Automatic cleaning device

Abstract

An automatic cleaning device (001), including a mobile platform (100), a lifting station (200), a cleaning module (300), a liquid supplying module (400), and a collecting module (500). The mobile platform (100) is configured to automatically move in a target direction on a surface to be cleaned. The lifting station (200) is connected to the mobile platform (100) and is configured to move upwards or downwards with respect to the mobile platform (100). The cleaning module (300) is connected to the lifting station (100) and configured to clean the surface to be cleaned; the liquid supplying module (400) is connected to the mobile platform (100) and configured to provide cleaning liquid to the surface to be cleaned; the collecting module (500) is connected to the mobile platform (100) and configured to collect the cleaning liquid. A height of the cleaning module (300) of the automatic cleaning device (001) is adjustable, and furthermore, the automatic cleaning device (001) has a great cleaning strength and is capable of collecting dirty cleaning liquid, thus, the automatic cleaning device can be applied broadly. 20 24 22 77 10 29 O ct 2 02 4 2 0 2 4 2 2 7 7 1 0 2 9 O c t 2 0 2 4

Description

cleaning-head 320 (or, of the cleaning-head base board 322) differ. However, due to the elasticity of the cleaning-head base board 322 and presence of the elastic support 328, the distance between the cleaning-head 320 and the bottom surface 201 of the lifting station 200 is elastically adjustable within a certain range, thereby avoiding the pressure from the surface 25 to be cleaned to be concentrated at one point of the surface of the cleaning-head 320. As a result, the cleaning-head 320 becomes more durable.

[00157] In some embodiments of the present disclosure, the driving unit 330, the cleaning-head base board 322 and the lifting station 200 may be combined to form a variety of driving mechanisms to drive the cleaning-head 320 to perform the reciprocating movement, 30 which includes a component perpendicular to the target direction. FIGS. 10 to 13 depict some examples of the cleaning-head driving mechanisms.

[00158] FIG. 10 illustrates a cleaning-head driving mechanism 010 based on a slider-crank mechanism according to an embodiment of the present disclosure. The driving mechanism 010 may be applicable to the driving mechanism 300. The driving mechanism 010 35 includes a driving wheel 334, a cleaning-head base board 322 and a groove 344. 2024227710   29 Oct 2024

[00159] The groove 344 is provided on a bottom surface 201 of a lifting station 200. The cleaning-head base board 322 includes a swing end 327 and a sliding end 326. The swing end 327 is connected to the driving wheel 334 via a pivot 329. Point O is a swing center of the driving wheel 334, and point A is a pivot center of the swing end 327. Points O and A do not 5 coincide with each other, and a distance between points O and A is a preset distance . The sliding end 326 includes a slider 325. The slider 325 is a protrusion on the sliding end 326. The slider 325 is inserted in the groove 344 and is slidable along the groove 344. Therefore, the driving wheel 334, the cleaning-head base board 322 and the slider 325 and the groove 344 together form the slider-crank mechanism. 10

[00160] When the driving wheel 334 rotates, point A conducts a circular swing motion. Accordingly, the swing end 327 of the cleaning-head base board 322 follows point A to conduct a circular swing motion, while the slider 325 slides in the groove 344 to conduct a back-and-forth linear motion, resulting in the reciprocating movement of the cleaning-head base board 322. According to some embodiments of the present disclosure, the groove 344 is 15 approximately perpendicular to the target direction of the moving speed of the mobile platform 100, so the linear movement of the sliding end 326 includes a component perpendicular to the target direction, and the circular swing motion of the swing end 327 includes both a component perpendicular to the target direction and a component parallel to the target direction. 20

[00161] In FIG. 10, the mobile platform 100 moves at a speed of V0 in the target direction, while the groove 344 is substantially perpendicular to the target direction. Accordingly, the reciprocating movement of the cleaning-head base board 322 as a whole includes both a motion component perpendicular to the target direction of the automatic cleaning device 001 and a motion component parallel to the target direction of the automatic 25 cleaning device 001.

[00162] FIG. 11 illustrates another cleaning-head driving mechanism Oil based on a slider-crank mechanism according to embodiments of the present disclosure. The driving mechanism Oil is applicable to the cleaning module 300. The driving mechanism Oil includes a driving wheel 334, a cleaning-head base board 362 and a slider 365. 30

[00163] The slider 365 is mounted on the lower surface 201 of the lifting station 200 and is a protrusion on the lower surface 201. The cleaning-head base board 362 includes a swing end 367 and a sliding end 366. The swing end 367 is connected to the driving wheel 334 via a pivot 369. A swing center of the driving wheel 334 is O, and a pivot center of the swing end 367 is point A. The points O and A do not coincide with each other, and a distance 35 between the point O and the point A is a preset distance . The sliding end 366 includes a 2024227710   29 Oct 2024 groove 364. The groove 364 sleeves over the slider 365. The slider 365 is disposed in the groove 364 and is slidable along the groove 364. Therefore, the driving wheel 334, the cleaning-head base board 362, the slider 365 and the groove 364 form a slider-crank mechanism. 5

[00164] When the driving wheel 334 rotates, the point A conducts a circular swing motion. Accordingly, the swing end 367 of the cleaning-head base board 362 follows the point A to conduct a circular swing movement, while the groove 364 slides back and forth with respect to the slider 365. Consequently, the cleaning-head base board 362 conducts a reciprocating movement. Thus, the movement of the sliding end 366 includes a component 10 perpendicular to the direction of V0 and a component parallel to the direction of V0, while the circular swing movement of the swing end 367 includes both a component perpendicular to the direction of V0 and a component parallel to the direction of V0. In FIG. 11, the mobile platform 100 moves at the speed of V0 in the target direction. Accordingly, the reciprocating movement of the cleaning-head base board 362 as a whole includes both a motion component 15 perpendicular to the target direction of the automatic cleaning device 001 and a motion component parallel to the target direction of the automatic cleaning device 001.

[00165] FIG. 12 illustrates another cleaning-head driving mechanism 012 based on a slider-crank mechanism according to embodiments of the present disclosure. The driving mechanism 012 is applicable to the cleaning module 300. The driving mechanism 012 20 includes a driving wheel 334, a connection rod 373, a cleaning-head base board 372, a groove 378 (a first groove) and a groove 379 (a second groove).

[00166] The grooves 378, 379 are provided on a lower surface 201 of the lifting station 200. The cleaning-head base board 372 includes a slider 376 (first slider) and a slider 377 (second slider) at its respective ends. The sliders 376 and 377 are protrusions arranged at the 25 respective ends of the cleaning-head base board 372. The slider 376 is inserted into the groove 378 and is slidable along the groove 378; and the slider 377 is inserted into the groove 379, and is slidable along the groove 379. In some embodiments of the present disclosure, the groove 378 and the groove 379 are arranged on a same line. And in some embodiments of the present disclosure, the groove 378 and the groove 379 are arranged on different lines. In some 30 embodiments of the present disclosure, the groove 378 and the groove 389 are extended in a same direction. In some embodiments of the present disclosure, the extending direction of the groove 378 and the groove 389 is the same as an extending direction of the cleaning-head base board 372. In some embodiments of the present disclosure, the extending direction of the groove 378 and the groove 389 is different from the extending direction of the cleaning-head 35 base board 372. In some embodiments of the present disclosure, the groove 378 and the 2024227710   29 Oct 2024 groove 379 are extended in different directions. For example, as illustrated in FIG. 12, the extending direction of groove 379 is the same as the extending direction of the cleaning-head base board 372, while the extending direction of groove 378 has an angle with the extending direction of groove 379. 5

[00167] The connection rod 373 includes a swing end 374 and a sliding end 375. The swing end 374 is connected with the driving wheel 334 via a pivot 371; and the sliding end 375 is connected with the cleaning-head base board 372 via a pivot 380.

[00168] A swing center of the driving wheel 334 is point O and a pivot center of pivot 371 is point A. The points O and A do not coincide with each other, and the distance between 10 the points O and A may be a preset distance .

[00169] When the driving wheel 334 rotates, point A then conducts a circular swing motion. Accordingly, the swing end 374 conducts a circular swing motion, following point A, and then the sliding end 375 drives the cleaning-head base board 372 through the pivot 380 to conduct a sliding motion. Accordingly, the slider 376 of the cleaning-head base board 372 15 conducts a linear reciprocating movement along the groove 378, and the slider 377 conducts a linear reciprocating movement along the groove 379. In FIG. 12, the mobile platform 100 moves at a speed of V0 in the target direction. According to some embodiments of the present disclosure, when the groove 379 and groove 378 are approximately perpendicular to the direction of V0 of the mobile platform 100 respectively, overall displacement of the 20 cleaning-head base board 372 is substantially perpendicular to the target direction. In other embodiments of the present disclosure, when any one of the groove 379 and the groove 378 has an angle other than 90 degrees with respect to the target direction, the overall displacement of the cleaning-head base board 372 includes both a motion component perpendicular to the target direction and a motion component parallel to the target direction. 25

[00170] FIG. 13 illustrates another cleaning-head driving mechanism 013 based on a double crank mechanism according to embodiments of the present disclosure. The driving mechanism 013 is applicable to the cleaning module 300. The driving mechanism 013 includes a driving wheel 334 (i.e., first driving wheel), a driving wheel 384 (i.e., second driving wheel), and a cleaning-head base board 382. 30

[00171] The cleaning-head base board 382 includes two ends. A first end is connected to the driving wheel 334 through a pivot 381 (i.e., first pivot), and a second end is connected to the driving wheel 384 through a pivot 383 (i.e., second pivot). A swing center of the driving wheel 334 is point O and a pivot center of the pivot 381 is point A. The point O and the point A do not coincide with each other, and a distance between the points O and A is a preset 35 distance . A swing center of the driving wheel 384 is point O' and a pivot center of the pivot 2024227710   29 Oct 2024 383 is point A'. The point O' and point A' do not coincide with each other, and a distance between the point O' and point A' is also the preset distance . In some embodiments of the present disclosure, the points A, A', O' and O' are on a same plane. Accordingly, the driving wheel 334, the driving wheel 384, and the cleaning-head base board 382 cooperatively form a 5 double crank mechanism (or a parallelogram mechanism), wherein the cleaning-head base board 382 serves as a coupling rod, and the driving wheels 334 and 384 serve as two cranks.

[00172] The engine 332 in FIG. 9 can drive both the driving wheel 334 and the driving wheel 384 simultaneously, so that both the driving wheels 334, 384 can serve as active driving wheels. Alternatively, the engine 332 may drive only one driving wheel (for example, the 10 driving wheel 334), in such a case, the other driving wheel (e.g. the driving wheel 384) acts as a passive driving wheel. When the driving wheels 334 and / or the driving wheel 384 rotate, points A and A' conduct a circular motion. In some embodiments of the present disclosure, rotation speeds of the driving wheel 334 and the driving wheel 384 may be identical. The mobile platform 100 moves at a speed of V0 in the target direction. Therefore, the 15 reciprocating movement of the base board 382 as a whole includes both a motion component perpendicular to the target direction and a motion component parallel to the target direction.

[00173] In addition to the above-mentioned driving-mechanisms that may be adapted to drive the cleaning-head 320 to conduct the reciprocating movement, other driving-mechanisms may be applied in the present disclosure, such as crank-rocker 20 mechanism or double rocker mechanisms, etc. One of ordinary skill in the art would understand the implementations of other driving-mechanisms after reading the example implementations illustrated in FIGS. 10-13.

[00174] FIG. 14 illustrates a schematic structural view of a liquid supplying module 400 according to various embodiments of the present disclosure. FIG. 14 is a view obtained 25 by observing from bottom. In some embodiments of the present disclosure, the liquid supplying module 400 includes a storage device 410, as illustrated in FIG. 14. The storage device 410 may be connected to the mobile platform 100 directly, or may be connected to the mobile platform 100 indirectly through the lifting station 200. The storage device 410 is configured to store cleaning liquid. The storage device 410 is provided with an opening (not 30 shown in FIG. 14), and the cleaning liquid is delivered to the surface to be cleaned through the opening. The storage device 410 is detachably connected to the mobile platform 100. When the cleaning liquid in the storage device 410 runs out or is about to run out, the storage device 410 may be detached from the mobile platform 100 to be refilled with the cleaning liquid. The cleaning liquid flows to the surface to be cleaned through the opening of the 3 5 storage device 410. 2024227710   29 Oct 2024

[00175] In some embodiments of the present disclosure, the liquid supplying module 400 may further include a dispenser 420, as illustrated in FIG. 14. The dispenser 420 is connected to the opening of the storage device 410 directly or indirectly, and the cleaning liquid flows to the dispenser 420 through the opening of the storage device 410, and then is 5 evenly applied to the surface to be cleaned through the dispenser 420. The dispenser 420 is provided with a communicating port (not shown in FIG. 14), and the dispenser 420 is communicated to the opening of the storage device 410 through the communicating port. The dispenser 420 is further provided with a dispensing port 421. The dispensing port 421 may be a continuous opening or a combination of a plurality of discrete openings that are 10 disconnected from each other. A plurality of nozzles (not shown in FIG. 14) may be provided at the dispensing port 421. The cleaning liquid flows to the dispensing port 421 through the opening of the storage device 410 and the communicating port of the distributor 420, and is evenly applied onto the surface to be cleaned through the dispensing port 421.

[00176] In some embodiments of the present disclosure, the liquid supplying module 15   400 may further include a liquid supply driving device 440, as illustrated in FIG. 14. The liquid supply driving device 440 may be mounted at the opening of the storage device 410.

[00177] The liquid supply driving device 440 is connected to the communicating port of the dispenser 420, and is configured to pump the cleaning liquid from the storage device 410 to the dispenser 420. The liquid supply driving device 440 may be a pump, for example, a 20 gear pump, a blade pump, a plunger pump, and the like.

[00178] When the liquid supplying module 400 is in operation, the liquid supply driving device 440 may provide power to the liquid supplying module 400. Under the action of the liquid supply driving device 440, the cleaning liquid flows from the opening of the storage device 410 to the communicating port of the dispenser 420, and then to the dispensing 25 port 421 of the dispenser 420, and finally is evenly applied onto the surface to be cleaned through the dispensing port 421.

[00179] FIG. 15A is a bottom schematic view of the collecting module 500 according to some embodiments of the present disclosure. FIG. 15B is a side view of the collecting module 500 illustrated in FIG. 15A. FIG. 15A is a view obtained by observing from bottom to top. 30 FIG. 15B is a view obtained by observing from right to left. The collecting module 500 may include a roller 510. In some embodiments of the present disclosure, the collecting module 500 may further include a roller driving device 520, and a collecting assembly 540, as illustrated in FIGS. 15A and 15B.

[00180] The roller 510 may be pivoted to the mobile platform 100, or may be pivoted to 35 the mobile platform 100 indirectly through the lifting station 200. The roller 510 may rotate 2024227710   29 Oct 2024 with respect to the mobile platform 100. In this case, when the collecting module 500 is in operation, the roller 510 may contact the surface to be cleaned. FIG. 16A illustrates a schematic structural view of a roller 510 according to some embodiments of the present disclosure. FIG. 16B illustrates a cross-sectional view of the roller 510 illustrated in FIG. 16A. 5 As illustrated in FIGS. 16A and 16B, the roller 510 may include an elastic water-absorbing material 511 to absorb the cleaning liquid on the surface to be cleaned. As illustrated in FIG. 16B, an outer surface of the roller 510 is coated with a layer of elastic water-absorbing material 511 which can absorb the dirty cleaning liquid remaining on the surface to be cleaned. The elastic water-absorbing material 511 may be a water-absorbing fabric, a water-absorbing 10 sponge, or the like.

[00181] The roller driving device 520 may be connected to the roller 510 directly, or may be connected to the roller 510 indirectly through a transmission mechanism (not shown in FIG. 15A). The roller driving device 520 may drive the roller 510 to rotate with respect to the mobile platform 100. When the collecting module 500 is in operation, the roller driving 15 device 520 drives the roller 510 to rotate, and the elastic water-absorbing material 511 coated on the surface of the roller 510 may absorb dirty cleaning liquid on the surface to be cleaned. The roller driving device 520 may include a motor. The transmission mechanism may be a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, a worm gear transmission mechanism, or the like. 20

[00182] The collecting assembly 540 may be connected to the mobile platform 100 directly, or connected to the mobile platform 100 indirectly through the lifting station 200. The collecting assembly 540 is configured to collect the cleaning liquid absorbed by the roller 510. And the collecting assembly 540 includes a scraper 541 as illustrated in FIGS. 15A and 15B. 25

[00183] As illustrated in FIG. 15A, the scraper 541 is connected to the mobile platform 100 directly or indirectly. The scraper 541 is configured to press the roller 510 and squeeze out the cleaning liquid absorbed by the roller 510 by pressure. When the roller 510 rotates, the roller 510 passes by the scraper 541 in a direction from top to bottom. The roller driving device 520 may drive the roller 510 to move in a direction reverse to the target direction, or 30 may drive the roller 510 to move in the target direction. In the case that the roller moves in the direction reverse to the target direction, a linear velocity V of a portion of the roller 510 in contact with the surface to be cleaned is in the target direction, wherein the target direction points to front of the mobile platform 100. In the case that the roller moves along the target direction, the linear velocity V of the portion of the roller 510 in contact with the surface to be 35 cleaned is in a direction opposite to the target direction, wherein the direction opposite to the 2024227710   29 Oct 2024 target direction points to the rear side of the mobile platform 100. As illustrated in FIG. 15B, when the collecting module 500 is in operation, the driving device 520 drives the roller 510 to move against the target direction; in such a case, the scraper 541 is located behind the roller 510, the roller 510 absorbs the dirty cleaning liquid on the surface to be cleaned; then the 5 roller 510 passes by the scraper 541 from top to bottom,, and the scraper 541 squeezes out the dirty cleaning liquid absorbed by the elastic water-absorbing material 511 by pressure. As described above, the driving device 520 may alternatively drive the roller 510 to move in the target direction; in this case, the scraper 541 may be located in front of the roller 510, the roller 510 absorbs the dirty cleaning liquid on the surface to be cleaned. And then, the roller 10   510 passes by the scraper 541 from top to bottom, so that scraper 541 squeezes out, by pressure, the dirty cleaning liquid absorbed by the elastic water-absorbing material 511.

[00184] As mentioned above, the collecting assembly 540 includes the scraper 541. In some embodiments of the present disclosure, the collecting assembly 540 may further include a sink 543 and a collecting bin 545, as illustrated in FIGS. 15A and 15B. 15

[00185] The sink 543 may be connected to the mobile platform 100 directly, or may be connected to the mobile platform indirectly through the lifting station 200. The sink 543 is configured to collect the cleaning liquid squeezed out from the roller 510 by the scraper 541. The sink 543 is connected to the scraper 541 and disposed on a side of scraper 541 away from roller 510. The scraper 541 is connected to the mobile platform 100 indirectly through the 20 sink 543. Accordingly, as the scraper 541 squeezes the dirty cleaning liquid out from the roller 510, the dirty cleaning liquid flows into the sink 543.

[00186] The collecting bin 545 is communicated with the sink 543 directly or indirectly, and is configured to receive the dirty cleaning liquid from the sink 543, and the dirty cleaning liquid in the sink 543 may enter the collecting bin 545. 25

[00187] FIG. 17A is a schematic structural view of the collecting assembly 540 according to some embodiments of the present disclosure, and FIG. 17A is a view obtained by observing from front to back. FIG. 17B is a schematic top view of a structure of the collecting assembly 540, obtained by observing from top to bottom. As illustrated in FIG. 17B, the sink 543 includes a collecting port 544, and the collecting bin 545 is communicated with the sink 30   543 through the collecting port 544; accordingly, the dirty cleaning liquid may enter the collecting bin 545 from the sink 543 through the collecting port 544.

[00188] In some embodiments of the present disclosure, the collecting assembly 540 may further include a blade 546. As illustrated in FIG. 17A and FIG. 17B, the blade 546 is pivotably disposed within the sink 543. The blade 546 may be pivoted to the mobile platform 35   100 through the sink 543, or may be pivoted to the mobile platform 100 through the lifting 2024227710   29 Oct 2024 station 200 and the sink 543. The blade 546 may transport the dirty cleaning liquid from the sink 543 to the collecting port 544 through its rotation. The blade 546 may be a screw conveyor, a spiral blade brush, or the like, as illustrated in FIG. 17B.

[00189] In some embodiments of the present disclosure, the collecting assembly 540 5 further includes a collection driving device 547. As illustrated in FIG. 17B, the collection driving device 547 is connected to the collecting bin 545, and is configured to pump the dirty cleaning liquid from the collecting port 544 of the sink 543 into the collecting bin 545. The collection driving device 547 may be a pump, for example, a gear pump, a blade pump, a plunger pump, or the like. When the collecting assembly 540 is in operation, the collection 10 driving device 547 supplies power to the collecting assembly 540. Under the action of the collection driving device 547, the dirty cleaning liquid flows to the collecting bin 545 from the collecting port 544 of the sink 543.

[00190] In some embodiments of the present disclosure, the collecting assembly 540 further includes a blade driving device 548. As illustrated in FIG. 17B, the blade driving 15 device 548 is connected to the blade 546 directly or indirectly, and is configured to drive the blade 546 to rotate with respect to the mobile platform 100. The blade driving device 548 may be connected to the blade 546 directly, or may be connected to the blade 546 indirectly through a transmission mechanism (not shown in FIG. 17B). The blade driving device 548 may include a motor. The transmission mechanism may be a gear transmission mechanism, a 20 chain transmission mechanism, a belt transmission mechanism, or a worm gear transmission mechanism, or the like.

[00191] When the collecting module 500 is in operation, the roller driving device 520 drives the roller 510 to rotate, and the roller 510 absorbs the dirty cleaning liquid on the surface to be cleaned; then the roller 510 passes by the scraper 541 from top to bottom, the 25 scraper 541 squeezes out, by pressure, the dirty cleaning liquid absorbed by the elastic water-absorbing material 511, and the dirty cleaning liquid flows into the sink 543; the blade driving device 548 drives the blade 546 to rotate, thus the dirty cleaning liquid in the sink 543 is transported to an end of the sink 543 where the collecting port 544 is defined, through the rotation of the blade 546; and finally, the collection driving device 547 draws the dirty 30 cleaning liquid at the collecting port 544 into the collecting bin 546.

[00192] In some embodiments of the present disclosure, the collecting assembly 540 further includes a filter 549. As illustrated in FIG. 17B, the filter 549 is disposed at the collecting port 544 and in communication with the collecting port 544. The filter 549 is configured to filter impurities from the dirty cleaning liquid. When the collection driving 35 device 547 draws the dirty cleaning liquid at the collecting port 544, the dirty cleaning liquid 2024227710   29 Oct 2024 is first filtered by the filter 549 which removes impurities from the dirty cleaning liquid and then flows into the collecting bin 545.

[00193] The liquid supply driving device 440, the roller driving device 520, the collection driving device 547 and the blade driving device 548 in the above embodiments may 5 be powered by one motor, or may be powered by two, three, or four motors.

[00194] FIG. 18 illustrates a flowchart S600 of a method of automatically cleaning a surface to be cleaned according to some embodiments of the present disclosure. The method of automatically cleaning the surface to be cleaned includes:

[00195] S610: a mobile platform 100 is driven to automatically cruise in a target 10 direction on a surface to be cleaned.

[00196] The target direction points to a front side of the mobile platform 100. The surface to be cleaned indicates a surface to be cleaned by the automatic cleaning device 001. Specifically, the power system 146 supplies power to a steering mechanism 144 and a wheel 142, thereby driving the mobile platform 100 to move on the surface to be cleaned. When the 15 mobile platform 100 is an autonomous mobile platform, a cruising path may be determined by the autonomous cleaning device 001 on its own; when the mobile platform 100 is a non-autonomous mobile platform, the cruising path may be predetermined by the control system of the autonomous cleaning device 001 or manually predetermined by an operator (e.g., a user of the automatic cleaning device 001). 20

[00197] S660: when cleaning is started, the lifting station 200 is driven to move downwards to approach the surface to be cleaned.

[00198] Specifically, the automatic cleaning device 001 may further include a lifting station 200. The lifting station 200 is mounted on the mobile platform 100. A vacuum module 700, a liquid supplying module 400, a cleaning module 300 and a collecting module 500 may 25 be connected to the mobile platform 100 directly, or may be connected to the mobile platform 100 through the lifting station 200. When cleaning is started, the lifting station 200 brings the modules mounted on the lifting station 200 to move downwards together and approach the surface to be cleaned in order to clean the surface to be cleaned.

[00199] S620: a vacuum module 700 is driven to vacuum debris away from the surface 30 to be cleaned.

[00200] Specifically, a vacuum driving device suctions dirt and debris from the surface to be cleaned into the dust box by generating a vacuum flow. The vacuum module 700 may further include a roller brush, which is configured to move dirt and debris into the vacuum module 700 through a rotary motion thereof in cooperation with the vacuum flow. 35

[00201] S630: the liquid supplying module 400 is driven to supply a cleaning liquid 2024227710   29 Oct 2024 onto the surface to be cleaned.

[00202] Specifically, a liquid supply driving device 440 may supply power to the liquid supplying module 400. Under the action of the liquid supply driving device 440, cleaning liquid flows from an opening of a storage device 410 to a communicating port of a dispenser 5   420; and finally the cleaning liquid flows to a dispensing port 421 of the dispenser 420 and is evenly distributed onto the surface to be cleaned through the dispensing port 421.

[00203] S640: the cleaning module 300 is driven to clean the surface to be cleaned.

[00204] The automatic cleaning device 001 drives the cleaning-head 320 to conduct a reciprocating movement on the surface to be cleaned, wherein the cleaning-head 320 is 10 mounted on the mobile platform or on the lifting station 200.

[00205] In some embodiments of the present disclosure, the reciprocating movement includes a motion component perpendicular to the target direction X, or a motion component parallel to the target direction X, or a combination thereof.

[00206] In some embodiments of the present disclosure, the reciprocating movement 15 includes a circular swing motion.

[00207] In some embodiments of the present disclosure, driving the cleaning-head to conduct the reciprocating movement on the surface to be cleaned includes driving, by a slider-crank mechanism, the cleaning-head to conduct the reciprocating movement. The description related to FIGS. 10-12 may be referred for details of the slider-crank mechanism. 20

[00208] In some embodiments of the present disclosure, driving the cleaning-head to conduct the reciprocating movement on the surface to be cleaned includes driving, by a double crank mechanism, the cleaning-head to conduct the reciprocating movement. The description related to in FIG. 13 may be referred for details of the double crank mechanism.

[00209] In some embodiments of the present disclosure, the automatic cleaning device 25   001 may dynamically adjust a position of the cleaning-head 320 according to a contour of the surface to be cleaned, so that the cleaning-head is kept in tight contact with the surface to be cleaned. For example, in the automatic cleaning device 001, the cleaning-head 320 is mounted on the lifting station 200, and the position of the cleaning-head 320 (i.e., a distance from the cleaning-head 320 to the surface to be cleaned) is dynamically adjusted by the lifting station 30   200, so that the cleaning-head 320 (e.g., a working-head 324) is kept in tight contact with the surface to be cleaned, thereby enhancing the cleaning capability of the automatic cleaning device 001.

[00210] S650: a collecting module 500 is driven to collect cleaning liquid on the surface to be cleaned, wherein the vacuum module 700, the liquid supplying module 400, the 35 cleaning module 300, and the collecting module 500 are mounted on the mobile platform 100. 2024227710   29 Oct 2024

[00211] Specifically, when the collecting module 500 is in operation, a roller driving device 520 drives a roller 510 to rotate, the roller 510 absorbs the dirty cleaning liquid on the surface to be cleaned; then the roller 510 passes by the scraper 541 from top to bottom, the scraper 541 squeezes , by a pressure, the dirty cleaning liquid absorbed by elastic 5 water-absorbing material 511 out from the elastic water-absorbing material 511, and the dirty cleaning liquid flows into a sink 543; a blade driving device 548 drives a blade 546 to rotate, and thus to transport the dirty cleaning liquid within the sink 543 to a region of the sink 543 close to a collecting port 544 through rotation of the blade 546; and finally, a collection driving device 547 draws the dirty cleaning liquid close to the collecting port 544 into a 10 collecting bin 546.

[00212] The vacuum module 700, the liquid supplying module 400, the cleaning module 300 and the collecting module 500 may be mounted on the mobile platform 100 directly or indirectly.

[00213] S680: when the cleaning is finished, the lifting station 200 is driven to move 15 upwards away from the surface to be cleaned.

[00214] Specifically, when the cleaning is finished, the lifting station 200 brings the modules mounted thereon to move upwards away from the surface to be cleaned, and the mobile platform 100 may move on the surface to be cleaned.

[00215] In some embodiments of the present disclosure, the cleaning module 300 is 20 mounted on the mobile platform 100 through the lifting station 200, and the vacuum module 700 is mounted on the mobile platform 100 directly. Alternatively, the cleaning module 300 is mounted on the mobile platform 100 directly, and the vacuum module 700 is mounted on the mobile platform 100 through the lifting station 200. Certainly, the cleaning module 300 and the vacuum module 700 may be both mounted on the mobile platform 100 through the lifting 25 station 200. In the case that the cleaning module 300 is mounted on the lifting station 200 and the vacuum module 700 is mounted on the mobile platform 100 directly, when cleaning is started, the cleaning module 300 moves downwards along with the lifting station 200 to approach the surface to be cleaned so as to clean the surface to be cleaned; when the cleaning is finished, the cleaning module 300 moves upwards along with the lifting station 200 away 30 from the surface to be cleaned. In the case that the cleaning module 300 is mounted on the mobile platform 100 directly and the vacuum module 700 is mounted on the lifting station 200, when cleaning is started, the vacuum module 700 moves downwards along with the lifting station 200 to approach the surface to be cleaned so as to vacuum the surface to be cleaned; when cleaning is finished, the vacuum module 700 moves upwards along with the 35 lifting station 200 away from the surface to be cleaned. In the case that both the cleaning 2024227710   29 Oct 2024 module 300 and the vacuum module 700 are mounted on the lifting station 200, when cleaning is started, the cleaning module 300 and the vacuum module 700 move downwards along with the lifting station 200 to approach the surface to be cleaned so as to clean the surface to be cleaned; when cleaning is finished, the cleaning module 300 and the vacuum 5 module 700 move upwards along with the lifting station 200 away from the surface to be cleaned.

[00216] In view of the foregoing, it will be understood by one of ordinary skill in the art that the contents detailed in the disclosure are provided by means of examples, and cannot be construed as a limit to the present disclosure. Although not explicitly stated herein, it 10 should be noted by one of ordinary skill in the art that, the present disclosure covers various changes, improvements and modifications of the embodiments. These changes, improvements, and modifications are intended to be proposed by the present disclosure and fall within the spirit and scope of the exemplary embodiments of the present disclosure.

[00217] In addition, some of the terms used in this disclosure are intended to describe 15 embodiments of the present disclosure. For example, “one embodiment”, “an embodiment” and / or “some embodiments” means that a particular feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of the present disclosure. Therefore, it should be emphasized and understood that in various parts of the present disclosure, the terms “an embodiment” or “one embodiment” or “an alternative 20 embodiment” are not necessarily referring to a same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in an appropriate manner in one or more embodiments of the present disclosure.

[00218] It should be understood that in the description of the embodiments of the present disclosure, to assist in understanding a feature and for the purpose of simplifying the 25 description of the present disclosure, sometimes various features may be combined in a single embodiment, or drawings, description thereof. Alternatively, various features may be described in different embodiments of the present disclosure. However, this is not to say that a combination of these features is necessary, and it is possible for one of ordinary skill in the art to understand that a part of these features may be taken as a separate embodiment. That is to 30 say, the embodiments of the present disclosure may also be understood as an integration of a plurality of secondary embodiments. It is also true that content of each of the sub-embodiments is less than all the features of a single embodiment as described above.

[00219] In some embodiments of the present disclosure, numbers indicating quantities or properties intended to describe or define the embodiments of the present disclosure should 35 be understood as being modified by the terms “about,” “approximate,” or “substantially” in 2024227710   29 Oct 2024 some instances. For example, “about,” “approximately” or “substantially” may mean ±20% change in the described value unless stated otherwise. Accordingly, in some embodiments of the present disclosure, the numerical parameters set forth in the written description and the appended claims are approximations, which may vary depending upon desired properties 5 sought in a particular embodiment. In some embodiments of the present disclosure, numerical parameters should be interpreted in accordance with the value of the parameters and by applying ordinary rounding techniques. Although some embodiments of the present application provide numerical ranges and parameters that are in a broad range and are approximate, the values in the specific examples are provide as accurate as possible. 10

[00220] Each of the patents, the patent applications, the patent application publications, and other materials, such as articles, books, manuals, publications, documents, products, etc., cited herein are hereby incorporated by reference for all purposes, except for any history of prosecution documents associated therewith, any identical, or any identical prosecution document history, which may be inconsistent or conflicting with this document, or any such 15 subject matter that may have a restrictive effect on the broadest scope of the claims associated with this document now or later. For example, if there is any inconsistence or conflicting in descriptions, definitions, and / or use of a term associated with this document with descriptions, definitions, and / or use of the term associated with any materials in the present disclosure, the terms in this document shall govern. 20

[00221] Finally, it should be understood that the embodiments of the disclosure disclosed herein are merely described to illustrate the principles of the embodiments of the disclosure. Other modified embodiments are also within the scope of this disclosure. Therefore, the embodiments disclosed herein are by way of example only and cannot be construed as a limit to the present disclosure. One of ordinary skill in the art may adopt 25 alternative configurations to implement the invention in this disclosure in accordance with the embodiments of the present disclosure. Therefore, the embodiments of the present disclosure are not limited to those embodiments that have been precisely described in this disclosure.

Claims

1. An automatic cleaning device (001), characterized by comprising:a mobile platform (100), configured to automatically move in a target direction on a surface to be cleaned, the mobile platform (100) comprising a lifting station (200) which5 comprises a lifting mechanism (202) and a base (207), the lifting mechanism (202) being a flexible pulling mechanism configured to drive the base (207) to move relative to the mobile platform (100) upwards or downwards through a cable; anda cleaning module at least partly mounted on the lifting station (200) and configured to clean the surface to be cleaned.

02. The automatic cleaning device according to claim 1, characterized in that the cleaning module comprises a dry-mode cleaning module connected to the lifting station (200) and configured to clean the surface to be cleaned in a dry cleaning mode; and / orthe cleaning module comprises a wet-mode cleaning module connected to the lifting5 station (200) and configured to clean the surface to be cleaned in a wet cleaning mode.

3. The automatic cleaning device according to claim 1 or claim 2, characterized by further comprising a collecting module connected to the lifting station (200) and configured to collect residual dirty cleaning liquid on the surface to be cleaned.2O4. The automatic cleaning device according to claim 2, characterized in that the wet-mode cleaning module is mounted on the mobile platform and comprises:a cleaning-head (320), configured to clean the surface to be cleaned; anda driving unit (330), connected to the cleaning-head (320) and configured to drive 25 the cleaning-head (320) to conduct a reciprocating movement on the surface to be cleaned.

5. The automatic cleaning device according to claim 4, characterized in that the cleaning-head (320) is of a plate-like structure and comprises a working-head (324) which comprises at least one of a brush, a piece of rag, and a piece of sponge.302024227710  28 May 20256. The automatic cleaning device according to claim 1, characterized in that:the lifting mechanism (202) is connected to the mobile platform (100) and configured to drive the lifting station (200) to move upwards or downwards relative to the mobile platform (100);5             the base (207) is connected to the lifting mechanism (20) and configured to moveupwards or downwards with respect to the mobile platform (100) under action of the lifting mechanism (202);wherein the base comprises:a first connection end, disposed adjacent to a front end of the mobile platform; and0             a second connection end, disposed adjacent to a rear end of the mobile platform.

7. The automatic cleaning device according to claim 6, characterized in that the base further comprises an auxiliary wheel (278),wherein the auxiliary wheel (278) first touches the surface to be cleaned when the 5 base (207) moves downwards with respect to the mobile platform (100).

8. The automatic cleaning device according to claim 7, characterized in that the flexible pulling mechanism suspends the base (207) on the mobile platform (100) through a first cable and configured to draw the base (207) to move upwards or downwards with respect 20 to the mobile platform (100);wherein the flexible pulling mechanism comprises a suspension mechanism (210) which comprises the first cable (220) configured to suspend the base (207) on the mobile platform (100), and a driving mechanism (240) configured to drive the base (207) to move upwards or downwards with respect to the mobile platform (100).

259. The automatic cleaning device according to claim 8, characterized in that the lifting station (200) further comprises a connection rod (208) which comprises:a first hinge end (281), hinged to a first connection end (271) of the base (207) anda second hinge end (283), hinged to the mobile platform (100).302024227710  28 May 202510. The automatic cleaning device according to claim 8, characterized in that the suspension mechanism (210) further comprises:at least one cable guide (230) mounted on the base (207) for the first cable (220) to pass through, wherein an extending direction of the first cable (220) changes when passing 5 through the at least one cable guide (230).

11. The automatic cleaning device according to claim 2, characterized in that the automatic cleaning device (001) comprises a liquid supplying module (400), configured to supply cleaning liquid onto the surface to be cleaned;0             wherein the liquid supplying module (400) is disposed in front of the wet-modecleaning module (300) such that the wet-mode cleaning module (300) cleans the surface to be cleaned with the cleaning liquid.

12. The automatic cleaning device according to claim 11, characterized by further 5 comprising a collecting module (500) connected to the lifting station (200) and configured to collect cleaning liquid, wherein the collecting module (500) is disposed behind the liquid supplying module (400).

13. The automatic cleaning device according to claim 11, characterized in that the 0 liquid supplying module (400) comprises a storage device mounted on the mobile platform to store the cleaning liquid, and the liquid supplying module is provided with an opening through which the cleaning liquid flows to the surface to be cleaned;the liquid supplying module (400) further comprises a dispenser connected to the opening of the storage device, and the cleaning liquid flows to the dispenser through the 25 opening of the storage device and is distributed onto the surface to be cleaned evenly through the dispenser; andthe liquid supplying module (400) further comprises a liquid supply driving module mounted at the opening of the storage device, and the liquid supply driving module is connected to the dispenser and configured to draw the cleaning liquid from the storage device 30 to the dispenser14. The automatic cleaning device according to claim 3, characterized in that the2024227710  28 May 2025collecting module (500) comprises a roller (510), which is pivotally connected to the mobile platform (100) and rotatable with respect to the mobile platform (100), and the roller (510) is kept in contact with the surface to be cleaned when the collecting module (500) is in operation;5             wherein the roller (510) comprises an elastic water-absorbing material (511)configured to absorb the cleaning liquid on the surface to be cleaned; andthe collecting module further comprises a roller driving device which is connected to the roller and configured to drive the roller to rotate.0             15. The automatic cleaning device according to claim 14, characterized in that thecollecting module (500) further comprises a collecting assembly (540) connected to the mobile platform (100) and configured to collect the cleaning liquid absorbed by the roller (510), and the collecting assembly comprises:a scraper (541), configured to press the roller (510) to squeeze out the cleaning 5 liquid absorbed by the roller (510);wherein the roller (510) passes by the scraper (541) from top to bottom when the roller (510) rotates.

16. The automatic cleaning device according to claim 15, characterized in that the 0 roller driving device is configured to drive the roller to move against the target direction such that a linear velocity of a portion of the roller in contact with the surface to be cleaned points to a front side of the mobile platform; and the scraper is disposed behind the roller.

17. The automatic cleaning device according to claim 15, characterized in that the 25 collecting assembly (540) further comprises a sink (543) which is connected to the scraper (541) and configured to collect the cleaning liquid squeezed out from the roller (510) by the scraper (541).

18. The automatic cleaning device according to claim 17, characterized in that the 30 collecting assembly (540) further comprises a collecting bin (545), and the sink (543) comprises a collecting port (544) through which the sink (543) is communicated with the collecting bin (545).2024227710  28 May 202519. The automatic cleaning device according to claim 118, characterized in that the collecting assembly further comprises a blade (546) which is disposed in the sink and pivotally connected to the mobile platform (100), and the blade (546) is rotatable to transport 5 the cleaning liquid from the sink to the collecting port; andthe collecting assembly (540) further comprise a blade driving device (548), which is connected to the blade (546) and is configured to drive the blade (546) to rotate.

20. The automatic cleaning device according to claim 19, characterized in that the 0 collecting assembly (540) further comprises a collection driving device (547), which is configured to draw the cleaning liquid from the collecting port (544) to the collecting bin (545);the blade (546) comprises a screw conveyor; orthe collecting assembly further comprises a filter, which is disposed at the collecting 5 port and is configured to filter impurities from the cleaning liquid.

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