US20190270124A1 - Cleaner washing apparatus - Google Patents

Cleaner washing apparatus Download PDF

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Publication number
US20190270124A1
US20190270124A1 US16/333,098 US201716333098A US2019270124A1 US 20190270124 A1 US20190270124 A1 US 20190270124A1 US 201716333098 A US201716333098 A US 201716333098A US 2019270124 A1 US2019270124 A1 US 2019270124A1
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US
United States
Prior art keywords
mop
unit
washing
spinning
cleaner
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US16/333,098
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English (en)
Inventor
Jaewon Jang
Jeongseop PARK
Youngkouk SONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Priority to US16/333,098 priority Critical patent/US20190270124A1/en
Publication of US20190270124A1 publication Critical patent/US20190270124A1/en
Assigned to LG ELECTRONICS INC. reassignment LG ELECTRONICS INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JANG, JAEWON, PARK, Jeongseop, SONG, Youngkouk
Abandoned legal-status Critical Current

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    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/145—Floor surfacing or polishing machines motor-driven with rotating tools with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam

Definitions

  • a mop cleaner depends largely on human labor and, since a user should perform cleaning operation by reciprocating a mop unit while applying force thereto, the user may suffer fatigue and cleaning is not efficient when cleaning is performed for a long time.
  • a washing apparatus in accordance with an aspect of the present invention is configured to wash a cleaner having a mop unit formed at a lower portion thereof.
  • the washing apparatus includes a tray configured to form a space to receive the cleaner and washing water, and a washing unit disposed at a lower portion of the inside of the tray so as to contact the mop unit.
  • the washing unit includes a first spinning mop protrusion line configured to protrude upwardly, an upper end of the first spinning mop protrusion line being inclined downwardly in a first direction.
  • a washing apparatus in accordance with another aspect of the present invention is configured to wash a cleaner having at least one a mop unit formed at a lower portion thereof to be rotated.
  • the washing apparatus includes a tray configured to form a space to receive the cleaner and washing water, and a washing unit disposed at a lower portion of the inside of the tray so as to contact the at least one mop unit.
  • the washing unit includes at least one protrusion line configured to protrude upwardly and extend while traversing a moving direction of a lower surface of the at least one mop unit when the at least one mop unit is rotated.
  • the at least one mop unit includes a first mop unit, a lower surface of the first mop unit being inclined downwardly in a first direction.
  • the at least one protrusion line includes a left spinning mop protrusion line, a part of the left spinning mop protrusion line contacting the first mop unit being inclined downwardly in the first direction.
  • a washing control apparatus in accordance with yet another aspect of the present invention includes a controller configured to control a washing apparatus to wash a cleaner having at least one a mop unit formed at a lower portion thereof to be rotated.
  • the washing apparatus includes a tray configured to form a space to receive the cleaner and washing water and a washing unit disposed at a lower portion of the inside of the tray so as to contact the at least one mop unit, and the controller controls the at least one mop unit to rotate the at least one mop unit under the condition that the cleaner and washing water are received in a tray and thereafter to rotate the at least one mop unit under the condition that the washing water in the tray is drained.
  • a control method of a washing control apparatus in accordance with a further aspect of the present invention is configured to control a washing apparatus to wash a cleaner having at least one a mop unit formed at a lower portion thereof to be rotated.
  • the control method of the washing control apparatus includes performing a washing operation configured to rotate the at least one mop unit under the condition that the cleaner and washing water are received in a tray, and performing a spin-drying operation configured to rotate the at least one mop unit at a higher rotational speed than a rotational speed of the at least one mop unit in the performing the washing operation under the condition that the washing water in the tray is drained
  • a washing apparatus in accordance with the present invention includes a washing unit including a first spinning mop protrusion line protruding upwardly and having an upper end which is inclined downwardly in a first direction, and, when the washing apparatus washes a cleaner including a first mop unit provided to be inclined to one side, the washing unit contacts the mop unit at a proper pressure and frictional force is generated on a contact surface by such contact. Therefore, a structure to effectively separate foreign substances attached to the mop unit from the mop unit is provided and, thus, washing performance of the washing apparatus is improved.
  • the first mop unit is rotated while maintaining contact with the first spinning mop protrusion line, and washing is carried out without a separate driving device in the washing apparatus.
  • a washing control apparatus in accordance with the present invention includes the cleaner, the washing apparatus, and a controller configured to control the mop unit to rotate the mop unit under the condition that the cleaner and washing water are received in a tray and thereafter to rotate the mop unit under the condition that the washing water in the tray is drained, thus easily and conveniently controlling a washing operation of the cleaner and effectively achieving washing.
  • a control method of the washing control apparatus in accordance with the present invention is executed to control the washing apparatus to wash the cleaner having at least one mop unit formed at the lower portion thereof to be rotated, and includes performing a washing operation configured to rotate the at least one mop unit under the condition that the cleaner and washing water are received in the tray, and performing a spin-drying operation configured to rotate the at least one mop unit at a higher rotational speed than a rotational speed in the performing the washing operation under the condition that the washing water in the tray is drained, thus rotating the mop unit at proper speeds according to the respective operations and improving a washing function and a rinsing function of the washing control apparatus.
  • FIG. 1 is a perspective view of a cleaner ( 100 ) in accordance with one embodiment of the present invention.
  • FIG. 2 is a front view of the cleaner ( 100 ) of FIG. 1 .
  • FIG. 3 is a perspective view of a washing apparatus ( 200 ) in accordance with one embodiment of the present invention.
  • FIG. 4 is a perspective view illustrating a position of the washing apparatus ( 200 ) of FIG. 3 at which the cleaner ( 100 ) of FIG. 1 which is disposed.
  • FIG. 5 is a plan view of the washing apparatus ( 200 ) of FIG. 3 .
  • FIG. 6 is a partially enlarged perspective view of a left spinning mop washing unit ( 220 ) of the washing apparatus ( 200 ) of FIG. 3 .
  • FIG. 7 is a cross-sectional view of the washing apparatus ( 200 ) of FIG. 5 , taken along line A-A′.
  • FIG. 8 is a cross-sectional view of the washing apparatus ( 200 ) of FIG. 5 , taken along line B-B′.
  • FIG. 9 is a cross-sectional view of the washing apparatus ( 200 ) of FIG. 5 , taken along line C-C′.
  • FIG. 10 is a block diagram illustrating functions of a washing control apparatus ( 300 ) in accordance with one embodiment of the present invention.
  • FIG. 11 is a block diagram illustrating a control method of the washing control apparatus ( 300 ) in accordance with one embodiment of the present invention.
  • FIG. 12 is a block diagram illustrating the control method of the washing control apparatus ( 300 ) of FIG. 11 in more detail.
  • washing water Water flowing into a washing apparatus 200 to wash a cleaner 100 , water used for washing, and water on which foreign substances float after washing correspond to water for washing and will thus be referred to as ‘washing water’.
  • mop may be applied to various materials, such as fabric, paper, etc., and include a mop that is repetitively usable by washing or a disposable mop.
  • FIGS. 1 and 2 a cleaner 100 which a washing apparatus 200 in accordance with one embodiment of the present invention washes will be described.
  • the cleaner 100 in accordance with one embodiment of the present invention includes a body 110 having a controller 170 .
  • the cleaner 100 includes spinning mop units 120 and 130 supporting the body 110 .
  • the cleaner 100 includes a rolling mop unit 150 supporting the body 110 .
  • the body 110 is supported by the spinning mop units 120 and 130 and the rolling mop unit 150 .
  • the body 110 forms the external appearance of the cleaner 100 .
  • the body 110 may be formed through coupling between an upper body part and a lower body part.
  • the body 110 is provided with the spinning mop units 120 and 130 on the lower surface thereof.
  • the body 110 is provided with the rolling mop unit 150 on the lower surface thereof.
  • the body 110 may include a sensor to sense traveling information of the cleaner on the lower surface thereof.
  • the body 110 may include a sensor to sense the state of a floor surface.
  • the body 110 may have a bumper formed on the side surface thereof to relieve impact during front or side collusion.
  • the body 110 may include a sensor to sense a front or side collusion on the side surface thereof.
  • the body 110 includes guide correspondent parts 111 provided to be engaged with position guides 211 which will be described below.
  • the guide correspondent parts 111 have grooves extending in the vertical direction, formed by denting one side surface of the body 11 .
  • the guide corresponding parts 111 may have holes formed through the body 110 in the vertical direction.
  • the guide correspondent parts 111 include a left guide correspondent part 111 formed by denting the left side surface of the body 110 in the rightward direction.
  • the guide correspondent parts 111 include a right guide correspondent part 111 formed by denting the right side surface of the body 110 in the leftward direction.
  • the guide correspondent parts 111 are disposed between the spinning mop units 120 and 130 and the rolling mop unit 150 .
  • the left guide correspondent part 111 is disposed between the left spinning mop unit 120 and the rolling mop unit 150 .
  • the right guide correspondent part 111 is disposed between the right spinning mop unit 130 and the rolling mop unit 150 .
  • the body 110 may include an input unit formed at the upper portion thereof to input instructions to the cleaner 100 , and a display unit to display the state and operation of the cleaner 100 .
  • the body 110 may include a tub installed at the upper portion thereof to receive water so as to perform wet mopping.
  • the body 110 includes driving devices installed therein to drive the mop units 120 , 130 and 150 .
  • the body 110 may include the controller 170 to control the cleaner 100 and/or other devices connected thereto, and may be provided with a plurality of other devices.
  • the spinning mop units 120 and 130 are provided to contact a floor so as to mop the floor.
  • the spinning mop units 120 and 130 include a left spinning mop unit 120 and a right spinning mop unit 130 provided to perform mopping by rotation in the clockwise direction or the counterclockwise direction, as seen from above.
  • the left spinning mop unit 120 and the right spinning mop unit 130 are provided to contact the floor.
  • a pair of the spinning mop units 120 and 130 is disposed at the lower portion of the body 110 .
  • a pair of the spinning mop units 120 and 130 is disposed in front of the rolling mop unit 150 .
  • the cleaner 100 may be provided such that the body 110 is movable by the rotating motion of the spinning mop units 120 and 130 without separate wheels.
  • a pair of the spinning mop units 120 and 130 is formed to have an approximately disc shape.
  • a pair of the spinning mop units 120 and 130 is provided at the left and right sides of the front region of the lower portion of the body 119 .
  • Each of the spinning mop units 120 and 130 is rotated around a spinning rotation axis thereof.
  • the left spinning mop unit 120 is rotated around a left spinning rotation axis.
  • the right spinning mop unit 130 is rotated around a right spinning rotation axis.
  • the spinning rotation axes are respectively perpendicular to the lower surfaces of the spinning mop units 120 and 130 .
  • a pair of the spinning rotation axes may be disposed to be parallel to the vertical direction or to be tilted to one side.
  • the left spinning rotation axis is tilted to one side to form an acute angle of less than 45 degrees with the vertical direction
  • the right spinning rotation axis is tilted to the other side to form an acute angle of less than 45 degrees with the vertical direction.
  • a pair of the spinning mop units 120 and 130 may be configured such that an angle formed by the tilted direction of the left spinning rotation axis and the tilted direction of the right spinning rotation axis, as seen from above, is 180 degrees or less.
  • a pair of the spinning mop units 120 and 130 may be provided such that the left and right spinning rotation axes are symmetrical.
  • the tilted direction of the left spinning rotation axis and the tilted direction of the right spinning rotation axis are opposite to each other, as seen from above. That is, the tilted direction of the left spinning rotation axis and the tilted direction of the right spinning rotation axis form an angle of 180 degrees.
  • a pair of the spinning mop units 120 and 130 may include the left spinning mop unit 120 disposed at the left and the right spinning mop unit 130 disposed at the right, and the left spinning mop unit 120 and the right spinning mop unit 130 may be provided to be symmetrical.
  • the lower surface of the left spinning mop unit 120 is inclined downwardly to the left and thus forms a tilt angle Ag 1 .
  • the lower surface of the right spinning mop unit 130 is inclined downwardly to the right and thus forms a tilt angle Ag 2 .
  • a pair of spinning mop units 120 and 130 may be provided such that the lower surfaces thereof are parallel to a floor surface.
  • the rolling mop unit 150 is formed to have an approximately cylindrical shape, and is rotated around a rolling rotation axis extending in the leftward and rightward directions.
  • the rolling rotation axis extends in the leftward and rightward directions, but, in other embodiments, the rolling rotation axis may extend in the forward and backward directions or extend in a direction between the forward and backward directions and the leftward and rightward directions.
  • the rolling mop unit 150 is provided to contact the floor.
  • the rolling mop unit 150 may be provided to contact and mop the floor.
  • the rolling mop unit 150 is disposed at the lower portion of the body 110 .
  • the rolling mop unit 150 is provided at the rear of the spinning mop units 120 and 130 so as to contact the floor.
  • the rolling mop unit 150 is provided to perform mopping while being rotated.
  • the rolling mop unit 150 is rotated in the clockwise direction or the counterclockwise direction, as seen from the right.
  • the washing apparatus 200 in accordance with this embodiment includes a tray 210 forming a space in which the cleaner 100 and washing water are received.
  • the washing apparatus 200 includes washing units 220 , 230 and 250 disposed at the lower portion of the inner surface of the tray 210 so as to contact the mop units 120 , 130 and 150 .
  • the tray 210 is formed to have an approximately hexahedral shape, the upper surface of which is open.
  • the inside of the tray 210 is formed of a waterproof material.
  • a pair of spinning mop washing units 220 and 230 is disposed at the lower portion of the inner surface of the tray 210 so as to contact a pair of the spinning mop units 120 and 130 .
  • a rolling mop washing unit 250 is disposed in the tray 210 so as to contact the rolling mop unit 150 .
  • the tray 210 has a front side wall 210 a , a left side wall 210 b , a right side wall 210 c and a rear side wall 210 d.
  • the position guides 211 having the shape of a protrusion extending upwardly are formed on the inner surface of the tray 210 .
  • the position guides 211 are inserted into the guide correspondent parts 111 formed on the body 110 of the cleaner 100 , thus guiding the position of the cleaner 100 disposed on the washing apparatus 200 .
  • the position guides 211 are provided within the tray 210 adjacent to the left side wall 210 b and the right side wall 210 c .
  • the position guides 211 protrude upwardly from the bottom surface of the tray.
  • the position guides 211 are provided such that the upper ends thereof protrude farther upward than the upper end of the tray 210 , and thus easily guide the cleaner 100 to the washing apparatus 200 .
  • Receipt height guides 213 are formed in the tray 210 .
  • the receipt height guides 213 support the cleaner 100 from below so that the cleaner 100 is located at a designated height when the cleaner 100 is disposed on the tray 210 .
  • the upper surfaces of the receipt height guides 213 are flat and have a designated area so as to support the cleaner 100 .
  • the receipt height guides 213 protrude inwardly from the four side walls 210 a , 210 b , 210 c and 210 c of the tray 210 .
  • a plurality of receipt height guides 213 may be provided.
  • the receipt height guides 213 include a receipt height guide 213 a connected to the front side wall 210 a of the tray 210 .
  • the receipt height guides 213 include receipt height guides 213 b and 213 c disposed adjacent to the left side wall 210 b and the right wall 210 c of the tray.
  • the receipt height guides 213 include a receipt height guide 213 d disposed at the rear region of the left side of the tray 210 and connected to the left side wall 210 b and the rear side wall 210 d .
  • the receipt height guides 213 include a receipt height guide 213 e disposed at the rear region of the right side of the tray 210 and connected to the right side wall 210 c and the rear side wall 210 d .
  • the receipt height guides 213 disposed at the left and right sides may be formed integrally with the position guides 211 .
  • the receipt height guides 213 support the cleaner 100 from below and thus distribute the load of the cleaner 100 to the washing units 220 , 230 and 250 and the receipt height guides 213 , and prevent generation of excessive frictional force due to concentration of the load on the washing units 220 , 230 and 250 and thus allow the washing units 220 , 230 and 250 to efficiently perform washing.
  • An overflow hole 217 is formed at the upper end of one side surface of the tray 210 by denting a part of the tray 210 .
  • the overflow hole 217 prevents the inside of the tray 210 from being filled with washing water to a designated height or above, and thus prevents a part of the cleaner 100 which reaches the designated height or above from contacting washing water and guides overflown water in a specific direction.
  • the tray 210 includes handles 215 a and 215 b formed at the left and right sides of the outer surface thereof so that a user may easily carry the washing apparatus 200 .
  • the tray 210 further includes a water supply device 260 (not shown) and a drainage device 270 (not shown) so that washing water may be supplied or drained manually or automatically.
  • the water supply device 260 may include a detergent receipt unit (not shown). Washing water flowing to the water supply device 260 may be mixed with a detergent received in the detergent receipt unit, and the washing water in which the detergent is dissolved may be introduced into the tray 210 .
  • Coupling spaces having a designated depth are formed at positions of the tray 210 where the washing units 220 , 230 and 250 will be disposed, so that the washing units 220 , 230 and 250 are inserted into and thus coupled to the cooling spaces.
  • a plurality of washing units 220 , 230 and 250 may be provided.
  • the washing units 220 , 230 and 250 include a left spinning mop washing unit 220 disposed at the left side of the front region of the lower portion of the inside of the tray 210 .
  • the washing units 220 , 230 and 250 include a right spinning mop washing unit 230 disposed at the right side of the front region of the lower portion of the inside of the tray 210 .
  • the washing units 220 , 230 and 250 include a rolling mop washing unit 250 disposed at the rear region of the lower portion of the inside of the tray 210 .
  • the washing units 220 , 230 and 250 are partially inserted into and coupled to the coupling spaces having the designated depth, which are formed at the positions of the tray 210 where the washing units 220 , 230 and 250 will be disposed, and the washing units 220 , 230 and 250 may be temporarily fixed to the tray 210 and firmly coupled to the tray 210 , simultaneously.
  • the washing units 220 , 230 and 250 are coupled to the tray 210 by fastening bolts to grooves formed in the tray 210 , thus being fixed.
  • a pair of the spinning mop washing units 220 and 230 includes the left spinning mop washing unit 220 and the right spinning mop washing unit 230 .
  • a pair of the spinning mop washing units 220 and 230 is formed to have an approximately disc shape corresponding to the shape of a pair of the spinning mop units 120 and 130 .
  • the elements to which ‘left’ is added mean elements to wash the left spinning mop unit 120
  • the elements to which ‘right’ is added mean elements to wash the right spinning mop unit 130 .
  • the corresponding description may be applied to both the ‘left’ and ‘right’ spinning mop washing units.
  • a pair of the spinning mop washing units 220 and 230 may be provided such that the left spinning mop washing unit 220 and right spinning mop washing unit 230 are symmetrical.
  • a pair of the spinning mop washing units 220 and 230 is provided such that a plurality of protrusion lines 221 , 222 , 231 and 232 protrudes upwardly from the upper surfaces of the spinning mop washing units 220 and 230 .
  • the spinning mop protrusion lines 221 , 222 , 231 and 232 are configured such that the width of the upper portions thereof is narrower than the width of the lower portions thereof.
  • the spinning mop protrusion lines 221 , 222 , 231 and 232 may be provided such that the corners of the ends thereof are not vertical but form an obtuse angle.
  • the left spinning mop washing unit 220 has a left spinning mop protrusion line 221 .
  • the left spinning mop washing unit 220 has a left spinning mop auxiliary protrusion line 222 .
  • the left spinning mop washing unit 220 has a left spinning mop circumferential protrusion unit 223 .
  • the right spinning mop washing unit 230 has a right spinning mop protrusion line 231 .
  • the right spinning mop washing unit 230 has a right spinning mop auxiliary protrusion line 232 .
  • the right spinning mop washing unit 230 has a right spinning mop circumferential protrusion unit 233 .
  • the left spinning mop washing unit 220 is disposed such that the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 may contact the left spinning mop unit 120 .
  • the left spinning mop unit 120 is rotated under the condition that it contacts the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 , and foreign substances attached to the left spinning mop unit 120 are separated from the left spinning mop unit 120 by friction.
  • the right spinning mop washing unit 230 is disposed such that the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 may contact the right spinning mop unit 130 .
  • the right spinning mop unit 130 is rotated under the condition that it contacts the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 , and foreign substances attached to the right spinning mop unit 130 are separated from the right spinning mop unit 130 by friction.
  • the upper end of the left spinning mop protrusion line 221 is inclined downwardly in a first direction
  • the upper end of the right spinning mop protrusion line 231 is inclined downwardly in a second direction.
  • the left spinning mop protrusion line 221 and the right spinning mop protrusion line 231 may be provided such that an angle formed by the first direction and the second direction is less than 180 degrees, as seen from above.
  • the left spinning mop protrusion line 221 may be provided such that the first direction forms an acute angle of less than 90 degrees to the left based on a virtual axis disposed in the forward and backward directions, as seen from above.
  • the right spinning mop protrusion line 231 may be provided such that the second direction forms an acute angle of less than 90 degrees to the right based on the virtual axis, as seen from above.
  • the value of the angle formed between the first direction and the above axis and the value of the angle formed between the second direction and the axis may be equal.
  • the left spinning mop protrusion line 221 and the right spinning mop protrusion line 231 may be provided in the opposite directions such that the first direction is formed leftward and the second direction is formed rightward, as seen from above.
  • the left spinning mop auxiliary protrusion line 222 extends while traversing the left spinning mop protrusion line 221
  • the right spinning mop auxiliary protrusion line 232 extends while traversing the right spinning mop protrusion line 231 .
  • the left spinning mop protrusion line 221 in accordance with one embodiment of the present invention extends in the leftward and rightward directions.
  • the left spinning mop protrusion line 221 is inclined downwardly to the left and thus has a first tilt angle S 11 .
  • the left spinning mop auxiliary protrusion line 222 extends in the forward and backward directions.
  • the left spinning mop auxiliary protrusion line 222 is formed without an inclination.
  • the left spinning mop protrusion line 221 is divided into a left spinning mop protrusion line left part 221 a extending to the left and a left spinning mop protrusion line right part 221 b extending to the right from an intersection between the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 .
  • the left spinning mop auxiliary protrusion line 222 is divided into a left spinning mop auxiliary protrusion line front part 222 a extending to the front and a left spinning mop auxiliary protrusion line rear part 222 b extending to the rear from the intersection.
  • the right spinning mop protrusion line 231 extends in the leftward and rightward directions.
  • the right spinning mop protrusion line 231 is inclined downwardly to the right and thus has a second tilt angle S 12 .
  • the right spinning mop auxiliary protrusion line 232 extends in the forward and backward directions.
  • the right spinning mop auxiliary protrusion line 232 is formed without an inclination.
  • the right spinning mop protrusion line 231 is divided into a right spinning mop protrusion line left part 231 a extending to the left and a right spinning mop protrusion line right part 231 b extending to the right from an intersection between the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 .
  • the right spinning mop auxiliary protrusion line 232 is divided into a right spinning mop auxiliary protrusion line front part 232 a extending to the front and a right spinning mop auxiliary protrusion line rear part 232 b extending to the rear from the intersection.
  • the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 extend radially from the intersection between the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 so as to be perpendicular to the rotating direction of the left spinning mop unit 120 .
  • friction by contact between the left spinning mop unit 120 and the left spinning mop washing unit 220 is applied to the left spinning mop unit 120 in a direction completely opposite to the rotating direction thereof, and thus, foreign substances attached to the left spinning mop unit 120 are effectively separated from the left spinning mop unit 120 .
  • the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 extend radially from the intersection between the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 so as to be perpendicular to the rotating direction of the right spinning mop unit 130 .
  • friction by contact between the right spinning mop unit 130 and the right spinning mop washing unit 230 is applied to the right spinning mop unit 130 in a direction completely opposite to the rotating direction thereof, and thus, foreign substances attached to the right spinning mop unit 130 are effectively separated from the right spinning mop unit 130 .
  • the left spinning mop protrusion line 221 is provided such that the first tilt angle S 11 is the same as the tilt angle Ag 1 of the left spinning mop unit 120 .
  • the right spinning mop protrusion line 231 is provided such that the second tilt angle S 12 is the same as the tilt angle Ag 2 of the right spinning mop unit 130 .
  • the left spinning mop protrusion line 221 may be formed such that the inclined direction of the left spinning mop unit 120 and the extending direction of the left spinning mop protrusion line 221 are parallel to each other, as seen from above.
  • the right spinning mop protrusion line 231 may be formed such that the inclined direction of the right spinning mop unit 130 and the extending direction of the right spinning mop protrusion line 231 are parallel to each other, as seen from above.
  • the inclined direction is a direction in which an inclination is projected onto a horizontal plane, and the inclination represents an angle indicating an inclined degree of a structural surface.
  • the load of the cleaner 100 supported by the left spinning mop unit 120 is symmetrical with respect to the left spinning mop protrusion line 221 and is uniformly distributed to the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222
  • the load of the cleaner 100 supported by the right spinning mop unit 130 is symmetrical with respect to the right spinning mop protrusion line 231 and is uniformly distributed to the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 .
  • Both ends of the left spinning mop protrusion line 221 and the right spinning mop protrusion line 231 have different heights, both ends of the left spinning mop auxiliary protrusion line 222 and the right spinning mop auxiliary protrusion line 233 have the same height, and thus a pair of the spinning mop washing units 220 and 230 may be easily manufactured.
  • the left spinning mop protrusion line 221 is formed so as not to be inclined.
  • the right spinning mop protrusion line 231 is formed so as not to be inclined.
  • the left spinning mop washing unit 220 has the left spinning mop circumferential protrusion unit 223 extending in a circumferential direction centering on a virtual axis passing through the intersection between the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 .
  • the right spinning mop washing unit 230 has the right spinning mop circumferential protrusion unit 233 extending in a circumferential direction centering on a virtual axis passing through the intersection between the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 .
  • the left spinning mop circumferential protrusion unit 223 has a plurality of protrusions formed on a plurality of concentric circles centering on the virtual axis passing through the intersection between the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 .
  • the right spinning mop circumferential protrusion unit 233 has a plurality of protrusions formed on a plurality of concentric circles centering on the virtual axis passing through the intersection between the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 .
  • the left spinning mop circumferential protrusion unit 223 has first left spinning mop circumferential protrusions 223 a on a concentric circle located at an innermost position centering on the virtual axis.
  • the left spinning mop circumferential protrusion unit 223 has second left spinning mop circumferential protrusions 223 b on a concentric circle located at a middle position centering on the virtual axis.
  • the left spinning mop circumferential protrusion unit 223 has third left spinning mop circumferential protrusions 223 c on a concentric circle located at an outermost position centering on the virtual axis.
  • the right spinning mop circumferential protrusion unit 233 has first right spinning mop circumferential protrusions 233 a on a concentric circle located at an innermost position centering on the virtual axis.
  • the right spinning mop circumferential protrusion unit 233 has second right spinning mop circumferential protrusions 233 b on a concentric circle located at a middle position centering on the virtual axis.
  • the right spinning mop circumferential protrusion unit 233 has third right spinning mop circumferential protrusions 233 c on a concentric circle located at an outermost position centering on the virtual axis.
  • the spinning mop circumferential protrusion units 223 and 233 are formed such that the protruding heights of the protrusions thereof are lower than the height of the spinning mop protrusion lines 221 and 231 .
  • the spinning mop circumferential protrusion units 223 and 233 are formed such that the protruding heights of the protrusions thereof are lower than the height of the spinning mop auxiliary protrusion lines 222 and 232 .
  • These spinning mop circumferential protrusion units 223 and 233 assist the spinning mop protrusion lines 221 and 231 and the spinning mop auxiliary protrusion lines 222 and 232 in separating foreign substances from the spinning mop units 120 and 130 , and form a water current in grooves formed between the protrusions, thus improving washing performance.
  • the spinning mop circumferential protrusion units 223 and 233 are formed such that the respective ends of the protrusions are spaced apart from the spinning mop protrusion lines 221 and 231 .
  • the spinning mop circumferential protrusion units 223 and 233 are formed such that the respective ends of the protrusions are spaced apart from the spinning mop auxiliary protrusion lines 222 and 233 .
  • These spinning mop circumferential protrusion units 223 and 233 effectively discharge foreign substances, which are separated from the spinning mop units 120 and 130 and float in the spinning mop washing units 220 and 230 , to the outside, thus improving washing performance.
  • spinning mop upper surfaces 225 and 235 of the spinning mop washing units 220 and 230 located at positions corresponding to the spinning mop units 120 and 130 , are respectively partitioned into four portions by the spinning mop protrusion lines 221 and 231 and the spinning mop auxiliary protrusion lines 222 and 232 .
  • the left spinning mop upper surface 225 has a first left spinning mop upper surface 225 a at the front region of the left side thereof.
  • the left spinning mop upper surface 225 has a second left spinning mop upper surface 225 b at the front region of the right side thereof.
  • the left spinning mop upper surface 225 has a third left spinning mop upper surface 225 c at the rear region of the right side thereof.
  • the left spinning mop upper surface 225 has a fourth left spinning mop upper surface 225 d at the rear region of the left side thereof.
  • the right spinning mop upper surface 235 has a first right spinning mop upper surface 235 a at the front region of the left side thereof.
  • the right spinning mop upper surface 235 has a second right spinning mop upper surface 235 b at the front region of the right side thereof.
  • the right spinning mop upper surface 235 has a third right spinning mop upper surface 235 c at the rear region of the right side thereof.
  • the right spinning mop upper surface 235 has a fourth right spinning mop upper surface 235 d at the rear region of the left side thereof.
  • the left spinning mop upper surface 225 may be formed such that the edge thereof is lower than the center thereof centering on the intersection between the left spinning mop protrusion line 221 and the left spinning mop auxiliary protrusion line 222 .
  • the right spinning mop upper surface 235 may be formed such that the edge thereof is lower than the center thereof centering on the intersection between the right spinning mop protrusion line 231 and the right spinning mop auxiliary protrusion line 232 .
  • the first left spinning mop upper surface 225 a is formed to be inclined downwardly to the left front.
  • the second left spinning mop upper surface 225 b is formed to be inclined downwardly to the right front.
  • the third left spinning mop upper surface 225 c is formed to be inclined downwardly to the right rear.
  • the fourth left spinning mop upper surface 225 d is formed to be inclined downwardly to the left rear.
  • the first right spinning mop upper surface 235 a is formed to be inclined downwardly to the left front.
  • the second right spinning mop upper surface 235 b is formed to be inclined downwardly to the right front.
  • the third right spinning mop upper surface 235 c is formed to be inclined downwardly to the right rear.
  • the fourth right spinning mop upper surface 235 d is formed to be inclined downwardly to the left rear.
  • the spinning mop upper surfaces 225 and 235 allow foreign substances, which are separated from a pair of the spinning mop units 120 and 130 and float in a pair of the spinning mop washing units 220 and 230 , to be effectively discharged to the outside of a pair of the spinning mop washing units 220 and 230 , thus improving washing performance.
  • the rolling mop washing unit 250 is disposed at the rear of the left spinning mop washing unit 220 .
  • the rolling mop washing unit 250 is disposed at the rear of the right spinning mop washing unit 230 .
  • the rolling mop washing unit 250 has a plurality of rolling mop protrusion lines 253 a , 253 b , 255 a and 255 b protruding upwardly and extending in the leftward and rightward directions in parallel.
  • the rolling mop washing unit 250 forms a rolling mop central groove 251 dented downwardly so that the lowermost point of the rolling mop unit 150 is inserted thereinto.
  • the rolling mop central groove 251 extends in the leftward and rightward directions while traversing the center of the rolling mop washing unit 250 .
  • the rolling mop central groove 251 extends in the leftward and rightward directions, but, in another embodiment, the rolling mop central groove 251 may extend in the forward and backward directions or extend in a direction between the forward and backward directions and the leftward and rightward directions so as to correspond to the extending direction of the rolling mop unit 150 .
  • the rolling mop central groove 251 is formed to be flat in the leftward and rightward directions, but is not limited thereto.
  • the rolling mop central groove 251 may be inclined downwardly in a direction from the center to the edge thereof, thus effectively discharging foreign substances to the outside of the rolling mop washing unit.
  • front rolling mop protrusion lines 253 a and 253 b protruding upwardly and extending in the leftward and rightward directions in parallel are disposed in front of the rolling mop central groove 251 .
  • rear rolling mop protrusion lines 255 a and 255 b protruding upwardly and extending in the leftward and rightward directions in parallel are disposed at the rear of the rolling mop central groove 251 .
  • two front rolling mop protrusion lines 253 a and 253 b are disposed in front of the rolling mop central groove 251 .
  • the height of a first front rolling mop protrusion line 253 a disposed at the front is higher than the height of a second front rolling mop protrusion line 253 b disposed at the rear.
  • the front rolling mop protrusion lines 253 a and 253 b have heights such that the upper ends of the front rolling mop protrusion lines 253 a and 253 b contact the rolling mop unit 150 when the rolling mop unit 150 is received in the rolling mop central groove 251 , and thus, the rolling mop unit 150 is rotated under the condition that it contacts the upper ends of the front rolling mop protrusion lines 253 a and 253 b so as to separate foreign substances from the rolling mop unit 150 .
  • two rear rolling mop protrusion lines 255 a and 255 b are disposed at the rear of the rolling mop central groove 251 .
  • the height of a second rear rolling mop protrusion line 255 b disposed at the rear is higher than the height of a first rear rolling mop protrusion 255 a disposed at the front.
  • the rear rolling mop protrusion lines 255 a and 255 b have heights such that the upper ends of the rear rolling mop protrusion lines 255 a and 255 b contact the rolling mop unit 150 when the rolling mop unit 150 is received in the rolling mop central groove 251 , and thus, the rolling mop unit 150 is rotated under the condition that it contacts the upper ends of the rear rolling mop protrusion lines 255 a and 255 b so as to separate foreign substances from the rolling mop unit 150 .
  • a groove having a designated depth is formed between the first front rolling mop protrusion line 253 a and the second front rolling mop protrusion line 253 b .
  • a groove having a designated depth is formed between the first rear rolling mop protrusion line 255 a and the second rear rolling mop protrusion line 255 b .
  • the rolling mop washing unit 250 having the above-described structure discharges foreign substances removed from the rolling mop unit 150 to the outside of the rolling mop washing unit 250 through the above grooves, when the rolling mop unit 150 is rotated under the condition that it contacts the rolling mop washing unit 250 , and thus, washing performance of the washing apparatus 200 may be improved.
  • the rolling mop washing unit 250 having the above-described structure discharges foreign substances removed from the rolling mop unit 150 to the outside of the rolling mop washing unit 250 through the above spaces, when the rolling mop unit 150 is rotated under the condition that it contacts the rolling mop washing unit 250 , and thus, washing performance of the washing apparatus 200 may be improved.
  • the washing apparatus 200 may further include the water supply device 260 (not shown) to supply washing water to the tray 210 and the drainage device 270 (not shown) to discharge the washing water in the tray 210 to the outside.
  • the water supply device 260 and the drainage device 270 may be configured to be operated manually by a user or be operated automatically as a washing process progresses.
  • the washing apparatus 200 may further include the detergent receipt unit (not shown) to which washing water flows through the water supply device to be mixed with a detergent.
  • the washing control apparatus may include an input unit 181 through which a user may directly input instructions.
  • the input unit 181 may be provided in the cleaner 100 or the washing apparatus 200 , or be provided separately therefrom. In this embodiment, the input unit 181 is provided in the cleaner 100 .
  • the input unit 181 may include switches.
  • the switches may include a power switch to turn on/off power of the washing control apparatus.
  • the switches may include function switches to input rotational directions, rotational speeds and rotating times of the mop units 120 , 130 and 150 .
  • the washing control apparatus may be predetermined so as to give various instructions, through combinations of pressing times and/or the number of times of continuously pressing the function switches.
  • the switches may include a reset switch to reset predetermined setting of the washing control apparatus.
  • the switches may include a sleep switch to switch the state of the washing control apparatus to a power saving state or a non-output state.
  • the washing control apparatus may include a sensor unit 183 to sense the state or operation of one or more of the cleaner 100 and/or washing apparatus 200 .
  • the sensor unit 183 may be provided in the cleaner 100 or the washing apparatus 200 . In this embodiment, the sensor unit 183 is provided in the cleaner 100 .
  • the sensor unit 183 may include a sensor to sense traveling information of the cleaner 100 .
  • the traveling information includes a traveling distance.
  • the traveling information includes a traveling time.
  • the traveling information includes an amount of foreign substances attached to the mop units.
  • the sensor unit 183 may include a traveling distance sensor unit (not shown) to sense a traveling distance of the cleaner 100 .
  • the sensor unit 183 may include a timer (not shown) to sense a traveling time of the cleaner 100 .
  • the sensor unit 183 may include a foreign substance sensor unit (not shown) to sense an amount of foreign substances attached to the mop units.
  • the amount of foreign substances attached to the mop units may be measured from a magnitude of frictional force between at least one mop unit 120 , 130 or 150 and a floor surface contacting the same. In general, as the amount of foreign substances attached to the mop unit increases, frictional force with the floor surface is decreased.
  • the magnitude of frictional force may be calculated based on rotation resistance applied to a rotation driver unit configured to rotate the at least one mop unit 120 , 130 or 150 . Rotation resistance applied to the rotation driver unit configured to rotate the at least one mop unit 120 , 130 or 150 may be sensed, and the magnitude of frictional force may be calculated from a value pre-input based on the sensed rotation resistance.
  • the amount of foreign substances attached to the mop units may be measured based on a slip ratio of the at least one mop unit 120 , 130 or 150 .
  • the slip ratio means a ratio of slippage of a rotating object with respect to a reference surface.
  • the slip ratio may be calculated based on an actual distance to which the cleaner 100 is moved and a distance to which the cleaner 100 is expected to be moved by rotation of the at least one mop unit 120 , 130 or 150 .
  • the actual distance to which the cleaner 100 is moved may be measured by installing an encoder under the cleaner 100 .
  • the magnitude of frictional force may be calculated from a value pre-input based on the slip ratio of the at least one mop unit 120 , 130 or 150 .
  • the washing control apparatus may include a receipt sensing unit 185 to sense whether or not the cleaner 100 is received in the washing apparatus 200 .
  • the receipt sensing unit 185 may be provided in the cleaner 100 or the washing apparatus 200 and, in this embodiment, the receipt sensing unit 185 is provided in the cleaner 100 .
  • the receipt sensing unit 185 may be installed in any one of the receipt height guides 213 , and thus sense whether or not the cleaner 100 is received in the washing apparatus 200 .
  • a plurality of receipt sensing units 185 may be installed in the receipt height guides 213 , and thus sense whether or not the cleaner 100 is accurately received in the washing apparatus 200 .
  • the receipt sensing unit 185 may substitute for the power switch to turn on/off power of the washing control apparatus.
  • the washing control apparatus may be predetermined such that power of the washing control apparatus is turned on automatically when receipt of the cleaner 100 in the washing apparatus 200 is sensed.
  • the washing control apparatus may include the controller 170 to control at least one operation of the cleaner 100 and the washing apparatus 200 .
  • the controller 170 may control at least one operation of the cleaner 100 and the washing apparatus 200 .
  • the controller 170 may be provided in the cleaner 100 or the washing apparatus 200 , or be provided separately therefrom. In this embodiment, the controller 170 is provided in the cleaner 100 .
  • the controller 170 controls the at least one mop unit 120 , 130 or 150 to be rotated under the condition that the cleaner 100 and washing water are received in the tray 210 .
  • the controller 170 controls the at least one mop unit 120 , 130 or 150 to be rotated under the condition that washing water in the tray 210 is drained.
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 to be rotated under the condition that the cleaner 100 and washing water are received in the tray 210 , and control the at least one mop unit 120 , 130 or 150 to be rotated under the condition that washing water in the tray 210 is drained.
  • a rotation motion of the at least one mop unit 120 , 130 or 150 controlled by the controller 170 includes a rotational direction.
  • the rotation motion of the at least one mop unit 120 , 130 or 150 controlled by the controller 170 includes a rotating time.
  • the rotation motion of the at least one mop unit 120 , 130 or 150 controlled by the controller 170 includes a rotational speed.
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 to be rotated according to a value input to the input unit 181 by a user.
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 to be rotated according to a value pre-input previously by a user.
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 to be rotated based on a value newly set based on values pre-input previously by the user.
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 based on a value newly set as an average value of the values pre-input previously by the user.
  • the controller 170 may control the rotation motion of the at least one mop unit 120 , 130 or 150 to be different according to traveling information of the cleaner 1000 under the condition that the cleaner 100 is disposed in the tray 210 .
  • the traveling information includes a traveling distance.
  • the traveling information includes a traveling time.
  • the traveling information includes an amount of foreign substances attached to the mop units.
  • the traveling information may be sensed by the sensor unit 183 .
  • the sensor unit 183 may include the traveling distance sensor unit (not shown) to sense a traveling distance of the cleaner 100 .
  • the sensor unit 183 may include the timer (not shown) to sense a traveling time of the cleaner 100 .
  • the sensor unit 183 may include the foreign substance sensor unit (not shown) to sense an amount of foreign substances attached to the mop units.
  • the traveling information may be stored in a storage unit 197 .
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 so that a rotational speed of the at least one mop unit 120 , 130 or 150 under the condition that the cleaner 100 and washing water are received in the tray 210 and a rotational speed of the at least one mop unit 120 , 130 or 150 under the condition that washing water in the tray 210 is drained are different.
  • the controller 170 may control the at least one mop unit 120 , 130 or 150 so that a rotational speed of the at least one mop unit 120 , 130 or 150 under the condition that washing water in the tray 210 is drained is higher than a rotational speed of the at least one mop unit 120 , 130 or 150 under the condition that washing water is received in the tray 210 .
  • the washing control apparatus controlled in such a manner is configured that the at least one mop unit 120 , 130 or 150 is individually rotated at proper speeds during a plurality of washing processes, thus improving a washing function and a spin-drying function.
  • the controller 170 may be provided in the cleaner 100 , and a sub-controller may be additionally provided in the washing apparatus 200 .
  • the sub-controller may control at least one function of the cleaner 100 and the washing apparatus 200 .
  • the sub-controller may control at least one function of the cleaner 100 and the washing apparatus 200 in place of the controller 170 .
  • the sub-controller may receive a signal from the controller 170 and then perform a control operation.
  • the washing control apparatus may include an output unit 191 to inform a user of information.
  • the output unit 191 may include a display to visually output information.
  • the display may be a touch-sensitive display.
  • the display may output an image.
  • the output unit 191 may include a speaker to audibly output information.
  • the washing control apparatus includes driver units 193 to drive the mop units so as to rotate the mop units.
  • the driver units 193 a plurality of driver units 193 may be provided.
  • the driver units 193 may be independently driven, or simultaneously driven to enable a composite motion.
  • the driver units 193 in accordance with one embodiment of the present invention include a first spinning driver unit to rotate the left spinning mop unit 120 .
  • the driver units 193 include a second spinning driver unit to rotate the right spinning mop unit 130 .
  • the driver units 193 include a rolling driver unit to rotate the rolling mop unit 150 .
  • various examples of the driver units 193 will be described.
  • the driver units 193 may be driven to rotate the left spinning mop unit 120 and the right spinning mop unit 130 in different directions or in the same direction.
  • the driver units 193 may be driven to rotate the left spinning mop unit 120 under the condition that the left spinning mop unit 120 is provided to be inclined.
  • the driver units 193 may be driven to rotate the right spinning mop unit 130 under the condition that the right spinning mop unit 130 is provided to be inclined.
  • the driver units 193 may rotate the left spinning mop unit 120 and the right spinning mop unit 130 in different directions.
  • the driver units 193 may rotate the left spinning mop unit 120 and the right spinning mop unit 130 in the same direction.
  • the driver units 193 may be respectively driven at different speeds.
  • the driver units 193 may drive the left spinning mop unit 120 , the right spinning mop unit 130 and the rolling mop unit 150 at independent rotational speeds.
  • the driver units 193 may drive the left spinning mop unit 120 , the right spinning mop unit 130 and the rolling mop unit 150 at the same rotational speed.
  • the driver units 193 may be driven for different times, respectively.
  • the driver units 193 may drive the left spinning mop unit 120 , the right spinning mop unit 130 and the rolling mop unit 150 for independent rotating times.
  • the driver units 193 may drive the left spinning mop unit 120 , the right spinning mop unit 130 and the rolling mop unit 150 so that they are simultaneously rotated and stopped.
  • the washing control apparatus may include driving sensing units to sense current motion states by the driver units 193 .
  • the washing control apparatus may include a plurality of driving sensing units to respectively sense driving of the driver units 193 .
  • the driving sensing units may sense driving speeds.
  • the driving sensing units may sense driving times.
  • the driving sensing units may sense rotation resistances during driving.
  • the washing control apparatus may include connection terminals or communication modules 195 and 295 to electrically connect the cleaner 100 and the washing apparatus 200 .
  • the washing control apparatus may include a cleaner communication module 195 provided in the cleaner 100 .
  • the washing control apparatus may include a washing apparatus communication module 295 provided in the washing apparatus 200 .
  • the communication modules 195 and 295 may include a Wi-Fi module, a Bluetooth module, a ZigBee module, a Z-wave module, etc.
  • the communication modules 195 and 295 may transmit information, acquired from the input unit 181 , from the cleaner 100 to the washing apparatus 200 .
  • the communication modules 195 and 295 may transmit the information, acquired from the input unit 181 , from the washing apparatus 200 to the cleaner 100 .
  • the communication modules 195 and 295 may transmit information, acquired from the sensor unit 183 , from the cleaner 100 to the washing apparatus 200 .
  • the communication modules 195 and 295 may transmit the information, acquired from the sensor unit 183 , from the washing apparatus 200 to the cleaner 100 .
  • the communication modules 195 and 295 may transmit information, acquired from the receipt sensing unit 185 , from the cleaner 100 to the washing apparatus 200 .
  • the communication modules 195 and 295 may transmit the information, acquired from the receipt sensing unit 185 , from the washing apparatus 200 to the cleaner 100 .
  • the communication modules 195 and 295 may be provided to be connected to separate apparatuses in addition to the cleaner 100 and the washing apparatus 200 .
  • the communication modules 195 and 295 may transmit information from the cleaner 100 to the washing apparatus 200 .
  • the controller 170 may control the washing apparatus 200 based on the received information.
  • the controller 170 may control the water supply device 260 based on the received information.
  • the controller 170 may control the drainage device 270 based on the received information.
  • the communication modules 195 and 295 may transmit information from the washing apparatus 200 to the cleaner 100 .
  • the controller 170 may control the cleaner 100 based on the received information.
  • the controller 170 may control the output unit 191 based on the received information.
  • the controller 170 may control the driver units 193 based on the received information.
  • the washing control apparatus may include the storage unit 197 to store input information or a control signal.
  • the storage unit 197 may store information acquired through the input unit 181 .
  • the storage unit 197 may store information acquired through the sensor unit 183 .
  • the storage unit 197 may store information acquired through the receipt sensing unit 185 .
  • the storage unit 197 may store a control signal from the controller 170 .
  • the storage unit 197 may transmit the stored information to the controller 170 .
  • the washing control apparatus may include the water supply device 260 to supply washing water to the washing apparatus 200 .
  • the washing control apparatus may include the drainage device 270 to drain washing water in the washing apparatus 270 .
  • the water supply device 260 may be controlled by the controller 170 .
  • the drainage device 270 may be controlled by the controller 170 .
  • a control signal may be transmitted from the cleaner 100 to the washing apparatus 200 through the communication modules 195 and 295 .
  • the water supply device 260 may be controlled by the sub-controller.
  • the drainage device 270 may be controlled by the sub-controller.
  • the sub-controller may control the water supply device 260 and the drainage device 270 based on information transmitted from the cleaner 100 to the washing apparatus 200 through the communication modules 195 and 295 .
  • FIGS. 11 and 12 a washing control method for controlling the washing control apparatus in accordance with one embodiment of the present invention will be described.
  • the washing control method includes performing a washing operation S 1110 and S 1120 configured to rotate the at least one mop unit 120 , 130 or 150 under the condition that the cleaner 100 and washing water are received in the tray 210 .
  • the washing control method includes performing a spin-drying operation S 1130 configured to rotate the at least one mop unit 120 , 130 or 150 under the condition that washing water in the tray 210 is drained.
  • a rotation motion of the at least one mop unit 120 , 130 or 150 under the condition that the cleaner 100 is disposed in the tray 210 may be controlled to be different according to traveling information of the cleaner 100 .
  • the traveling information includes a traveling distance.
  • the traveling information includes a traveling time.
  • the traveling information includes an amount of foreign substances attached to the mop units.
  • the traveling information may be sensed by the sensor unit 183 .
  • the washing apparatus is controlled to be optimized according to a degree of contamination of the mop units 120 , 130 and 150 of the cleaner 100 , and may thus effectively wash the cleaner 100 .
  • Performing the washing operation S 1110 and S 1120 and performing the spin-drying operation S 1130 may be controlled so that a rotational speed of the at least one mop unit 120 , 130 or 150 in performing the washing operation S 1110 and S 1120 and a rotational speed of the at least one mop unit 120 , 130 or 150 in performing the spin-drying operation S 1130 are different.
  • the washing control method may be controlled so that the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the spin-drying operation S 1130 is higher than the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the washing operation S 1110 and S 1120 .
  • the at least one mop unit 120 , 130 or 150 is individually rotated at proper speeds during a plurality of washing processes, and thus a washing function and a spin-drying function may be improved.
  • Performing the washing operation S 1110 and S 1120 may include performing a detergent operation S 1110 configured to to wash the cleaner 100 disposed on the washing apparatus 200 .
  • Performing the washing operation S 1110 and S 1120 may include performing a rinsing operation S 1120 configured to rinse the cleaner 100 disposed on the washing apparatus 200 .
  • Performing the detergent operation S 1110 includes supplying washing water in which a detergent is dissolved to the washing apparatus 200 .
  • the washing water in which the detergent is dissolved may be supplied to the washing apparatus 200 manually by a user.
  • the washing water in which the detergent is dissolved may be supplied to the washing apparatus 200 automatically by the water supply device 260 .
  • a process of introducing the washing water into the detergent receipt unit through the water supply device 260 , mixing the washing water with the detergent received in the detergent receipt unit and supplying the washing water in which the detergent is dissolved to the tray 210 may be automatically performed.
  • the cleaner In performing the detergent operation S 1110 , the cleaner is disposed on the washing apparatus 200 under the condition that the cleaner 100 and the washing water in which the detergent is dissolved are received in the tray 210 , and the at least one mop unit 120 , 130 or 150 is rotated and washed.
  • the at least one mop unit 120 , 130 or 150 includes the left spinning mop unit 120 , the right spinning mop unit 130 and the rolling mop unit 150 .
  • at least one of rotational directions, rotational speeds and rotating times of the mop units 120 , 130 and 150 may be independently controlled to have different values.
  • at least one of the rotational directions, the rotational speeds and the rotating times of the mop units 120 , 130 and 150 may be controlled to have the same value.
  • Performing the rinsing operation S 1120 includes draining the washing water in which the detergent is dissolved. Performing the rinsing operation S 1120 includes supplying washing water in which no detergent is dissolved.
  • a process of draining the washing water in which the detergent is dissolved in the tray 210 may be performed manually by the user.
  • the process of draining the washing water in which the detergent is dissolved in the tray 210 may be performed automatically by the drainage device 270 .
  • a process of supplying the washing water in which no detergent is dissolved may be performed manually by the user.
  • the process of supplying the washing water in which no detergent is dissolved may be performed automatically by the water supply device 260 .
  • the cleaner 100 is disposed on the washing apparatus 200 under the condition that the cleaner 100 and the washing water in which no detergent is dissolved are received in the tray 210 , and the at least one mop unit 120 , 130 or 150 is rotated and washed.
  • the at least one mop unit 120 , 130 or 150 includes the left spinning mop unit 120 , the right spinning mop unit 130 and the rolling mop unit 150 .
  • at least one of the rotational directions, the rotational speeds and the rotating times of the mop units 120 , 130 and 150 may be independently controlled to have different values.
  • at least one of the rotational directions, the rotational speeds and the rotating times of the mop units 120 , 130 and 150 may be controlled to have the same value.
  • the washing control method may be controlled such that the rotation motion of the at least one mop unit 120 , 130 or 150 in performing the detergent operation S 1110 and the rotation motion of the at least one mop unit 120 , 130 or 150 in performing the rinsing operation S 1120 are different.
  • the washing control method may be controlled so that the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the rinsing operation S 1120 is higher than the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the detergent operation S 1110 .
  • the at least one mop unit 120 , 130 or 150 is sufficiently wetted with the washing water in which the detergent is dissolved, and thus, foreign substances may be effectively separated from the at least one mop unit 120 , 130 or 150 . Further, in performing the rinsing operation S 1120 of the washing control method, foreign substances or the detergent remaining in the at least one mop unit 120 , 130 or 150 are effectively rinsed, and thus, washing performance may be improved.
  • Performing the spin-drying operation S 1130 includes a process of draining the washing water in the tray 210 .
  • Performing the spin-drying operation S 1130 includes a process of rotating the at least one mop unit 120 , 130 or 150 under the condition that the cleaner 100 is received in the tray 210 .
  • the process of draining the washing water in which the detergent is dissolved in the tray 210 may be performed manually by the user. In performing the spin-drying operation S 1130 , the process of draining the washing water in which the detergent is dissolved in the tray 210 may be performed automatically by the drainage device 270 .
  • the rotation motion of the at least one mop unit 120 , 130 or 150 in performing the washing operation S 1110 and S 1120 and the rotation motion of the at least one mop unit 120 , 130 or 150 in performing the spin-drying operation S 1130 may be controlled to be different.
  • the washing control method may be controlled so that the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the spin-drying operation S 1130 is higher than the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the washing operation S 1110 and S 1120 .
  • washing performance may be improved.
  • the foreign substances separated from the at least one mop unit 120 , 130 or 150 are effectively discharged to the outside of the washing units 220 , 230 and 250 , and thus washing performance may be improved.
  • the spin-drying operation S 1130 of the washing control method moisture remaining in the at least one mop unit 120 , 130 or 150 is effectively removed, and thus, the spin-drying function may be improved.
  • the rotation motion of the at least one mop unit 120 , 130 or 150 in performing the washing operation S 1110 and S 1120 may be controlled to be different from the rotation motion of the at least one mop unit 120 , 130 or 150 when performing a cleaning function.
  • the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the washing operation S 1110 and S 1120 may be controlled to be higher than the rotational speed of the at least one mop unit 120 , 130 or 150 when performing the cleaning function.
  • the rotation motion of the at least one mop unit 120 , 130 or 150 in performing the spin-drying operation S 1130 may be controlled to be different from the rotation motion of the at least one mop unit 120 , 130 or 150 when performing the cleaning function.
  • the rotational speed of the at least one mop unit 120 , 130 or 150 in performing the spin-drying operation S 1130 may be controlled to be higher than the rotational speed of the at least one mop unit 120 , 130 or 150 when performing the cleaning function.
  • the at least one mop unit 120 , 130 or 150 is controlled to be rotated at rotational speeds optimized to the respective processes, and thus, the cleaning function may be effectively performed when performing the cleaning function, the washing performance may be improved in performing the washing operation S 1110 and S 1120 , and the spin-drying function may be improved in performing the spin-drying operation S 1130 .
  • the water supply device 260 may be controlled to be operated as needed in performing the washing operation S 1110 and S 1120 .
  • the drainage device 270 may be controlled to be operated as needed in performing the washing operation S 1110 and S 1120 .
  • the water supply device 260 may be controlled to be operated as needed in performing the spin-drying operation S 1130 .
  • the drainage device 270 may be controlled to be operated as needed in performing the spin-drying operation S 1130 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Plasma & Fusion (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Chemical & Material Sciences (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Electric Suction Cleaners (AREA)
US16/333,098 2016-07-14 2017-07-14 Cleaner washing apparatus Abandoned US20190270124A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/333,098 US20190270124A1 (en) 2016-07-14 2017-07-14 Cleaner washing apparatus

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662362358P 2016-07-14 2016-07-14
US16/333,098 US20190270124A1 (en) 2016-07-14 2017-07-14 Cleaner washing apparatus
PCT/KR2017/007549 WO2018012912A1 (fr) 2016-07-14 2017-07-14 Dispositif de lavage de dispositif de nettoyage

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/007549 A-371-Of-International WO2018012912A1 (fr) 2016-07-14 2017-07-14 Dispositif de lavage de dispositif de nettoyage

Related Child Applications (1)

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US17/144,720 Division US20210228043A1 (en) 2016-07-14 2021-01-08 Cleaner washing apparatus

Publications (1)

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US20190270124A1 true US20190270124A1 (en) 2019-09-05

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US16/333,124 Active 2038-01-24 US10993598B2 (en) 2016-07-14 2017-07-14 Robot cleaner and method of controlling the same
US16/333,138 Active 2037-11-12 US11051671B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,144 Active US11202547B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,098 Abandoned US20190270124A1 (en) 2016-07-14 2017-07-14 Cleaner washing apparatus
US16/333,147 Active 2037-11-09 US11141034B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,108 Active 2037-08-21 US11071429B2 (en) 2016-07-14 2017-07-14 Robot cleaner
US16/333,131 Active 2039-12-04 US11564546B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,135 Active 2037-12-08 US11253126B2 (en) 2016-07-14 2017-07-14 Robot cleaner
US16/333,129 Active 2037-09-26 US11019975B2 (en) 2016-07-14 2017-07-14 Robot cleaner
US16/478,754 Active 2038-05-21 US11109731B2 (en) 2016-07-14 2018-01-19 Moving robot
US16/478,743 Active 2038-11-22 US11284766B2 (en) 2016-07-14 2018-01-19 Robot cleaner and maintenance device for the same
US16/478,722 Active 2038-11-14 US11291343B2 (en) 2016-07-14 2018-01-19 Robot cleaner and maintenance device for the same
US16/478,884 Active 2040-05-22 US11571102B2 (en) 2016-07-14 2018-01-19 Moving robot and method of controlling the same
US17/144,720 Pending US20210228043A1 (en) 2016-07-14 2021-01-08 Cleaner washing apparatus
US17/222,070 Active 2038-10-14 US11864697B2 (en) 2016-07-14 2021-04-05 Robot cleaner and method of controlling the same
US17/526,392 Pending US20220071465A1 (en) 2016-07-14 2021-11-15 Cleaner
US18/079,574 Active US11930973B2 (en) 2016-07-14 2022-12-12 Cleaner
US18/093,724 Pending US20230148818A1 (en) 2016-07-14 2023-01-05 Cleaner

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US16/333,124 Active 2038-01-24 US10993598B2 (en) 2016-07-14 2017-07-14 Robot cleaner and method of controlling the same
US16/333,138 Active 2037-11-12 US11051671B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,144 Active US11202547B2 (en) 2016-07-14 2017-07-14 Cleaner

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US16/333,147 Active 2037-11-09 US11141034B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,108 Active 2037-08-21 US11071429B2 (en) 2016-07-14 2017-07-14 Robot cleaner
US16/333,131 Active 2039-12-04 US11564546B2 (en) 2016-07-14 2017-07-14 Cleaner
US16/333,135 Active 2037-12-08 US11253126B2 (en) 2016-07-14 2017-07-14 Robot cleaner
US16/333,129 Active 2037-09-26 US11019975B2 (en) 2016-07-14 2017-07-14 Robot cleaner
US16/478,754 Active 2038-05-21 US11109731B2 (en) 2016-07-14 2018-01-19 Moving robot
US16/478,743 Active 2038-11-22 US11284766B2 (en) 2016-07-14 2018-01-19 Robot cleaner and maintenance device for the same
US16/478,722 Active 2038-11-14 US11291343B2 (en) 2016-07-14 2018-01-19 Robot cleaner and maintenance device for the same
US16/478,884 Active 2040-05-22 US11571102B2 (en) 2016-07-14 2018-01-19 Moving robot and method of controlling the same
US17/144,720 Pending US20210228043A1 (en) 2016-07-14 2021-01-08 Cleaner washing apparatus
US17/222,070 Active 2038-10-14 US11864697B2 (en) 2016-07-14 2021-04-05 Robot cleaner and method of controlling the same
US17/526,392 Pending US20220071465A1 (en) 2016-07-14 2021-11-15 Cleaner
US18/079,574 Active US11930973B2 (en) 2016-07-14 2022-12-12 Cleaner
US18/093,724 Pending US20230148818A1 (en) 2016-07-14 2023-01-05 Cleaner

Country Status (8)

Country Link
US (18) US10993598B2 (fr)
EP (17) EP4005458A1 (fr)
JP (2) JP7054702B2 (fr)
KR (14) KR101903022B1 (fr)
CN (11) CN113951763B (fr)
AU (9) AU2017297104B2 (fr)
TW (12) TWI671054B (fr)
WO (13) WO2018012923A1 (fr)

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CN113876237B (zh) 2023-04-11
US11071429B2 (en) 2021-07-27
EP4140378A1 (fr) 2023-03-01
AU2017297110A1 (en) 2019-05-02
US20190328198A1 (en) 2019-10-31
US11141034B2 (en) 2021-10-12
KR102137457B1 (ko) 2020-07-24
WO2018012915A4 (fr) 2018-05-11
EP3485793A1 (fr) 2019-05-22
CN109715026B (zh) 2021-10-22
TWI687194B (zh) 2020-03-11
EP3570716A2 (fr) 2019-11-27
CN109715025B (zh) 2021-11-05
EP3485788A1 (fr) 2019-05-22
CN109715026A (zh) 2019-05-03
KR20190003775A (ko) 2019-01-09
US20200046191A1 (en) 2020-02-13

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