposed so as to vertically penetrate the frame base 125a. The frame base 125a may be configured by a plate, which forms a vertical thickness. The tilting rotary shaft <NUM> rotatably interconnects the base <NUM> and the frame base 125a.

The cleaner <NUM> includes a water supply cabinet 125b, which is disposed at the upper side of the water supply reservoir <NUM>. The tilting frame <NUM> may include the water supply cabinet 125b.

The water supply cabinet 125b may accommodate the spin shaft <NUM> therein. The water supply cabinet 125b may be disposed at the lower side of the body <NUM>. The water supply cabinet 125b may cover the upper side of the water supply reservoir <NUM>. When viewed from the upper side, the water supply cabinet 125b may cover the upper side of the water supply reservoir <NUM>. The water supply cabinet 125b defines a space recessed upwards from the lower side of the body <NUM> so as to accommodate the upper end portion of the water supply reservoir <NUM>. The water supply cabinet 125b is fixed to the frame base 125a. The water supply cabinet 125b defines the space recessed upwards from the bottom surface of the frame base 125a. The water is introduced into the space defined by the water supply cabinet 125b through a water feeder 125c. The water supply cabinet 125b may minimize scattering of water, and thus all the water may be introduced into the water supply reservoir <NUM>.

The water supply cabinet 125b includes a spin-shaft support portion 125b1, which rotatably supports the spin shaft <NUM>. A bearing B may be provided between the spin-shaft support portion 125b1 and the spin shaft <NUM>. The bearing B may include a first bearing B1 disposed at the lower side, and a second bearing B2 disposed at the upper side.

The lower end portion of the spin-shaft support portion 125b1 is inserted into the water supply space Sw of the water supply reservoir <NUM>. The inner peripheral surface of the spin-shaft support portion 125b1 supports the spin shaft <NUM>. The outer peripheral surface of the spin-shaft support portion 125b1 faces the inner peripheral surface Qw of the water supply reservoir <NUM>. Accordingly, the spin-shaft support portion 125b1 may stably support the spin shaft <NUM>, and may guide water to be easily collected in the water supply space Sw.

The lower end portion of the spin-shaft support portion 125b1 is disposed between the spin shaft <NUM> and the inner peripheral surface Qw of the water supply reservoir <NUM>. The outer peripheral surface of the lower end portion of the spin-shaft support portion 125b1 is spaced apart from the inner peripheral surface Qw of the water supply reservoir <NUM> so as to define the water supply space Sw therebetween. The slope 122d is disposed on the lower end portion of the spin-shaft support portion 125b1.

The water supply cabinet 125b includes partitions 125b2 and 125b3, which protrude from the spin-shaft support portion 125b1. The partitions 125b2 and 125b3 cover the upper end portion of the water supply reservoir <NUM>. The partitions 125b2 and 125b3 cover the upper end and the outer peripheral surface of the water supply reservoir <NUM>. The partitions 125b2 and 125b3 are disposed in the centrifugal direction XO of the spin-shaft support portion 125b1. The partitions 125b2 and 125b3 are fixed to and supported by the frame base 125a. The partitions 125b2 and 125b3 support the spin-shaft support portion 125b1.

The partitions 125b2 and 125b3 include a first partition 125b2, which covers the upper end of the water supply reservoir <NUM>. The first partition 125b2 protrudes from the spin-shaft support portion 125b1 in the centrifugal direction XO. The partitions 125b2 and 125b3 include a second partition 125b3, which covers the upper end portion of the outer peripheral surface of the water supply reservoir <NUM>. The second partition 125b3 protrudes downwards from the first partition 125b2. The second partition 125b3 has a free lower end.

The cleaner <NUM> includes the water feeder 125c, which guides the water to move from the inside of the body <NUM> into the water supply reservoir <NUM>. The tilting frame <NUM> may include the water feeder 125c, which receives water from the water supply module <NUM>.

The water feeder 125c receives the water from a supply pipe <NUM>. The water feeder 125c forms a water flow passage. The water feeder 125c guides the water to pass through the water supply cabinet 125b and to be introduced into the water supply reservoir <NUM>. One end of the flow passage formed by the water feeder 125c is connected to the end of the supply pipe <NUM>. The opposite end of the flow passage formed by the water feeder 125c is disposed in the water supply space Sw. One end of the flow passage formed by the water feeder 125c is disposed outside the water supply cabinet 125b (inside the body <NUM>), and the opposite end thereof is disposed inside the water supply cabinet 125b (in the portion in which the water supply space Sw is disposed). The water feeder 125c is fixed to the tilting frame <NUM>. The water feeder 125c is fixed to the water supply cabinet 125b.

The tilting frame <NUM> includes the first support portion 125d, which supports one end of the elastic member <NUM>. The second support portion 13b, which is disposed at the base <NUM>, supports the opposite end of the elastic member <NUM>. The second support portion 13b may be formed at the support member 13a of the base <NUM>. When the tilting frame <NUM> is tilted about the tilting rotary shaft <NUM>, the position of the first support portion 125d is changed and the length of the elastic member <NUM> is changed.

The first support portion 125d is fixed to the tilting frame <NUM>. The first support portion 125d is disposed on the right portion of the left tilting frame <NUM>. The first support portion 125d is disposed on the left portion of the right tilting frame <NUM>.

The second support portion 13b is fixed to the base <NUM>. The second support portion 13b is disposed in the right area of the left spin mop module <NUM>. The second support portion 13b is disposed in the left area of the right spin mop module <NUM>.

The first support portion 125d is fixed to the tilting frame <NUM>. When the tilting frame <NUM> is tilted, the first support portion 125d is also tilted with the tilting frame <NUM>. The first support portion 125d protrudes away from the tilting rotary shaft <NUM> so that the portion to which one end portion of the elastic member <NUM> is fixed is spaced a predetermined distance apart from the tilting rotary shaft <NUM>. In the state in which the inclination angle Ag1 or Ag2 is the minimum value, the distance between the first support portion 125d and the second support portion 13b is the greatest. In the state in which the inclination angle Ag1 or Ag2 is the maximum value, the distance between the first support portion 125d and the second support portion 13b is the shortest. The elastic member <NUM> is provided so as to undergo elastic tension stress as the inclination angle Ag1 or Ag2 is reduced to the minimum value.

Referring to <FIG>, when the left tilting frame <NUM> rotates in the counterclockwise direction about the tilting rotary shaft <NUM> when viewed from the rear side, the second support portion 13b moves leftwards and the elastic member <NUM> is shortened and elastically restored. When the left tilting frame <NUM> rotates in the clockwise direction about the tilting rotary shaft <NUM> when viewed from the rear side, the second support portion 13b moves rightwards and the elastic member <NUM> is lengthened and elastically deformed. When the right tilting frame <NUM> rotates in the clockwise direction about the tilting rotary shaft <NUM> when viewed from the rear side, the second support portion 13b moves rightwards and the elastic member <NUM> is shortened and elastically restored. When the right tilting frame <NUM> rotates in the counterclockwise direction about the tilting rotary shaft <NUM> when viewed from the rear side, the second support portion 13b moves leftwards and the elastic member <NUM> is lengthened and elastically deformed.

The tilting frame <NUM> includes a motor support portion 125e, which supports the spin-drive unit <NUM>. The motor support portion 125e may support the driving transmission unit <NUM>.

The tilting frame <NUM> includes the upper-end-limit contact portion 125f, which is configured so as to be brought into contact with the upper-end limit 13d. The top surface of the upper-end-limit contact portion 125f may be brought into contact with the bottom surface of the upper-end limit 13d. The left upper-end-limit contact portion 125f may be disposed on the left end of the left tilting frame <NUM>. The right upper-end-limit contact portion 125f may be disposed on the right end of the right tilting frame <NUM>.

The first cleaning module <NUM> includes the tilting rotary shaft <NUM>, which is a rotating shaft of the tilting frame <NUM>. The tilting rotary shaft <NUM> extends in the direction perpendicular to the inclined direction of the spin mop 120a or 120b. The tilting rotary shaft <NUM> may extend in the horizontal direction. In the present embodiment, the tilting rotary shaft <NUM> extends in the forward-and-backward direction.

The first cleaning module <NUM> includes the left tilting rotary shaft <NUM>, which extends in the direction perpendicular to the inclined direction of the bottom surface of the left spin mop 120a. The first cleaning module <NUM> includes the right tilting rotary shaft <NUM>, which extends in the direction perpendicular to the inclined direction of the bottom surface of the right spin mop 120b.

The first cleaning module <NUM> includes the elastic member <NUM>, which applies elastic force to the tilting frame <NUM>. The elastic member <NUM> stretches when the tilting frame <NUM> is rotated downwards, and shrinks when the tilting frame <NUM> is rotated upwards. The elastic member <NUM> enables shock-absorbing (elastic) operation of the tilting frame <NUM>. The elastic member <NUM> applies a moment to the tilting frame <NUM> so that the inclination angle Ag1 or Ag2 is increased. The elastic member <NUM> may be disposed such that the entirety thereof extends a long length in the leftward-and-rightward direction.

Referring to <FIG>, <FIG> and <FIG>, the first cleaning module <NUM> includes the lower-end-limit contact portion 120f, which is configured to be brought into contact with the lower-end limit 13f. The bottom surface of the lower-end-limit contact portion 120f may be brought into contact with the top surface of the lower-end limit 13f. The lower-end-limit contact portion 120f may be disposed on the lower portion of the spin-drive unit <NUM>. The spin-drive unit <NUM> may be disposed so as to protrude horizontally from the tilting frame <NUM>. The lower-end-limit contact portion 120f is disposed on the lower portion of the protruding portion of the spin-drive unit <NUM>.

Referring to <FIG>, and <FIG>, the water supply module <NUM> supplies water to the first cleaning module <NUM>. In the drawings, the water W filling the water tank <NUM> and the water flow direction WF are illustrated. The water supply module <NUM> supplies water to the water supply space Sw. The water supply module <NUM> includes the water tank <NUM>, which stores water therein. The water tank <NUM> is disposed inside the body <NUM>. The water tank <NUM> is disposed at the upper side of the spin mops 120a and 120b.

In the present embodiment, the water supply module <NUM> includes a pump <NUM> for applying pressure to the water W inside the water tank <NUM> so as to move the water. The pump <NUM> may apply pressure to the water so as to move the water to the spin mop module <NUM>. The pump <NUM> may apply pressure to the water W inside the water tank <NUM> so as to supply the water to the water supply space Sw.

Although not illustrated, in another embodiment, the water supply module may include a valve, and when the valve is opened, the water inside the water tank may move to the first cleaning module due to the weight thereof without the pump.

Although not illustrated, in a further embodiment, the water supply module may include a water-permeable cap. The water-permeable cap may be disposed in the supply pipe so that the water moves through the water-permeable cap. The water-permeable cap may be configured to reduce the flow rate of the water.

Hereinafter, a description will be made based on the present embodiment including the pump <NUM>, but the invention is not necessarily limited thereto.

The water supply module <NUM> includes the supply pipe <NUM>, which guides the movement of the water W from the water tank <NUM> to the first cleaning module <NUM>. The supply pipe <NUM> interconnects the water tank <NUM> and the water feeder 125c to guide the movement of the water. The supply pipe <NUM> may flexibly bend according to the tilting of the tilting frame <NUM>.

The supply pipe <NUM> includes a first supply pipe <NUM>-<NUM>, which guides the movement of the water W from the water tank <NUM> to the pump <NUM>, and a second supply pipe <NUM>-<NUM>, which guides the movement of the water W from the pump <NUM> to the first cleaning module <NUM>. One end of the first supply pipe <NUM>-<NUM> is connected to the lower portion of the water tank <NUM>, and the opposite end thereof is connected to the pump <NUM>. One end of the second supply pipe <NUM>-<NUM> is connected to the pump <NUM>, and the opposite end thereof is connected to the water feeder 125c.

The second supply pipe <NUM>-<NUM> includes a common pipe <NUM>-<NUM>, which guides the movement of the water at an upstream side. One end of the common pipe <NUM>-<NUM> is connected to the pump <NUM>, and the opposite end thereof is connected to a three-way connector <NUM>-2t.

The second supply pipe <NUM>-<NUM> includes a first branch pipe <NUM>-2a for guiding the movement of the water W to the left spin mop module <NUM>, and a second branch pipe <NUM>-2b for guiding the movement of the water W to the right spin mop module <NUM>. The first branch pipe <NUM>-2a guides some of the water inside the common pipe <NUM>-<NUM> to the left spin mop module <NUM>. The second branch pipe <NUM>-2b guides the remaining water inside the common pipe <NUM>-<NUM> to the right spin mop module <NUM>. One end of the first branch pipe <NUM>-2a is connected to the three-way connector <NUM>-2t, and the opposite end thereof is connected to the water feeder 125c of the left spin mop module <NUM>. One end of the second branch pipe <NUM>-2b is connected to the three-way connector <NUM>-2t and the opposite end thereof is connected to the water feeder 125c of the right spin mop module <NUM>.

The second supply pipe <NUM>-<NUM> includes the three-way connector <NUM>-2t, which connects the common pipe <NUM>-<NUM>, the first branch pipe <NUM>-2a, and the second branch pipe <NUM>-2b with each other. The three-way connector <NUM>-2t forms a T-shaped flow passage overall. The three-way connector <NUM>-2t includes a flow passage portion, which extends in the forward-and-backward direction and is connected to the common pipe <NUM>-<NUM>. The three-way connector <NUM>-2t includes two branch flow-passage portions, which extend in two directions from the flow-passage portion connected to the common pipe <NUM>-<NUM>. The two branch flow-passage portions are respectively connected to the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b.

A description related to the water flow direction WF will be made below with reference to <FIG>, <FIG> and <FIG>. The pump <NUM> may be driven to cause movement of the water W. The water W inside the water tank <NUM> is introduced into the water feeder 125c via the supply pipe <NUM>. The water W inside the water tank <NUM> sequentially passes through the first supply pipe <NUM>-<NUM> and the second supply pipe <NUM>-<NUM>. The water W inside the water tank <NUM> sequentially passes through the common pipe <NUM>-<NUM> and the first branch pipe and is introduced into the water feeder 125c of the left spin mop module <NUM>. The water W inside the water tank <NUM> sequentially passes through the common pipe <NUM>-<NUM> and the second branch pipe and is introduced into the water feeder 125c of the right spin mop module <NUM>. The water introduced into the water feeder 125c passes through the tilting frame <NUM> and is introduced into the water supply reservoir <NUM>. The water introduced into the water supply reservoir <NUM> passes through the water supply hole 122a and is introduced into the center portion of the mop unit <NUM>. The water introduced into the center portion of the mop unit <NUM> moves to the edge of the mop unit <NUM> due to the centrifugal force generated by the rotation of the mop unit <NUM>. The water remaining on the floor surface is mopped by the mop unit <NUM> of the second cleaning module <NUM>, which follows the mop unit <NUM> at the rear side thereof.

Referring to <FIG>, the body <NUM> includes a battery support unit <NUM> for supporting the battery <NUM>. The battery <NUM> is disposed on the upper side of the supply pipe by the battery support unit <NUM>. The battery support unit <NUM> serves to guide the position of the supply pipe <NUM>. The common pipe <NUM>-<NUM>, the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b are components in which water, which has a relatively high specific gravity, is accommodated. Therefore, it is desirable for the common pipe <NUM>-<NUM>, the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b to be arranged so as to be bilaterally symmetrical to each other in order to evenly distribute the weight that is applied to the left spin mop 120a and the right spin mop 120b. To this end, the battery support unit <NUM> guides the positions of the common pipe <NUM>-<NUM>, the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b.

The battery support unit <NUM> includes a supporter 14a disposed at the lower side of the battery <NUM>. The supporter 14a supports the battery <NUM>. The supporter 14a may be disposed between the left spin mop module <NUM> and the right spin mop module <NUM>. The supporter 14a is disposed at the center portion of the body <NUM> in the leftward-and-rightward direction. The supporter 14a may be formed in a square column shape overall.

The battery support unit <NUM> includes a stopper 14b for restricting the horizontal movement of the battery <NUM>. The stopper 14b includes a first stopper 14b1, which contacts the front surface of the battery <NUM>, and a second stopper 14b2, which contacts the rear surface of the battery <NUM>.

The battery support unit <NUM> has therein a main recess <NUM>, into which the common pipe <NUM>-<NUM> is inserted. The main recess <NUM> is formed in the supporter 14a. The main recess <NUM> is formed in the rear surface of the supporter 14a. The common pipe <NUM>-<NUM> is fixed in the main recess <NUM>, and the position of the common pipe <NUM>-<NUM> is therefore maintained.

The battery support unit <NUM> forms two branch recesses <NUM>, into which the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b are inserted. The two branch recesses <NUM> are formed in the supporter 14a. The two branch recesses <NUM> are respectively formed at portions of the supporter 14a that are located in the leftward-and-rightward direction. Because the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b are respectively fixed in the two branch recesses <NUM>, the positions of the first branch pipe <NUM>-2a and the second branch pipe <NUM>-2b are maintained.

The supporter 14a may guide the position of the three-way connector <NUM>-2t. The three flow passage portions of the three-way connector <NUM>-2t may be respectively inserted into a main recess 14a and the two branch recesses <NUM>.

Referring to <FIG>, the cleaner <NUM> may further include a sterilized-water-generating module <NUM>. The sterilized-water-generating module <NUM> may be configured to generate sterilized water via electrolysis of water inside the water tank <NUM>. For example, hypochlorous acid (HClO) sterilized water may be generated via electrolysis using a chlorine component contained in the tap water. The sterilized-water-generating module <NUM> may be disposed at the water tank <NUM>.

Claim 1:
A cleaner comprising:
a first cleaning module (<NUM>); and
a second cleaning module (<NUM>) configured to come into contact with a floor and to perform a vacuum-cleaning operation,
wherein the first cleaning module (<NUM>) comprises:
a body (<NUM>);
a left spin mop (120a) and a right spin mop (120b) provided so as to come into contact with a floor while rotating in a clockwise direction or in a counterclockwise direction when viewed from an upper side,
wherein each of the left spin mop module (120a) and the right spin mop module (120b) includes:
a rotating plate (<NUM>) provided at a lower side of the body (<NUM>);
a mop unit (<NUM>) coupled to a lower side of the rotating plate (<NUM>) so as to be in contact with a floor; and
a spin shaft (<NUM>) connected to an upper side of the rotating plate (<NUM>) to rotate the rotating plate (<NUM>);
wherein the second cleaning module i (<NUM>) is positioned spaced apart from the left spin mop (120a) and the right spin mop (120b),
wherein the first cleaning module (<NUM>) further comprises:
a water supply module (<NUM>) for supplying water to the mop unit (<NUM>) and including water tank (<NUM>);
a water discharge part (125c) forming a water flow passage connected with the water supply module (<NUM>) and discharging water supplied from the water tank (<NUM>) downward at a position spaced apart from the spin shaft (<NUM>); and,
at least one water supply hole (122a) formed to vertically penetrate the rotating plate (<NUM>) so as to supply water discharged from the water discharge part (125c) to the mop unit (<NUM>) and disposed to be spaced apart from the spin shaft (<NUM>) along a circumferential direction of the rotating plate (<NUM>),
wherein
a water supply reservoir (<NUM>) protrudes upward from the rotating plate (<NUM>) at a radially outer side of the at least one water supply hole (122a) and formed of a ring-shaped rib, extends in a peripheral direction of the spin shaft (<NUM>), and
an accommodation space (125b) is recessed in a protruding direction of the ring-shaped rib of the water supply reservoir (<NUM>) from a bottom of the body (<NUM>) to correspond to an upper end portion of the ring-shaped rib.