cleaner

Abstract

A cleaner may include: a housing including a suction port; a brush holder configured to elastically deform; a side brush on the brush holder, and configured to rotate to guide foreign substances from a surface to the suction port; a rotatable frame coupled to the side brush and configured to rotate so as to rotate the side brush; a driving device inside the housing and configured to rotate the rotatable frame; and a movable frame couplable to the rotatable frame, wherein the brush holder, side brush, rotatable frame, driving device, and movable frame are configured such that, with the movable frame coupled to the rotatable frame and the rotatable frame rotated by the driving device, the movable frame is movable in a vertical direction to press and thereby elastically deform the brush holder to lift the side brush so as to space the side brush away from the surface.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This is a continuation application, under 35 U.S.C. § 111(a), of International Application PCT / KR2025 / 095685, filed Oct. 24, 2025, which claims priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2025-0000921, filed Jan. 3, 2025 and Korean Patent Application No. 10-2025-0032389, filed Mar. 12, 2025, in the Korean Intellectual Property Office, the disclosures of which are incorporated herein in their entireties by reference.TECHNICAL FIELD

[0002] The present disclosure relates to a cleaner.BACKGROUND ART

[0003] A robot cleaner is a device that automatically cleans a cleaning space by drawing in dirt such as dust accumulated on a floor while moving around the cleaning space without user intervention. The robot cleaner may clean the cleaning space while driving around the cleaning space.

[0004] The robot cleaner may determine a distance to an obstacle such as furniture, office supplies or walls installed within a cleaning section through a distance sensor. By selectively driving left and right wheel motors of the robot cleaner, the robot cleaner may clean the cleaning section by changing directions on its own.

[0005] For example, the robot cleaner may be configured to perform wet cleaning, which wipes away foreign substances such as dust from the floor, as well as dry cleaning, which draws in foreign substances such as dust from the floor. For example, the robot cleaner may include a mop for the wet cleaning.DISCLOSURETechnical Problem

[0006] The present disclosure is directed to providing a cleaner with improved usability.

[0007] Further, the present disclosure is directed to providing a cleaner capable of preventing or reducing contamination of a side brush.

[0008] Further, the present disclosure is directed to providing a cleaner capable of separating a side brush from a surface to be cleaned.

[0009] Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.Technical Solution

[0010] In accordance with the present disclosure a cleaner may include: a housing including a suction port; a brush holder in a lower portion of the housing, and configured to elastically deform; a side brush on the brush holder, and configured to rotate to guide foreign substances from a surface to be cleaned to the suction port; a rotatable frame coupled to the side brush and configured to rotate relative to the housing so as to rotate the side brush; a driving device inside the housing and configured to rotate the rotatable frame; and a movable frame couplable to the rotatable frame, wherein the brush holder, the side brush, the rotatable frame, the driving device, and the movable frame are configured such that, with the movable frame coupled to the rotatable frame and the rotatable frame rotated by the driving device, the movable frame is movable in a vertical direction of the housing to press and thereby elastically deform the brush holder to lift the side brush so as to space the side brush away from the surface to be cleaned.

[0011] The brush holder may be under the movable frame relative to the vertical direction.

[0012] The movable frame may be configured to: move in the vertical direction upward based on rotation of the rotatable frame in a first direction, and move in the vertical direction downward to press and thereby elastically deform the brush holder based on rotation of the rotatable frame in a second direction opposite to the first direction.

[0013] The cleaner may further include: a ball configured to contact an outside of the movable frame such that, with the outside of the movable frame contacted by the ball and rotation of the rotatable frame in the second direction, the ball generates a frictional force so as to restrict movement of the movable frame in the vertical direction.

[0014] The ball may be configured to allow rotation of the movable frame in the first direction and restrict rotation of the movable frame in the second direction.

[0015] The cleaner may further include: a ball guide in which the ball may be received, the ball guide tapered from a first end to a second end such that the ball guide widens along the first direction and narrows along the second direction.

[0016] The cleaner may further include: a supporter on which the ball is supported, and including a support surface inclined downward.

[0017] The cleaner may further include: a case in which the driving device may be received, wherein the supporter may be couplable to the case, and the supporter may be configured such that, with the supporter coupled to the case, separation of the movable frame from the rotatable frame may be prevented.

[0018] The movable frame may include a flange, the case may include a first stopper contactable by the flange to restrict movement of the movable frame in the vertical direction upward, the supporter may include a second stopper, and the supporter may be configured such that, with the supporter coupled to the case, the second stopper may be spaced downward from the first stopper and contactable by the flange to restrict movement of the movable frame in the vertical direction downward.

[0019] The brush holder may include: a holder body configured to be pressed by the movable frame, an elastic portion on an outer surface of the holder body, the elastic portion including an elastic material, a brush mounting portion including: a first end connected to the elastic portion, and a second end to which the side brush may be mounted, and the brush holder may be configured such that, with the holder body pressed by the movable frame, the elastic portion may elastically deform and the second end may move in the vertical direction.

[0020] The cleaner may further include: a cover couplable to the rotatable frame, the cover configured such that, with the cover coupled to the rotatable frame and the rotatable frame rotated, a rotational force of the rotatable frame may be transmitted to the brush holder so as to be transmitted to the side brush to rotate the side brush.

[0021] The cleaner may further include: a spring between the brush holder and the cover, and configured to elastically bias the brush holder in the vertical direction upward.

[0022] The rotatable frame may include: a rotating body, and a coupling protrusion that protrudes from an outer surface of the rotating body, the coupling protrusion inclined along a rotational direction of the rotatable frame, the movable frame may include: a moving body, and a coupling groove recessed from an inner surface of the moving body and into which the coupling protrusion may be insertable, and the rotatable frame and the movable frame are configured such that, with the coupling protrusion inserted into the coupling groove the movable frame may be coupled to the rotatable frame and the moving body may surround the rotating body.

[0023] The driving device may include: a driving motor, a first gear that may be rotatable based on operation of the driving motor, a second gear engaged with the first gear so as to be rotatable by rotation of the first gear, and a third gear engaged with the second gear so as to be rotatable by rotation of the second gear, the third gear coupled to the rotatable frame and configured to rotate the rotatable frame based on rotation of the third gear.

[0024] The cleaner may further include: a sensor configured to detect a liquid contaminant on the surface to be cleaned and produce a corresponding data, and a controller configured to: with the movable frame coupled to the rotatable frame and the rotatable frame rotated by the driving device, based on the data produced by the sensor indicating the liquid contaminant on the surface to be cleaned, control the driving device to lift the side brush so as to space the side brush away from the surface to be cleaned.

[0025] In accordance with the present disclosure a cleaner may include: a side brush configured to sweep a surface to be cleaned; a brush holder on which the side brush is mounted; and a lift device for moving the side brush. The lift device includes: a driving motor; a rotating frame rotatable as the driving motor operates; and a moving frame disposed above the brush holder, configured to rise as the rotating frame rotates in a first direction, and configured to descend and press the brush holder as the rotating frame rotates in a second direction opposite to the first direction.DESCRIPTION OF DRAWINGS

[0026] FIG. 1 illustrates a front view of a cleaner according to one embodiment of the present disclosure.

[0027] FIG. 2 illustrates a rear view of the cleaner according to one embodiment of the present disclosure.

[0028] FIG. 3 illustrates a lower portion of the cleaner according to one embodiment of the present disclosure.

[0029] FIG. 4 is a perspective view of a brush assembly according to one embodiment of the present disclosure.

[0030] FIG. 5 is an exploded view of the brush assembly according to one embodiment of the present disclosure.

[0031] FIG. 6 is an exploded view of the brush assembly according to one embodiment of the present disclosure.

[0032] FIG. 7 is a perspective view of a rotating frame, a moving frame, a ball, and a supporter according to one embodiment of the present disclosure.

[0033] FIG. 8 is an exploded perspective view of the rotating frame, the moving frame, the ball, and the supporter according to one embodiment of the present disclosure.

[0034] FIG. 9 is an exploded cross-sectional view of the rotating frame, the moving frame, the ball, and the supporter according to one embodiment of the present disclosure.

[0035] FIG. 10 illustrates a portion of the brush assembly according to one embodiment of the present disclosure.

[0036] FIG. 11 is a cross-sectional side view illustrating a portion of the brush assembly according to one embodiment of the present disclosure.

[0037] FIG. 12 is a cross-sectional view of the brush assembly according to one embodiment of the present disclosure.

[0038] FIG. 13 is a front view illustrating a state in which the cleaner according to one embodiment of the present disclosure operates in a first mode.

[0039] FIG. 14 is a cross-sectional view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the first mode.

[0040] FIG. 15 is a cross-sectional side view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the first mode.

[0041] FIG. 16 is a front view illustrating a state in which the cleaner according to one embodiment of the present disclosure operates in a second mode.

[0042] FIG. 17 is a cross-sectional view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the second mode.

[0043] FIG. 18 is a cross-sectional side view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the second mode.

[0044] FIG. 19 is a control block diagram of the cleaner according to one embodiment of the present disclosure.MODES OF THE INVENTION

[0045] Various embodiments and the terms used therein are not intended to limit the technology disclosed herein to specific forms, and the disclosure should be understood to include various modifications, equivalents, and / or alternatives to the corresponding embodiments.

[0046] In describing the drawings, similar reference numerals may be used to designate similar constituent elements.

[0047] A singular expression may include a plural expression unless otherwise indicated herein or clearly contradicted by context.

[0048] The expressions “A or B,”“at least one of A or / and B,” or “one or more of A or / and B,” A, B or C,”“at least one of A, B or / and C,” or “one or more of A, B or / and C,” and the like used herein may include any and all combinations of one or more of the associated listed items.

[0049] The term of “and / or” includes a plurality of combinations of relevant items or any one item among a plurality of relevant items.

[0050] Terms such as “unit”, “module”, and “member” may be embodied as hardware or software. According to embodiments, a plurality of “unit”, “module”, and “member” may be implemented as a single component or a single “unit”, “module”, and “member” may include a plurality of components.

[0051] Herein, the expressions “a first”, “a second”, “the first”, “the second”, etc., may simply be used to distinguish an element from other elements, but is not limited to another aspect (importance or order) of elements.

[0052] When an element (e.g., a first element) is referred to as being “(functionally or communicatively) coupled,” or “connected” to another element (e.g., a second element), the first element may be connected to the second element, directly (e.g., wired), wirelessly, or through a third element.

[0053] In this disclosure, the terms “including”, “having”, and the like are used to specify features, numbers, steps, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more of the features, elements, steps, operations, elements, components, or combinations thereof.

[0054] When an element is said to be “connected”, “coupled”, “supported” or “contacted” with another element, this includes not only when elements are directly connected, coupled, supported or contacted, but also when elements are indirectly connected, coupled, supported or contacted through a third element.

[0055] Throughout the description, when an element is “on” another element, this includes not only when the element is in contact with the other element, but also when there is another element between the two elements.

[0056] In this disclosure, the meaning of “identical” may include things being similar in properties to each other or are similar within a certain range. In addition, the meaning “identical” refers to “substantially identical”. It should be understood that the meaning of “substantially identical” refers to a value that falls within an error range in manufacturing or a value having a difference within a range that does not have significance with respect to a reference value.

[0057] In the following detailed description, the terms of “front”, “rear”, “left”, “right”, “upper”, “lower”, and the like may be defined by the drawings, but the shape and the location of the element is not limited by the term. For example, as illustrated in FIGS. 1 and 2, a direction in which a mop is located from a center of a cleaner 1 may be defined as the rear (−X direction), and the opposite direction thereof may be defined as the front (+X direction).

[0058] Hereinafter exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0059] FIG. 1 illustrates a front view of a cleaner according to one embodiment of the present disclosure. FIG. 2 illustrates a rear view of the cleaner according to one embodiment of the present disclosure. FIG. 3 illustrates a lower portion of the cleaner according to one embodiment of the present disclosure.

[0060] Referring to FIGS. 1 to 3, the cleaner 1 may include a housing 10. The housing 10 may form an overall appearance of the cleaner 1. Components of the cleaner 1 may be received inside the housing 10. For example, electrical components may be disposed inside the housing 10.

[0061] The cleaner 1 may include a suction port 11. The suction port 11 may be formed to face a surface to be cleaned. The suction port 11 may be open toward the surface to be cleaned. For example, the suction port 11 may be formed in the housing 10. The suction port 11 may be formed in a lower portion of the housing 10. The suction port 11 may be formed by penetrating a lower housing 10b of the housing 10. Dirt on the surface to be cleaned may be drawn into an inside of the housing 10 through the suction port 11 together with air. ‘Dirt’ may include contaminants, foreign substances, dust, hair, food crumbs, adhesives, and the like, and these terms may be used interchangeably.

[0062] The cleaner 1 may include a dust collector (not shown). Dirt and / or air drawn in through the suction port 11 may be moved to the dust collector. Dirt drawn in through the suction port 11 may be collected in the dust collector. Air drawn in through the suction port 11 may be filtered while passing through the dust collector. Dirt and air drawn in through the suction port 11 may be separated in the dust collector.

[0063] The cleaner 10 may include a discharge port 12. The discharge port 12 may be formed in the housing 10. The discharge port 12 may be formed on a rear side of the housing 10. Air drawn in through the suction port 11 may be filtered and discharged to the outside of the cleaner 1 through the discharge port 12. For example, a plurality of discharge ports 12 may be provided, and the plurality of discharge ports 12 may be provided with a plurality of holes.

[0064] The cleaner 1 may include a suction motor 30 (refer to FIG. 19). The suction motor 30 may generate a suction force. By the suction force generated by the suction motor 30, the suction port 11 may draw in dirt and / or air. By the suction force generated by the suction motor 30, the discharge port 12 may discharge air, which is drawn to the inside of the cleaner 1 and filtered, to the outside. The suction motor 30 may be arranged on an air path formed between the suction port 11 and the discharge port 12.

[0065] The cleaner 1 may include a driving portion 20 for driving the cleaner 1. The driving portion 20 may be mounted on the housing 10 so as to move the housing 10. For example, the driving portion 20 may include a pair of main wheels 21. For example, the driving portion 20 may further include at least one auxiliary wheel 22 for stable driving of the cleaner 1. The main wheel 21 and / or the auxiliary wheel 22 may be referred as ‘driving wheel 21 and 22’.

[0066] The cleaner 1 may include a battery 50 (refer to FIG. 19). The battery 50 may be configured to be rechargeable. The battery 50 may provide power required to operate the cleaner 1.

[0067] The cleaner 1 may include a charging terminal 51. The charging terminal 51 may be electrically connected to the battery 50. For example, while the cleaner 1 is docked to a station, the charging terminal 51 of the cleaner 1 may be electrically connected to a charging terminal of the station. As the charging terminal 51 of the cleaner 1 is electrically connected to the charging terminal of the station, the battery 50 of the cleaner 1 may be charged. That is, while the cleaner 1 is docked to the station, the battery 50 may be charged.

[0068] The cleaner 1 may include a mop 60. The mop 60 is detachably mountable to the lower portion of the housing 10. The mop 60 may be rotatably mounted relative to the housing 10. The mop 60 may be provided to come into contact with a surface to be cleaned and clean the surface to be cleaned. The mop 60 may wipe away dirt from the surface to be cleaned while the mop 60 is wet. In the drawing, it is illustrated that two mops 60 are provided, but there is no limitation on the number of mops 60. The mop 60 may be referred to as a cleaning pad 60. The mop 60 may be referred to as a wet pad 60.

[0069] The mop 60 may be supplied with moisture from a water tank (not shown) of the cleaner 1. For example, when a moisture content of the mop 60 decreases while the cleaner 1 is cleaning, the water stored in the water tank may be supplied to the mop 60.

[0070] The cleaner 1 may include a water replenishing portion 13. The water replenishing portion 13 may be formed in the housing 10. The water replenishing portion 13 may be formed on a rear side of the housing 10. For example, while the cleaner 1 is docked to the station, the water replenishing portion 13 may receive water provided from the station. The water supplied to the cleaner 1 through the water replenishing portion 13 may be stored in the water tank. While the cleaner 1 is docked to the station, the water replenishing portion 13 of the cleaner 1 may be docked to a water supply portion of the station.

[0071] The cleaner 1 may include an obstacle sensor 71. For example, the obstacle sensor 71 may be configured to detect a position of an obstacle or a distance to the obstacle. The obstacle sensor 71 may be mounted on the housing 10. For example, the obstacle sensor 71 may protrude from an upper housing 10a of the housing 10.

[0072] The cleaner 1 may include a first brush 40 disposed in the suction port 11. The first brush 40 may strike a surface to be cleaned to scatter dirt. Dirt scattered by the first brush 40 may be introduced into the suction port 11 together with air. For example, the first brush 40 may be disposed in a center of the lower portion of the housing 10. The first brush 40 may be referred to as a main brush 40. The first brush 40 may be referred to as a drum brush 40.

[0073] The first brush 40 may be rotatably mounted relative to the housing 10. The first brush 40 may be rotatably arranged in the suction port 11. A rotation axis of the first brush 40 may be an axis extending approximately along a horizontal direction (Y direction).

[0074] The cleaner 1 may include a second brush 110. The second brush 110 may strike a surface to be cleaned to scatter dirt. The second brush 110 may be configured to sweep contaminants from the surface to be cleaned. The second brush 110 may be configured to guide foreign substances from the surface to be cleaned to the suction port 11. The second brush 110 may guide foreign substances that the first brush 40 may not sweep to the suction port 11. The second brush 110 may pull out dust, from walls, corners, and other inconspicuous places and send the dust to the suction port 11. For example, the cleaner 1 may be arranged adjacent to a lower edge of the housing 10. The second brush 110 may be referred to as an auxiliary brush 110. The second brush 110 may be referred to as a side brush 110.

[0075] The second brush 110 may be rotatably mounted relative to the housing 10. A rotation axis of the second brush 110 may be an axis extending approximately along a vertical direction (Z direction).

[0076] The cleaner 1 may include a brush assembly 90. The brush assembly 90 is detachably mountable to the housing 100. The brush assembly 90 may include the side brush 110 and components for operating the side brush 110.

[0077] FIG. 4 is a perspective view of a brush assembly according to one embodiment of the present disclosure. FIG. 5 is an exploded view of the brush assembly according to one embodiment of the present disclosure. FIG. 6 is an exploded view of the brush assembly according to one embodiment of the present disclosure.

[0078] Referring to FIGS. 4 to 6, the brush assembly 90 may include a brush module 100. The brush assembly 90 may include a lift device 200. The brush assembly 90 may include a cover 300. The brush assembly 90 may include a spring 400.

[0079] The cleaner 1 may include the side brush 110. The brush module 100 may include the side brush 110. As described above, the side brush 110 may be arranged in the lower portion of the housing 10 and configured to guide foreign substances on a surface to be cleaned to the suction port 11. The side brush 110 may be configured to sweep the surface to be cleaned.

[0080] The cleaner 1 may include a brush holder 120. The brush module 100 may include the brush holder 120. The side brush 110 may be mounted on the brush holder 120. The brush holder 120 may be elastically deformed to lift the side brush 110. The brush holder 120 may include an elastic material. For example, a portion of the brush holder 120 may be formed of an elastic material, or the entire brush holder 120 may be formed of an elastic material.

[0081] For example, the brush holder 120 may include a holder body 121, an elastic portion 122, and a brush mounting portion 123. As will be described later, the holder body 121 may be configured to be pressed by a moving frame 240. The holder body 121 may include a substantially hollow cylindrical shape. The elastic portion 122 may be formed on an outer surface of the holder body 121. The elastic portion 122 may include an elastic material. The elastic portion 122 may be formed between the holder body 121 and the brush mounting portion 123. A thickness of the elastic portion 122 may be provided to be less than a thickness of the holder body 121 and a thickness of the brush mounting portion 123. The thickness may include a height in the vertical direction. The brush mounting portion 123 may include a first end portion 1231 connected to the elastic portion 122, and a second end portion 1232 to which the side brush 110 is mounted. A plurality of elastic portions 122 and a plurality of brush mounting portions 123 may be provided, and the number of elastic portions 122 and the number of brush mounting portions 123 may be the same as the number of side brushes 110. However, according to the present disclosure, there is no limitation on the number of side brushes 110, elastic portions 122, and brush mounting portions 123.

[0082] The cleaner 1 may include a driving device 210. The lift device 200 may include the driving device 210. The driving device 210 may be disposed inside the housing 10. The driving device 210 may not be exposed to the outside of the housing 10. The driving device 210 may operate (for example, rotate and raise and lower) the brush module 100.

[0083] The driving device 210 may include a driving motor 211. The driving motor 211 may generate power to rotate or move the brush module 100 up / down.

[0084] The driving device 210 may include at least one gear 212. At least one gear 212 may transmit the power of the driving motor 211 to a rotating frame 230 to be described later.

[0085] For example, the driving device 210 may include a first gear 2121, a second gear 2122, and a third gear 2123. The first gear 2121 may be configured to be rotatable based on the operation of the driving motor 211. The second gear 2122 may be configured to be engaged with the first gear 2121. The second gear 2122 may be configured to be rotatable by the first gear 2121. The third gear 2123 may be configured to be engaged with the second gear 2122. The third gear 2123 may be configured to be rotatable by the second gear 2122. The third gear 2123 may be coupled to the rotating frame 230. The third gear 2123 may be coupled to the first end 2301 of the rotating frame 230 to transmit a rotational force generated from the driving motor 210 to the rotating frame 230. For example, a fastening member S1 may be coupled to a fastening hole 212a of the third gear 2123 and a fastening hole formed in the first end 2301 of the rotating frame 230. The third gear 2123 and the first end 2301 of the rotating frame 230 may be coupled in a case hole 2222. Although the drawing illustrates an example in which the driving device 210 includes three gears 2121, 2122, and 2123, the present disclosure is not limited thereto and there is no limitation on the number of gears 212.

[0086] The cleaner 1 may include a case 220. The lift device 200 may include the case 220. The case 220 may be configured to receive the driving device 210. Components for rotating and / or moving the side brush 110 may be mounted on the case 220. For example, the rotating frame 230, the moving frame 240, a supporter 260, and a ball 250 may be mounted on the case 220.

[0087] For example, the lift device 200 may include a first case 221, and a second case 222. The first case 221 may cover an upper portion of the second case 222. The first case 221 and the second case 222 may be detachably coupled to each other. The first case 221 may include a first case coupling portion 221a, and the second case 222 may include a second case coupling portion 222a. A fastening member S3 may be fastened to the first case coupling portion 221a and the second case coupling portion 222a. However, the present disclosure is not limited to the above-described example, and the first case 221 and the second case 222 may be formed integrally.

[0088] The cleaner 1 may include a ball guide 223. The lift device 200 may include the ball guide 223. The case 220 may include the ball guide 223. The ball guide 223 may be formed in the second case 222. The ball guide 223 may receive the ball 250. The ball 250 may be configured to be movable within the ball guide 223.

[0089] The cleaner 1 may include the rotating frame 230. The lift device 200 may include the rotating frame 230. A first end 2301 of the rotating frame 230 may be connected to the driving device 210. A second end 2302 of the rotating frame 230 may be connected to the cover 300.

[0090] The rotating frame 230 may be configured to be rotatable by the driving device 210. The rotating frame 230 may be configured to be rotatable as the driving motor 211 operates. For example, the rotating frame 230 may be coupled to the third gear 2123 and configured to rotate together with the third gear 2123. The rotating frame 230 and the third gear 2123 may share a rotation axis. The rotating frame 230 may be configured to transmit a rotational force to the cover 300. The rotating frame 230 may be coupled to the cover 300 and configured to rotate together with the cover 300. The rotating frame 230 and the cover 300 may share a rotation axis.

[0091] The rotating frame 230 may be referred to as a rotating part 230, a rotating member 230, a rotating shaft 230, and the like.

[0092] The cleaner 1 may include the moving frame 240. The lift device 200 may include the moving frame 240. The moving frame 240 may be configured to be rotatably couplable to the rotating frame 230. The moving frame 240 may be configured to be movable relative to the rotating frame 230. The moving frame 240 may be configured to be movable in the vertical direction by rotation of the rotating frame 230. The moving frame 240 may move in an up and down direction relative to the rotating frame 230. The moving frame 240 may move upward or downward while rotating relative to the rotating frame 230. As will be described later, the moving frame 240 may press the brush holder 120 while moving downward relative to the rotating frame 230.

[0093] The moving frame 240 may be referred to as a moving part 240, a moving member 240, a pressing part 240, a pressing member 240, and the like.

[0094] The cleaner 1 may include the ball 250. The lift device 200 may include the ball 250. The ball 250 may be received in the ball guide 223. The ball 250 may be arranged on the outside of the moving frame 240. The ball 250 may be configured to allow rotation of the moving frame 240 or to limit (or restrict) rotation of the moving frame 240. In this case, limiting (or restricting) rotation of the moving frame 240 may include not only completely preventing rotation of the moving frame 240, but also applying a force to hinder smooth rotation of the moving frame 240. The ball 250 may limit (or restrict) rotation of the moving frame 240 to generate a frictional force by coming into contact with the moving frame 240. A frictional force generated between the ball 250 and the moving frame 240 may cause the moving frame 240 to move downward and generate a force that pushes the brush holder 120 downward. A detailed description of this will be provided later.

[0095] The cleaner 1 may include the supporter 260. The lift device 200 may include the supporter 260. The supporter 260 may be provided to support the ball 250. The supporter 260 may be provided to support the moving frame 240.

[0096] The supporter 260 may be detachably coupled to the case 220. The supporter 260 may be detachably coupled to the second case 222. As the supporter 260 is coupled to the case 220, the rotating frame 230, the moving frame 240, and the ball 250 may be mounted to the case 220. While the supporter 260 is coupled to the case 220, the supporter 260 may be configured to prevent the moving frame 240 from being separated from the rotating frame 230. For example, the supporter 260 may include a hook 262, and the second case 222 may include a hook groove 222b. The hook 262 of the supporter 260 may be couplable to the hook groove 222b of the second case 222. The hook 262 of the supporter 260 may be inserted into the hook groove 222b of the second case 222.

[0097] The cleaner 1 may include the cover 300. The cover 300 may be configured to be couplable to the rotating frame 230. The cover 300 may be coupled to the second end 2302 of the rotating frame 230. For example, a fastening member S2 may be coupled to a fastening hole 330 of the cover 300 and a fastening hole formed in the second end 2302 of the rotating frame 230.

[0098] The cover 300 may be configured to be rotatable by the rotating frame 230. The brush holder 120 may be mounted on the cover 300. While the cover 300 is coupled to the rotating frame 230 and the brush holder 120 is mounted on the cover 300, the cover 300 may be configured to transmit the rotational force of the rotating frame 230 to the brush holder 120. As the cover 300 rotates, the brush holder 120 and the side brush 110 mounted on the brush holder 120 may rotate. The cover 300, the brush holder 120, and the side brush 110 may be configured to rotate together with the rotating frame 230.

[0099] For example, the cover 300 may include a cover base 310 and a cover side wall 320 extending upward from the cover base 310. The spring 400 may be disposed in a space formed by the cover base 310 and the cover side wall 320. The cover 300 may include a holder mounting portion 340 formed on the cover side wall 320 and provided to mount the brush holder 120.

[0100] The cleaner 1 may include the spring 400. The spring 400 may be disposed between the brush holder 120 and the cover 300. The spring 400 may be placed on the cover base 310. The spring 400 may be configured to elastically bias the brush holder 120 upward. The spring 400 may prevent the brush holder 120 from sagging. For example, when the moving frame 240 moves downward to press the brush holder 120 and then moves upward, the spring 400 may apply an elastic force to the brush holder 120 and the brush holder 120 may return to its original position.

[0101] FIG. 7 is a perspective view of a rotating frame, a moving frame, a ball, and a supporter according to one embodiment of the present disclosure. FIG. 8 is an exploded perspective view of the rotating frame, the moving frame, the ball, and the supporter according to one embodiment of the present disclosure. FIG. 9 is an exploded cross-sectional view of the rotating frame, the moving frame, the ball, and the supporter according to one embodiment of the present disclosure.

[0102] Referring to FIGS. 7 to 9, the rotating frame 230 and the moving frame 240 may be detachably coupled. The supporter 260 may support the ball 250 and the moving frame 240.

[0103] The rotating frame 230 may be configured to be rotatable in a first direction R1. The rotating frame 230 may be configured to be rotatable in a second direction R2 that is opposite to the first direction R1. In the drawing, it is illustrated that the first direction R1 is counterclockwise and the second direction R2 is clockwise, but the present disclosure is not limited thereto. Accordingly, it is sufficient that the first direction R1 and the second direction R2 are opposite to each other.

[0104] The rotating frame 230 may include a rotating body 231 and a coupling protrusion 232. The coupling protrusion 232 may be formed on an outer surface of the rotating body 231. The coupling protrusion 232 may protrude from the outer surface of the rotating body 231. The coupling protrusion 232 may be formed to be inclined along a rotation direction of the rotating frame 230. For example, the coupling protrusion 232 may be configured to be inclined downward along the first direction R1.

[0105] The moving frame 240 is rotatably coupled to the rotating frame 230. As described above, the moving frame 240 may move in the vertical direction relative to the rotating frame 230 while rotating by the rotation of the rotating frame 230. The rotating frame 230 may be disposed inside the moving frame 240.

[0106] The moving frame 240 may include a moving body 241 and a coupling groove 242. The moving body 241 may be configured to surround the rotating body 231. The coupling groove 242 may be formed on an inner surface of the moving body 241. The coupling groove 242 may be recessed from the inner surface of the moving body 241. The coupling protrusion 232 may be inserted into the coupling groove 242. The coupling groove 242 may be formed to correspond to the coupling protrusion 232. The coupling groove 242 may be configured to be inclined along the rotation direction of the rotating frame 230. For example, the coupling groove 242 may be configured to be inclined downward along the first direction R1.

[0107] The supporter 260 may include a support surface 261. The support surface 261 may be provided to be inclined along the rotation direction of the rotating frame 230. The support surface 261 may be inclined downward. For example, the support surface 261 may be inclined downward along the second direction R2. For example, an inclination direction of the support surface 261 may be opposite to an inclination direction of the coupling protrusion 232 and an inclination direction of the coupling groove 242.

[0108] For example, the supporter 260 may include a supporter body 264 having a substantially hollow shape. The support surface 261 may protrude upward from the supporter body 264. The hook 262 may protrude upward from the supporter body 264. A plurality of support surfaces 261 and a plurality of hooks 262 may be provided, and the plurality of support surfaces 261 and the plurality of hooks 262 may be alternately arranged.

[0109] The ball 250 may be disposed on the outside of the moving frame 240. The ball 250 may be configured to be contactable to an outer surface of the moving body 241. The ball 250 may be disposed on the support surface 261 of the supporter 260. The ball 250 may be configured to be movable along the support surface 261 of the supporter 260. The ball 250 may be guided to move along the second direction R2 by the inclination of the support surface 261 of the supporter 260.

[0110] For example, a plurality of the balls 250 and a plurality of support surfaces 261 may be provided, and the number of balls 250 and the number of support surfaces 261 may be the same. In the drawing, it is illustrated that three balls 250 and three support surfaces 261 are provided, but the present disclosure is not limited thereto. Alternatively, a single ball 250 and a single support surface 261 may also be provided.

[0111] FIG. 10 illustrates a portion of the brush assembly according to one embodiment of the present disclosure. FIG. 11 is a cross-sectional side view illustrating a portion of the brush assembly according to one embodiment of the present disclosure. FIG. 12 is a cross-sectional view of the brush assembly according to one embodiment of the present disclosure.

[0112] Referring to FIGS. 10 to 12, the rotational force of the driving device 210 may be transmitted to the rotating frame 230. The rotational force of the rotating frame 230 may be transmitted to the cover 300. The rotational force of the cover 300 may be transmitted to the brush holder 120 and the side brush 110 mounted on the brush holder 120. At least one gear 212 (for example, the third gear 2123) of the driving device 210 may be coupled to the first end 2301 of the rotating frame 230, and the cover 300 may be coupled to the second end 2302 of the rotating frame 230. Accordingly, based on the operation of the driving motor 211, at least one gear 212, the rotating frame 230, the cover 300, the brush holder 120, and the side brush 110 may rotate. The side brush 110 may be configured to strike or sweep away foreign substances on a surface to be cleaned while rotating.

[0113] The rotating frame 230 and the moving frame 240 may be rotatably coupled. As the rotating frame 230 rotates, the moving frame 240 may be movable in the vertical direction. In order for the moving frame 240 to move up and down by the rotation of the rotating frame 230, the coupling protrusion 232 of the rotating frame 230 and the coupling groove 242 of the moving frame 240 may be formed to be inclined along the rotation direction. For example, the coupling protrusion 232 and the coupling groove 242 may have a shape that is inclined downward along the first direction R1. For example, the coupling protrusion 232 and the coupling groove 242 may have an approximately spiral shape.

[0114] Accordingly, when the rotating frame 230 rotates in the first direction R1, the moving frame 240 may naturally rise, and when the rotating frame 230 rotates in the second direction R2, the moving frame 240 may naturally descend. However, in order for the moving frame 240 to descend and press the brush holder 120, it may be difficult to provide sufficient force with only the self-weight of the moving frame 240. Therefore, as the lift device 200 applies a frictional force to the moving frame 240 using the ball 250, the moving frame 240 may more effectively press the brush holder 120 downward.

[0115] The ball guide 223 may receive the ball 250. The ball 250 may be configured to be movable within the ball guide 223. The ball guide 223 may be configured to widen along the first direction R1 and to narrow along the second direction R2 (refer to FIG. 12). The ball guide 223 may expand along the first direction R1. The ball guide 223 may taper along the second direction R2. The first end 2231 of the ball guide 223 may be larger than the second end 2232 of the ball guide 223.

[0116] The supporter 260 may support the ball 250 received in the ball guide 223. For example, the support surface 261 of the supporter 260 may be provided to be inclined upward along the first direction R1 (refer to FIGS. 7 to 9). For example, the support surface 261 of the supporter 260 may be provided to be inclined downward along the second direction R2 (refer to FIGS. 7 to 9).

[0117] When the rotating frame 230 rotates in the first direction R1 as the shape of the ball guide 223 and the support surface 261, no frictional force may be generated between the ball 250 and the moving frame 240.

[0118] For example, as the rotating frame 230 rotates in the first direction R1, the moving frame 240 may receive a force from the rotating frame 230 to rotate in the first direction R1, and the ball 250 may move toward a wide side of the ball guide 223 (toward the first end 2231). After or while the ball 250 moves toward the wide side of the ball guide 223 (toward the first end 2231), the ball 250 may be guided toward a narrow side of the ball guide 223 (toward the second end 2232) by the inclination of the support surface 261. The ball 250 may always be in a state of being movable toward the wide side of the ball guide 223. Accordingly, when the rotating frame 230 rotates in the first direction R1, the ball 250 may be configured not to restrict the moving frame 240 from rotating in the first direction R1.

[0119] When the rotating frame 230 rotates in the second direction R2 as the shape of the ball guide 223 and the support surface 261, a frictional force may be generated between the ball 250 and the moving frame 240.

[0120] For example, as the rotating frame 230 rotates in the second direction R2, the moving frame 240 may receive a force from the rotating frame 230 to rotate in the second direction R2, and the ball 250 may move toward the narrow side (toward the second end 2232) of the ball guide 223. In addition, the ball 250 may be guided toward the narrow side (toward the second end 2232) of the ball guide 223 by the inclination of the support surface 261. The ball 250 may move toward the narrow side of the ball guide 223 and then stop. The ball 250 may interfere with the moving frame 240. Thus, when the rotating frame 230 rotates in the second direction R2, the ball 250 may be configured to restrict the moving frame 240 from rotating in the second direction R2.

[0121] Meanwhile, the moving frame 240 may move in the vertical direction, and the cleaner 1 may include a structure for limiting a movement range of the moving frame 240. For example, the moving frame 240 may include a flange 243, the case 220 may include a first stopper 224, and the supporter 260 may include a second stopper 263.

[0122] The flange 243 may be formed on the outer surface of the moving body 241 (refer to FIGS. 7 to 9). For example, the flange 243 may protrude from the outer surface of the moving body 241. For example, the flange 243 may have a shape extending along a circumferential direction of the moving body 241.

[0123] The first stopper 224 may be contactable to the flange 243 to restrict the moving frame 240 from moving upward. In a state in which the moving frame 240 is raised to the maximum, the flange 243 may interfere with the first stopper 224. While the flange 243 interferes with the first stopper 224, the moving frame 240 may no longer move upward.

[0124] The second stopper 263 may be contactable to the flange 243 to restrict the moving frame 240 from moving downward. When the moving frame 240 is lowered to the maximum, the flange 243 may interfere with the second stopper 263. While the flange 243 interferes with the second stopper 263, the moving frame 240 may no longer move downward.

[0125] FIG. 13 is a front view illustrating a state in which the cleaner according to one embodiment of the present disclosure operates in a first mode. FIG. 14 is a cross-sectional view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the first mode. FIG. 15 is a cross-sectional side view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the first mode. FIG. 16 is a front view illustrating a state in which the cleaner according to one embodiment of the present disclosure operates in a second mode. FIG. 17 is a cross-sectional view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the second mode. FIG. 18 is a cross-sectional side view of the brush assembly when the cleaner according to one embodiment of the present disclosure operates in the second mode.

[0126] Referring to FIGS. 13 to 18, the cleaner 1 according to one embodiment of the present disclosure may operate in a first mode M1 or a second mode M2. The cleaner 1 may be configured to be switchable between the first mode M1 and the second mode M2. The cleaner 1 may be configured to switch from the first mode M1 to the second mode M2 under a predetermined condition. For example, when a liquid contaminant or an obstacle (for example, a carpet, and the like) is detected during a cleaning operation of the cleaner 1, the cleaner 1 may switch from the first mode M1 to the second mode M2.

[0127] Referring to FIGS. 13 to 15, the cleaner 1 may operate in the first mode M1. When the cleaner 1 operates in the first mode M1, the side brush 110 may be lowered or maintained in a lowered state. The side brush 110 may be configured to come into contact with a surface to be cleaned (C) and strike or sweep away foreign substances on the surface to be cleaned (C). For example, the first mode M1 of the cleaner 1 may be a normal cleaning mode of the cleaner 1.

[0128] While the cleaner 1 operates in the first mode M1, the rotating frame 230 may rotate in the first direction R1.

[0129] Based on the rotating frame 230 rotating in the first direction R1, the moving frame 240 may be configured to move upward (refer to an arrow in FIG. 15). As the rotating frame 230 rotates in the first direction R1, the moving frame 240 may be raised while rotating in the first direction R1 together with the rotating frame 230. When the moving frame 240 is raised to the maximum, the flange 243 of the moving frame 240 may interfere with the first stopper 224. At this time, the moving frame 240 may not rise any further, but may rotate in the first direction R1 together with the rotating frame 230.

[0130] As the moving frame 240 rises, the spring 400 may elastically bias the brush holder 120 upward. The brush holder 120 may move upward due to an elastic restoring force of the spring 400.

[0131] The ball 250 may be configured to allow the moving frame 240 to rotate in the first direction R1. While the rotating frame 230 rotates in the first direction R1, no frictional force may be generated between the ball 250 and the moving frame 240. The ball 250 may move along the first direction R1 within the ball guide 223 by the moving frame 240, and may be guided by the support surface 261 and move along the second direction R2. That is, the ball 250 may move toward the wide side of the ball guide 223 (toward the first end 2231) and may be guided toward the narrow side of the ball guide 223 (toward the second end 2232) by the inclination of the support surface 261. The ball 250 may be repeatedly move within the ball guide 223. That is, while the rotating frame 230 rotates in the first direction R1, the ball 250 may always move within the ball guide 223 and may not hinder the rotation of the moving frame 240 in the first direction R1. For example, when the rotating frame 230 rotates in the first direction R1, a gap may be formed between the moving frame 240 and the ball 250. As a result, the moving frame 240 may freely rotate in the first direction R1. That is, the rotation of the moving frame 240 in the first direction R1 may not be restricted by the ball 250.

[0132] Referring to FIGS. 16 to 18, the cleaner 1 may operate in the second mode M2. When the cleaner 1 operates in the second mode M2, the side brush 110 may be raised or remain in a raised state. The side brush 110 may not come into contact with the surface to be cleaned (C). The side brush 110 may be spaced apart from the surface to be cleaned (C). For example, the second mode M2 of the cleaner 1 may be a liquid detection mode.

[0133] While the cleaner 1 operates in the second mode M2, the rotating frame 230 may rotate in the second direction R2.

[0134] Based on the rotating frame 230 rotating in the second direction R2, the moving frame 240 may be configured to move downward (refer to an arrow in FIG. 18). As the rotating frame 230 rotates in the second direction R2, the moving frame 240 may be lowered while rotating in the second direction R2 together with the rotating frame 230. When the moving frame 240 is lowered to the maximum, the flange 243 of the moving frame 240 may interfere with the second stopper 263. At this time, the moving frame 240 may no longer be lowered.

[0135] Based on the rotating frame 230 rotating in the second direction R2, the moving frame 240 may be configured to move downward to press the brush holder 120. The brush holder 120 may be disposed under the moving frame 240. The moving frame 240 may be disposed above the brush holder 120. The moving frame 240 may press the brush holder 120 downward. While the brush holder 120 is pressed by the moving frame 240, the brush holder 120 may be elastically deformed. The brush holder 120 may be configured to lift the side brush 110 by being elastically deformed by the moving frame 240. The brush holder 120 may allow the side brush 110 to be spaced upward from the surface to be cleaned (C).

[0136] For example, as the holder body 121 is pressed by the moving frame 240, the second end 1232 of the brush mounting portion 123 may move upward by the elastic portion 122. The moving frame 240 may press the holder body 121 downward. The elastic portion 122 may be elastically deformed. A portion of the elastic portion 122 may be folded. As the elastic portion 122 is elastically deformed, at least a portion of the brush mounting portion 123 may rise upward, and the side brush 110 mounted on the brush mounting portion 123 may be lifted.

[0137] While the moving frame 240 presses the brush holder 120, the spring 400 may be compressed by the brush holder 120. The spring 400 may be compressed in a space between the holder body 210 and the cover 300.

[0138] The ball 250 may be configured to restrict the moving frame 240 from rotating in the second direction R2. While the rotating frame 230 rotates in the second direction R2, a frictional force may be generated between the ball 250 and the moving frame 240. As the rotating frame 230 rotates in the second direction R2, the ball 250 may come into contact with the moving frame 240 on the outside of the moving frame 240 to generate a frictional force. The ball 250 may be movable along the second direction R2 within the ball guide 223 by the moving frame 240. The ball 250 may be guided by the support surface 261 and movable along the second direction R2. That is, the ball 250 may be guided toward the narrow side of the ball guide 223 (toward the second end 2232). The ball 250 may be guided in the second direction R2 within the ball guide 223 and then stop. That is, while the rotating frame 230 rotates in the second direction R2, the ball 250 may interfere with the moving frame 240 and hinder the rotation of the moving frame 240 in the second direction R2. For example, when the rotating frame 230 rotates in the second direction R2, no gap may be generated between the moving frame 240 and the ball 250. Accordingly, the moving frame 240 may not freely rotate in the second direction R2. That is, the rotation of the moving frame 240 in the second direction R2 may be restricted by the ball 250.

[0139] FIG. 19 is a control block diagram of the cleaner according to one embodiment of the present disclosure.

[0140] Referring to FIG. 19, the cleaner 1 according to one embodiment of the present disclosure may include the obstacle sensor 71, a liquid sensor 72, the battery 50, a user interface 83, a communication circuitry 84, the driving portion 20, the suction motor 30, a mop driving portion 61, the lift device 200, and / or a controller 80.

[0141] The obstacle sensor 71 may detect an obstacle that hinders the movement of the cleaner 1. The obstacle may refer to any object that protrudes from the floor of the cleaning area and hinders the movement of the cleaner 1. For example, not only furniture such as tables and sofas located in the cleaning area, but also walls dividing the space may correspond to the obstacle, and an object such as thresholds or round bars that the cleaner 1 may climb and descend may also correspond to the obstacle.

[0142] For example, the obstacle sensor 71 may detect an obstacle in a non-contact manner using electromagnetic waves such as infrared rays, visible light, or ultrasonic waves. For example, the obstacle sensor 71 may detect infrared rays reflected from an obstacle after emitting infrared rays, and output an intensity of the detected infrared rays, or a time interval (Time Of Flight: TOF), in which the reflected infrared rays are detected after emitting infrared rays, to the controller 80. The controller 80 may calculate the presence or absence of an obstacle or a distance between the obstacle and the cleaner 1 based on output values of the obstacle sensor 71.

[0143] For example, the obstacle sensor 71 may include a transmitter configured to emit electromagnetic waves, and a receiver configured to receive electromagnetic waves reflected from an obstacle. The transmitter may be disposed at the front of the housing 10 and transmit electromagnetic waves toward the front of the housing 10. In addition, according to embodiments, the transmitter may include a light emitting diode (LED) configured to generate electromagnetic waves and a wide-angle lens provided to refract the transmitted electromagnetic waves to spread the electromagnetic waves in all directions.

[0144] For example, the obstacle sensor 71 may include a camera configured to obtain images of the vicinity (for example, front side, rear side and / or lateral side) of the cleaner 1. The controller 80 may calculate the presence or absence of an obstacle or a distance between the obstacle and the cleaner 1 based on the image obtained by the obstacle sensor 71.

[0145] The liquid sensor 72 may be configured to detect liquid contaminants on a surface to be cleaned. The liquid sensor 72 may obtain information (hereinafter “sensor data”) about the floor area at the front and / or rear of the housing 10.

[0146] For example, the liquid sensor 72 may include a camera. In this case, sensor data collected by the liquid sensor 72 may be image data.

[0147] For example, the liquid sensor 72 may include a light-emitting portion configured to emit light, and a camera. The liquid sensor 72 may collect image data in such a way that the light-emitting portion emits light and the camera obtains an image. The liquid sensor 72 may transmit the image data to the controller 80.

[0148] For example, the liquid sensor 72 may include a transmitter configured to emit a predetermined signal (for example, electromagnetic waves, light, infrared rays, and the like) and a receiver configured to receive a predetermined signal reflected from an obstacle. In this case, sensor data collected by the liquid sensor 72 may be light reception data. The transmitter of the liquid sensor 72 may be provided in the housing 10 and may transmit a predetermined signal toward the front and / or rear of the housing 10. In addition, depending on the embodiment, the transmitter may include a signal generator (for example, LED) configured to generate a predetermined signal and a wide-angle lens provided to refract the generated signal to spread the signal in all directions.

[0149] For example, the liquid sensor 72 may detect a signal reflected from an obstacle after emitting a predetermined signal to the front and / or rear of the housing 10, and output an intensity of the detected signal or a time interval (Time Of Flight: TOF) in which the reflected signal is detected after emitting the predetermined signal, to the controller 80.

[0150] The controller 80 may identify whether the type of foreign substances on a surface to be cleaned corresponds to a liquid foreign substance based on the sensor data obtained by the liquid sensor 72.

[0151] The battery 50 may supply power to various electrical components of the cleaner 1. The battery 50 may be charged while the cleaner 1 is docked to the station. The cleaner 1 may include a battery sensor configured to detect an amount of charge of the battery 50.

[0152] The controller 80 may control the driving portion 20 to allow the cleaner 1 to return to the station when the amount of charge of the battery 50 is less than or equal to a predetermined amount of charge.

[0153] The user interface 83 may include at least one output interface and at least one input interface.

[0154] The at least one input interface may convert sensory information received from a user into an electrical signal.

[0155] The at least one input interface may include a tact switch, a push switch, a slide switch, a toggle switch, a microswitch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0156] At least one output interface may visually or audibly transmit information related to the operation of the cleaner 1 to a user.

[0157] For example, the at least one output interface may transmit information related to settings of the cleaner 1 and an operating time of the cleaner 1 to a user. The information related to the operation of the cleaner 1 may be output through a display, an indicator, and / or a voice. The at least one output interface may include a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, and the like.

[0158] The cleaner 1 may process user input received through the user interface 83 and output information related to the cleaner 1 through the user interface 83.

[0159] The communication circuitry 84 may communicate with an external device (for example, a server, a user device, a home appliance, and a station) via wires and / or wirelessly.

[0160] The communication circuitry 84 may transmit data to an external device or receive data from the external device. For the communication, the communication circuitry 84 may establish a direct (for example, wired) communication channel or a wireless communication channel between external devices, and support the performance of the communication through the established communication channel. According to one embodiment, the communication circuitry 84 may include a wireless communication module (for example, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (for example, a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module may communicate with an external device through a first network (for example, a short-range wireless communication network such as Bluetooth, wireless fidelity (Wi-Fi) direct, or infrared data association (IrDA)) or a second network (for example, a long-range wireless communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (for example, LAN or WAN). These various types of communication modules may be integrated as one component (for example, a single chip) or implemented as a plurality of separate components (for example, a plurality of chips).

[0161] The short-range wireless communication module may include a Bluetooth communication module, a Bluetooth Low Energy (BLE) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, and a Zigbee communication module, an infrared data association (IrDA) communication module, a Wi-Fi Direct (WFD) communication module, an ultrawideband (UWB) communication module, an Ant+communication module, a microwave (uWave) communication module, and the like, but is not limited thereto.

[0162] The long-range wireless communication module may include a communication module that performs various types of long-range wireless communication, and may include a mobile communication interface. The mobile communication interface transmits and receives radio signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0163] The communication circuitry 84 may communicate with an external device through an access point (AP). The access point (AP) may connect a local area network (LAN), to which the cleaner 1 is connected, to a wide area network (WAN) to which a server is connected. The cleaner 1 may be connected to the server through the wide area network (WAN).

[0164] The driving portion 20 may include driving wheels 21 and 22 provided in the housing 10, and a wheel motor configured to provide power to the driving wheels 21 and 22.

[0165] The driving wheels 21 and 22 may move the housing 10 by rotation thereof. The housing 10 may be moved forward, backward, or rotated by rotation of the driving wheels 21 and 22. For example, when both the left and right main wheels 21 are rotated forward, the housing 10 may be moved straight forward, and when both the left and right main wheels 21 are rotated backward, the housing 10 may be moved straight backward. When the left and right main wheels 21 are rotated in the same direction but at different speeds, the housing 10 may curve to the right or left side. When the left and right main wheels 21 are rotated in different directions, the housing 10 may be rotated to the left or right side in place.

[0166] The wheel motor generates a rotational force to rotate the driving wheels 21 and 22. A direct current (DC) motor or a brushless direct current (BLDC) motor may be employed as the wheel motor, but there is no limitation in the type of wheel motor in one embodiment of the cleaner 1. This applies not only to the wheel motor but also to other motors included in the cleaner 1.

[0167] The wheel motors may include a left wheel motor configured to rotate the left driving wheel, and a right wheel motor configured to rotate the right driving wheel. Each of the left and right wheel motors may operate independently according to a control signal from the controller 80, and the housing 10 may be moved forward, backward, or rotated according to the operation of the left and right wheel motors.

[0168] The controller 80 may control the movement of the cleaner 1 by controlling the driving portion 20 (for example, wheel motor).

[0169] The suction motor 30 may rotate a suction fan configured to generate a suction force to draw foreign substances scattered by at least one brush 40 and / or 110 into the dust collector.

[0170] The controller 80 may control ON / OFF, intensity, and rotation speed of the suction motor 30.

[0171] The mop driving portion 61 may include a rotation driving portion configured to rotate the mop 60 and / or a lifting driving portion configured to raise or lower the mop 60.

[0172] The controller 80 may rotate the mop 60 by controlling the rotation driving portion. The rotation driving portion may include a motor for rotating the mop 60, and a driving circuit for driving the motor.

[0173] The controller 80 may raise or lower the mop 60 by controlling the lifting driving portion. That is, the controller 80 may move the mop 60 by controlling the lifting driving portion. The lifting driving portion may include an actuator configured to move the mop 60.

[0174] The lift device 200 may be configured to raise or lower the side brush 110. The lift device 200 may include the driving device 210. The driving device 210 may include the driving motor 211, and a power transmission device (for example, at least one gear 212) for transmitting power generated from the driving motor 211 to the rotating frame 230.

[0175] The controller 80 may control the driving device 210 to rotate or raise and lower the side brush 110. The controller 80 may control the driving device 210 to operate the cleaner 1 in the first mode M1 or the second mode M2. The controller 80 may control the driving device 210 to separate the side brush 110 from the floor based on satisfaction of a predetermined condition.

[0176] For example, the controller 80 may control the driving device 210 to lift the side brush 110 based on the liquid sensor 72 detecting liquid contaminants on a surface to be cleaned. Particularly, the controller 80 may control the driving motor 211 to allow the rotating frame 230 to rotate in the second direction R2. Accordingly, the side brush 110 may not come into contact with the surface to be cleaned (C) and may be prevented from being contaminated caused by liquid contaminants.

[0177] The controller 80 may control the overall operation of the cleaner 1.

[0178] The controller 80 may include at least one processor 81 configured to control the operation of the cleaner 1, and at least one memory 82 in which a program and data for controlling the operation of the cleaner 1 are stored.

[0179] The at least one processor 81 controls the overall operation of the cleaner 1. Particularly, the at least one processor 81 may be connected to each component of the cleaner 1 and may control the overall operation of the cleaner 1. For example, the at least one processor 81 may be electrically connected to the memory 82 and may control the overall operation of the cleaner 1. The processor 81 may be composed of one or more processors.

[0180] The at least one processor 81 may perform operations of the cleaner 1 according to various embodiments by executing at least one instruction stored in the memory 82.

[0181] The at least one memory 82 may store data required for various embodiments. The memory 82 may be implemented in the form of a memory embedded in the cleaner 1 or in the form of a memory detachable from the cleaner 1 depending on the purpose of data storage. For example, data for operating the cleaner 1 may be stored in a memory embedded in the cleaner 1, and data for an extended function of the cleaner 1 may be stored in a memory detachable from the cleaner 1. Meanwhile, the memory embedded in the cleaner 1 may be implemented as at least one of volatile memory (for example, dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), and non-volatile memory (for example, one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (for example, NAND flash or NOR flash), hard drive, or solid state drive (SSD)). In addition, the memory detachable from the cleaner 1 may be implemented in the form of a memory card (for example, compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC)), external memory connectable to a USB port (for example, USB memory), and the like.

[0182] The at least one processor 81 may include one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Accelerated Processing Unit (APU), a Many Integrated Core (MIC), a Digital Signal Processor (DSP), a Neural Processing Unit (NPU), a hardware accelerator, or a machine learning accelerator. The at least one processor 81 may control one or any combination of other components of the cleaner 1, and may perform operations related to communication or data processing. The at least one processor 81 may execute at least one program or instruction stored in the memory 82. For example, the at least one processor 81 may perform a method according to at least one embodiment of the present disclosure by executing at least one instruction stored in the memory 82.

[0183] According to one embodiment of the present disclosure, the controller 80 may control the driving portion 20 according to predetermined conditions. Controlling the driving portion 20 may include moving the cleaner 1.

[0184] According to one embodiment of the present disclosure, the controller 80 may control the suction motor 30 according to predetermined conditions. Controlling the suction motor 30 may include adjusting an intensity of the suction motor 30.

[0185] According to one embodiment of the present disclosure, the controller 80 may control the mop driving portion 61 according to predetermined conditions. Controlling the mop driving portion 61 may include rotating or moving the mop 60.

[0186] According to one embodiment of the present disclosure, the controller 80 may control the driving device 210 according to predetermined conditions. Controlling the driving device 210 may include raising or lowering the side brush 110. For example, based on the liquid sensor 72 detecting liquid contaminants on a surface to be cleaned, the controller 80 may control the driving motor 211 to separate the side brush 110 from the surface to be cleaned.

[0187] The cleaner 1 according to one embodiment of the present disclosure may include the housing 10 including the suction port 11, the driving device 210 disposed inside the housing, the rotating frame 230 rotatable by the driving device, the moving frame 240 rotatably couplable to the rotating frame and movable in the vertical direction by rotation of the rotating frame, the side brush 110 disposed in a lower portion of the housing and configured to guide foreign substances on a surface to be cleaned (C) to the suction port, and the brush holder 120 on which the side brush 110 is mounted. The brush holder 120 may be configured to lift the side brush 110 by being elastically deformed while being pressed by the moving frame 240.

[0188] The brush holder 120 may be disposed under the moving frame 240.

[0189] The moving frame 240 may be configured to move upward based on the rotation of the rotating frame 230 in the first direction R1. The moving frame 240 may be configured to move downward to press the brush holder 120 based on the rotation of the rotating frame in the second direction R2 opposite to the first direction.

[0190] The cleaner 1 may further include the ball 250 provided to generate a frictional force by contacting the moving frame on an outside of the moving frame as the rotating frame rotates in the second direction R2.

[0191] The ball 250 may be configured to allow the moving frame to rotate in the first direction R1 and configured to restrict the moving frame from rotating in the second direction R2.

[0192] The cleaner 1 may further include the ball guide 223 configured to receive the ball and formed to widen along the first direction R1 and to narrow along the second direction R2.

[0193] The cleaner 1 may further include the supporter 260 provided to support the ball 250 and including the support surface 261 inclined downward.

[0194] The cleaner 1 may further include the case 220 provided to receive the driving device. The supporter 260 may be couplable to the case. The supporter 260 may be configured to prevent the moving frame from separating from the rotating frame while being coupled to the case.

[0195] The moving frame may include the flange 243. The case may include the first stopper 224 contactable to the flange to restrict the moving frame from moving upward. The supporter may include the second stopper 263 spaced downward from the first stopper and contactable to the flange to restrict the moving frame from moving downward.

[0196] The brush holder 120 may include the holder body 121 configured to be pressed by the moving frame. The brush holder 120 may include the elastic portion 122 formed on an outer surface of the holder body and including an elastic material. The brush holder 120 may include the brush mounting portion 123 including the first end 1231 connected to the elastic portion, and the second end 1232 to which the side brush is configured to be mounted. The second end 1232 of the brush mounting portion may be configured to move upward by the elastic portion as the holder body is pressed by the moving frame.

[0197] The cleaner 1 may further include the cover 300 couplable to the rotating frame 230. The cover 300 may be configured to transmit a rotational force of the rotating frame to the brush holder and the side brush while being coupled to the rotating frame.

[0198] The cleaner 1 may further include the spring 400 disposed between the brush holder 120 and the cover 300 and configured to elastically bias the brush holder upward.

[0199] The rotating frame 230 may include the rotating body 231, and the coupling protrusion 232 provided to protrude from an outer surface of the rotating body and formed to be inclined along a rotational direction of the rotating frame. The moving frame 240 may include the moving body 241 provided to surround the rotating body, and the coupling groove 242 recessed from an inner surface of the moving body and configured to allow the coupling protrusion to be inserted thereinto.

[0200] The driving device 210 may include the driving motor 211, the first gear 2121 rotatable based on operation of the driving motor, the second gear 2122 rotatable by the first gear by being engaged with the first gear, and the third gear 2123 rotatable by the second gear by being engaged with the second gear and configured to be coupled to the rotating frame.

[0201] The cleaner 1 may include the liquid sensor 72 configured to detect liquid contaminants on the surface to be cleaned (C). The cleaner 1 may include the controller 80 configured to control the driving device 210 so as to lift the side brush based on the liquid sensor detecting liquid contaminant on the surface to be cleaned.

[0202] The cleaner 1 according to one embodiment of the present disclosure may include the side brush 110 configured to sweep a surface to be cleaned, the brush holder 120 on which the side brush is mounted, and the lift device 200 for moving the side brush. The lift device 200 may include the driving motor 210, the rotating frame 230 rotatable as the driving motor operates, and the moving frame 240 disposed above the brush holder 120. The moving frame 240 may be configured to rise as the rotating frame 230 rotates in the first direction R1. The moving frame 240 may be configured to descend and press the brush holder 120 as the rotating frame 230 rotates in the second direction R2 opposite to the first direction.

[0203] The brush holder 120 may be configured to allow the side brush 110 to be spaced upward from the surface to be cleaned by being elastically deformed while being pressed by the moving frame.

[0204] The cleaner 1 may include the gear 2123 coupled to the first end 2301 of the rotating frame to transmit a rotational force generated from the driving motor to the rotating frame, and the cover 300 coupled to the second end 2302 of the rotating frame to transmit the rotational force of the rotating frame to the brush holder.

[0205] The lift device 200 may further include the ball 250 provided to generate a frictional force by coming into contact with the moving frame based on the rotating frame rotating in the second direction.

[0206] The lift device 200 may further include the ball guide 223 configured to receive the ball and formed to widen along the first direction and to narrow along the second direction.

[0207] As is apparent from the above description, a cleaner may separate a side brush from a surface to be cleaned under a predetermined condition. For example, the cleaner may operate to lift the side brush when the cleaner detects liquid contaminants on the surface to be cleaned. Accordingly, it is possible to prevent / suppress contamination of the side brush caused by the liquid contaminants. The usability of the cleaner may be increased.

[0208] Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0209] While the present disclosure has been particularly described with reference to exemplary embodiments, it should be understood by those of skilled in the art that various changes in form and details may be made without departing from the spirit and scope of the present disclosure.

Claims

1. A cleaner comprising:a housing including a suction port;a brush holder in a lower portion of the housing, and configured to elastically deform;a side brush on the brush holder, and configured to rotate to guide foreign substances from a surface to be cleaned to the suction port;a rotatable frame coupled to the side brush and configured to rotate relative to the housing so as to rotate the side brush;a driving device inside the housing and configured to rotate the rotatable frame; anda movable frame couplable to the rotatable frame, wherein the brush holder, the side brush, the rotatable frame, the driving device, and the movable frame are configured such that,with the movable frame coupled to the rotatable frame and the rotatable frame rotated by the driving device,the movable frame is movable in a vertical direction of the housing to press and thereby elastically deform the brush holder to lift the side brush so as to space the side brush away from the surface to be cleaned.

2. The cleaner of claim 1, whereinthe brush holder is under the movable frame relative to the vertical direction.

3. The cleaner of claim 1, whereinthe movable frame is configured to:move in the vertical direction upward based on rotation of the rotatable frame in a first direction, andmove in the vertical direction downward to press and thereby elastically deform the brush holder based on rotation of the rotatable frame in a second direction opposite to the first direction.

4. The cleaner of claim 3, further comprising:a ball configured to contact an outside of the movable frame such that, with the outside of the movable frame contacted by the ball and rotation of the rotatable frame in the second direction, the ball generates a frictional force so as to restrict movement of the movable frame in the vertical direction.

5. The cleaner of claim 4, whereinthe ball is configured to allow rotation of the movable frame in the first direction and restrict rotation of the movable frame in the second direction.

6. The cleaner of claim 4, further comprising:a ball guide in which the ball is received, the ball guide tapered from a first end to a second end such that the ball guide widens along the first direction and narrows along the second direction.

7. The cleaner of claim 4, further comprising:a supporter on which the ball is supported, and including a support surface inclined downward.

8. The cleaner of claim 7, further comprising:a case in which the driving device is received,wherein the supporter is couplable to the case, andthe supporter is configured such that, with the supporter coupled to the case, separation of the movable frame from the rotatable frame is prevented.

9. The cleaner of claim 8, whereinthe movable frame includes a flange,the case includes a first stopper contactable by the flange to restrict movement of the movable frame in the vertical direction upward,the supporter includes a second stopper, andthe supporter is configured such that, with the supporter coupled to the case, the second stopper is spaced downward from the first stopper and contactable by the flange to restrict movement of the movable frame in the vertical direction downward.

10. The cleaner of claim 1, whereinthe brush holder includes:a holder body configured to be pressed by the movable frame,an elastic portion on an outer surface of the holder body, the elastic portion including an elastic material,a brush mounting portion including:a first end connected to the elastic portion, anda second end to which the side brush is mounted, andthe brush holder is configured such that, with the holder body pressed by the movable frame, the elastic portion elastically deforms and the second end moves in the vertical direction.

11. The cleaner of claim 1, further comprising:a cover couplable to the rotatable frame, the cover configured such that, with the cover coupled to the rotatable frame and the rotatable frame rotated, a rotational force of the rotatable frame is transmitted to the brush holder so as to be transmitted to the side brush to rotate the side brush.

12. The cleaner of claim 11, further comprising:a spring between the brush holder and the cover, and configured to elastically bias the brush holder in the vertical direction upward.

13. The cleaner of claim 1, whereinthe rotatable frame includes:a rotating body, anda coupling protrusion that protrudes from an outer surface of the rotating body, the coupling protrusion inclined along a rotational direction of the rotatable frame,the movable frame includes:a moving body, anda coupling groove recessed from an inner surface of the moving body and into which the coupling protrusion is insertable, andthe rotatable frame and the movable frame are configured such that, with the coupling protrusion inserted into the coupling groove the movable frame is coupled to the rotatable frame and the moving body surrounds the rotating body.

14. The cleaner of claim 1, whereinthe driving device includes:a driving motor,a first gear that is rotatable based on operation of the driving motor,a second gear engaged with the first gear so as to be rotatable by rotation of the first gear, anda third gear engaged with the second gear so as to be rotatable by rotation of the second gear, the third gear coupled to the rotatable frame and configured to rotate the rotatable frame based on rotation of the third gear.

15. The cleaner of claim 1, further comprising:a sensor configured to detect a liquid contaminant on the surface to be cleaned and produce a corresponding data, anda controller configured to:with the movable frame coupled to the rotatable frame and the rotatable frame rotated by the driving device,based on the data produced by the sensor indicating the liquid contaminant on the surface to be cleaned, control the driving device to lift the side brush so as to space the side brush away from the surface to be cleaned.

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