Cleaning apparatus, linkage lifting mechanism, and cleaning mode control method

Abstract

The application discloses a cleaning device, a linkage lifting mechanism and a cleaning mode control method. The cleaning device at least comprises a base, a first cleaning component and a second cleaning component. The first cleaning component is connected with the base through a lifting device. The first cleaning component has an upward moving amount, wherein the upward moving amount comprises a first displacement amount and a second displacement amount. The second cleaning component is connected with the first cleaning component through a linkage lifting mechanism. After the upward moving amount enters the second displacement amount from the first displacement amount, the first cleaning component lifts the second cleaning component through the linkage lifting mechanism, so that the second cleaning component is switched from a cleaning state to an obstacle crossing state. The application can compress the volume of the cleaning device and improve the practicability of the cleaning device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cleaning equipment, in particular to a cleaning equipment, a linkage lifting mechanism and a cleaning mode control method. BACKGROUND

[0002] At present, most cleaning equipment (such as scrubber and sweeper) has two cleaning components, which are used to clean the working plane in turn. When the cleaning equipment encounters an obstacle, the two cleaning components need to be lifted to cross the obstacle.

[0003] The existing cleaning equipment usually sets two lifting cylinders on the base, and makes the two lifting cylinders connected with the two cleaning components one by one, so as to realize the lifting of the two cleaning components through the two lifting cylinders.

[0004] Although the above two lifting cylinders can realize the lifting of the two cleaning components, the two lifting cylinders occupy a large space, which increases the volume of the entire cleaning equipment and affects the practicability of the cleaning equipment. SUMMARY

[0005] The purpose of the present application is to provide a cleaning equipment, a linkage lifting mechanism and a cleaning mode control method, which can compress the volume of the cleaning equipment and improve the practicability of the cleaning equipment.

[0006] In order to achieve the above purpose, the present application provides a cleaning equipment, which at least includes a base, a first cleaning component and a second cleaning component; the first cleaning component is connected with the base through a lifting device, and the first cleaning component has a rising movement amount, wherein the rising movement amount includes a first displacement amount and a second displacement amount; the second cleaning component is connected with the first cleaning component through a linkage lifting mechanism; after the rising movement amount enters the second displacement amount from the first displacement amount, the first cleaning component lifts the second cleaning component through the linkage lifting mechanism, so that the second cleaning component is switched from a cleaning state to an obstacle crossing state.

[0007] To achieve the above object, the application further provides a linkage lifting mechanism for connecting with a base, the linkage lifting mechanism comprising at least a first transmission assembly, the first transmission assembly comprising a first connecting rod and a second connecting rod; the base has a first support portion extending downward, and the middle portion of the first connecting rod and the middle portion of the second connecting rod are rotatably connected with the first support portion, respectively; the first end of the first connecting rod is rotatably connected with a first cleaning component, and the second end of the first connecting rod is provided with a driving member; one end of the second connecting rod is provided with a first through hole, and the other end of the second connecting rod is connected with a second cleaning component; the driving member is located in the first through hole, and when the first cleaning component is in a cleaning state, there is a movement gap between the driving member and the inner wall of the first through hole.

[0008] To achieve the above object, the application further provides a cleaning mode control method, which is applied to a cleaning device, the cleaning device being provided with a plurality of cleaning modes in advance, the method comprising: judging a cleaning type required by a to-be-cleaned area, and determining a target cleaning mode from the plurality of cleaning modes based on the cleaning type; and controlling the height of a first cleaning component and a second cleaning component by a lifting device, so as to switch the cleaning device to the target cleaning mode.

[0009] Therefore, the cleaning device provided by the application has the base, the first cleaning component and the second cleaning component, wherein the first cleaning component is connected with the base through the lifting device, and the first cleaning component is connected with the second cleaning component through the linkage lifting mechanism, and when the lifting device lifts the first cleaning component, the first cleaning component can drive the second cleaning component to be lifted through the linkage lifting mechanism. In this way, the cleaning device can lift the two cleaning components through one lifting device, compared with the prior art that two lifting devices are used to lift the two cleaning components, respectively, the volume of the cleaning device can be further compressed, so that the cleaning device can work in a narrow area, and the practicability of the cleaning device is improved.

[0010] Meanwhile, the linkage lifting mechanism can be configured to lift the first cleaning component when the lifting displacement of the first cleaning component is within a first displacement range, and the second cleaning component is still in a cleaning state. When the lifting displacement of the first cleaning component is within a second displacement range, the first cleaning component lifts the second cleaning component together through the linkage lifting mechanism. In this way, there is a lifting time difference between the first cleaning component and the second cleaning component, and when the cleaning device encounters an obstacle and needs to overcome the obstacle, the second cleaning component can clean the uncleaned area between the first cleaning component and the second cleaning component within the lifting time difference, avoid the second cleaning component having a missed cleaning area, and ensure the cleaning effect. Moreover, the cleaning device can control the lifting displacement of the first cleaning component through the lifting device, thereby selecting the first cleaning component and the second cleaning component working together mode and the second cleaning component working alone mode to provide different use modes and apply to different application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0012] Figure 1 is a working state schematic diagram of a cleaning device in an embodiment provided by the present application;

[0013] Figure 2 is an axis measurement schematic diagram of a cleaning device in an embodiment provided by the present application;

[0014] Figure 3 is a partial structure schematic diagram of a cleaning device in an embodiment provided by the present application;

[0015] Figure 4 is a lifting displacement schematic diagram in an embodiment provided by the present application;

[0016] Figure 5 is an axis measurement schematic diagram of a first transmission assembly in an embodiment provided by the present application;

[0017] Figure 6 is an A part enlarged view of Figure 5 ;

[0018] Figure 7 is an axis measurement schematic diagram of a first connecting rod in an embodiment provided by the present application;

[0019] Figure 8 is an axis measurement schematic diagram of a second connecting rod in an embodiment provided by the present application;

[0020] Figure 9 is a front view of a first transmission assembly in an embodiment provided by the present application;

[0021] Figure 10 is an axonometric view of a first support portion in an embodiment provided by the present application;

[0022] Figure 11 is a schematic view of a state of a driving member and a limiting hole when a first cleaning member is in a cleaning state in an embodiment provided by the present application;

[0023] Figure 12 is a schematic view of a state of a driving member and a limiting hole when a first cleaning member is in an obstacle-crossing state in an embodiment provided by the present application;

[0024] Figure 13 is an axonometric view of a linkage lifting mechanism in an embodiment provided by the present application;

[0025] Figure 14 is a schematic view of a connection state of a second transmission assembly and a second cleaning member in an embodiment provided by the present application;

[0026] Figure 15 is a half-section schematic view of a second transmission assembly in an embodiment provided by the present application;

[0027] Figure 16 is an axonometric view of a first transmission assembly in another embodiment provided by the present application;

[0028] Figure 17 is a partial structure schematic view of a linkage lifting mechanism in an embodiment provided by the present application;

[0029] Figure 18 is a structure schematic view of a linkage lifting mechanism in another embodiment provided by the present application. DETAILED DESCRIPTION

[0030] For the purpose of making the objects, technical solutions and advantages of the present application clearer, the following further describes the embodiments of the present application with reference to the drawings. The terms for indicating spatial relative positions such as "upper", "above", "lower", "below", "first end", "second end", "one end", "the other end" and the like used in the present application are used for the purpose of facilitating the description of the relationship of one unit or feature relative to another unit or feature as shown in the drawings. The terms for indicating spatial relative positions can be intended to include different orientations of the device in use or operation in addition to the orientation shown in the drawings. For example, if the device in the drawings is turned over, the unit described as being "below" or "under" the other unit or feature will be "above" the other unit or feature. Therefore, the exemplary term "below" can encompass both the above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatially-related descriptions used herein are interpreted accordingly.

[0031] In addition, the terms "mount", "provide", "provided with", "connect", "slidingly connect", "fix", "sleeve" should be broadly understood. For example, "connect" can be fixed connection, detachable connection, or integral structure; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, or internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood according to the specific circumstances by those of ordinary skill in the art.

[0032] With the improvement of people's living standards, more and more families begin to use cleaning equipment to clean the house to reduce labor intensity and improve the quality of life. The cleaning equipment can be a scrubber and a sweeper.

[0033] At present, most cleaning equipment has two cleaning components, which are used to clean the working plane (the plane on which the cleaning equipment works) in sequence. When the cleaning equipment encounters an obstacle, the cleaning equipment needs to lift the two cleaning components to facilitate crossing the obstacle.

[0034] For ease of understanding, the following describes a cleaning equipment as a scrubber. The scrubber has a roller brush assembly and a water suction rake assembly. When the scrubber cleans the ground, the roller brush assembly first rubs and cleans the ground, and then the water suction rake assembly cleans the ground.

[0035] When the scrubber is cleaning, there are always some obstacles on the ground to be cleaned, such as raised road signs, pressed lines, etc. Therefore, the height of the rolling brush assembly and the water suction rake assembly needs to be raised to facilitate the rolling brush assembly and the water suction rake assembly to cross the obstacles, so as to avoid the situation that the components are stuck, thereby ensuring the normal operation of the scrubber. The existing scrubber usually has two lifting cylinders arranged on the base, and the two lifting cylinders are connected with the rolling brush assembly and the water suction rake assembly one by one, so that the rolling brush assembly and the water suction rake assembly are lifted by the two lifting cylinders, thereby improving the obstacle crossing ability of the components.

[0036] However, although the above two lifting cylinders can raise the height of the rolling brush assembly and the water suction rake assembly, the two lifting cylinders occupy a large space, which increases the volume of the entire scrubber, so that the scrubber cannot work in narrow or low areas, affecting the practicability of the scrubber. At the same time, the scrubber uses two lifting cylinders, which increases the manufacturing cost of the scrubber, and the failure rate of the two lifting cylinders is higher than that of one lifting cylinder, which leads to poor reliability of the scrubber, which also indirectly increases the subsequent maintenance cost.

[0037] In addition, the rolling brush assembly and the water suction rake assembly are usually installed in front of and behind the base, and there is a certain distance between the rolling brush assembly and the water suction rake assembly. When obstacles are encountered, if the rolling brush assembly and the water suction rake assembly are lifted at the same time, there will be a part of the area cleaned by the rolling brush assembly that cannot be cleaned by the water suction rake assembly, so that the water suction rake assembly appears to miss cleaning areas, affecting the cleaning effect.

[0038] Therefore, how to improve the structure of the cleaning device so as to raise the height of the two cleaning components and compress the volume of the cleaning device has become a problem to be solved in the field.

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the present application are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] In an implementable embodiment, please refer to Figures 1 to 4 As shown in the figure, the cleaning device can at least include a base 1, a first cleaning component 2 and a second cleaning component 3. The first cleaning component 2 is connected with the base 1 through a lifting device 4, and the lifting device 4 is used to drive the first cleaning component 2 to rise or fall. The second cleaning component 3 is connected with the first cleaning component 2 through a linkage lifting mechanism 5.

[0041] In the embodiment, when the lifting device 4 drives the first cleaning component 2 to ascend, the first cleaning component 2 can drive the second cleaning component 3 to ascend together through the linkage lifting mechanism 5. In this way, the cleaning device can realize the lifting of the first cleaning component 2 and the second cleaning component 3 through one lifting device 4, which can not only reduce the production cost, but also compress the volume of the cleaning device, so that the cleaning device can work in a narrow area and improve the practicability of the cleaning device.

[0042] In actual application, the cleaning device can be a cleaning robot with a moving function, such as a sweeper, a scrubber, a mop or a multifunctional composite machine. The first cleaning component 2 and the second cleaning component 3 refer to components that can move with the cleaning device to clean the working plane, and the specific forms can be a roller brush cylinder assembly, a water absorption rake assembly, a negative pressure adsorption assembly, a scraping strip, a mop or a brush disc. It should be pointed out that the first cleaning component 2 and the second cleaning component 3 can adopt components with the same function or complementary functions. Taking the complementary function components as an example, the first cleaning component 2 can adopt a roller brush assembly, and the second cleaning component 3 can adopt a water absorption rake assembly. After the roller brush assembly is cleaned, water stains will be left on the ground, and the water absorption rake assembly is used to adsorb the residual water stains, so as to realize complementary cleaning.

[0043] In an implementable embodiment, please refer to Figure 4 The first cleaning component 2 has an ascending movement amount a, wherein the ascending movement amount a can be divided into a first displacement amount a1 and a second displacement amount a2. After the ascending movement amount a enters the second displacement amount a2 from the first displacement amount a1, the first cleaning component 2 can lift the second cleaning component 3 through the linkage lifting mechanism 5, so as to switch the working state of the second cleaning component 3 from the cleaning state to the obstacle crossing state. In other words, when the ascending movement amount a is in the first displacement amount a1, the first cleaning component 2 ascends, and at this time, the working state of the second cleaning component 3 is still in the cleaning state. When the ascending movement amount a is in the second displacement amount a2, the first cleaning component 2 can drive the second cleaning component 3 to ascend together through the linkage lifting mechanism 5, so as to switch the working state of the second cleaning component 3 to the obstacle crossing state.

[0044] It should be noted that the "cleaning state" defined in the present application refers to the state when the cleaning component contacts the working plane during the cleaning process. The "obstacle crossing state" defined in the present application refers to the state when there is a gap between the cleaning component and the working plane during the obstacle crossing process of the cleaning device. The "rising movement amount a" defined in the present application refers to the distance between the lowest point of the first cleaning component 2 and the working plane when the lifting device 4 drives the first cleaning component 2 to rise. Correspondingly, the rising movement amount a can be divided into the first displacement amount a1 and the second displacement amount a2 according to whether the second cleaning component 3 can be driven to rise by the linkage lifting mechanism 5 during the rising process of the first cleaning component 2.

[0045] For example, assuming that the lifting device 4 can drive the first cleaning component 2 to rise by a maximum of 40 cm, i.e. the rising movement amount a has a value range of [0 cm-40 cm], the first displacement amount a1 can be set as 0 cm

[0046] In the present embodiment, since the second cleaning component 3 is lifted by the linkage lifting mechanism 5 only after the first cleaning component 2 rises to the second displacement amount a2, the first cleaning component 2 is lifted before the second cleaning component 3. In this way, when the cleaning device encounters an obstacle and needs to cross the obstacle, there is a lifting time difference between the first cleaning component 2 and the second cleaning component 3, and the second cleaning component 3 can clean the uncleaned area between the first cleaning component 2 and the second cleaning component 3 within the lifting time difference, so as to avoid the situation of missing cleaning and ensure the cleaning effect of the cleaning device.

[0047] Meanwhile, the cleaning device can control the specific value of the upward movement amount a through the lifting device 4, so as to control the working mode of the cleaning device, for example, the common cleaning mode of the first cleaning component 2 and the second cleaning component 3, the single cleaning mode of the second cleaning component 3, the common obstacle crossing mode of the first cleaning component 2 and the second cleaning component 3, so as to select different cleaning modes for different to-be-cleaned areas to adapt to different application scenarios.

[0048] Specifically, taking the first cleaning component 2 as a rolling brush assembly and the second cleaning component 3 as a water suction rake assembly as an example. When the cleaning area needs to be cleaned by using a rolling brush, the lifting device 4 controls the upward movement amount a to be 0 cm. At this time, the first cleaning component 2 and the second cleaning component 3 are both in contact with the working plane, so that in the moving process of the cleaning device, the first cleaning component 2 first performs rolling brush cleaning on the to-be-cleaned area, and then the second cleaning component 3 performs water suction cleaning on the water stains remaining after the first cleaning component 2 is cleaned. When the to-be-cleaned area only needs to be cleaned by water suction, the lifting device 4 controls the upward movement amount a to be within the first displacement amount a1 range or controls the upward movement amount a to be the critical movement value a3. At this time, there is a gap between the first cleaning component 2 and the working plane, and the second cleaning component 3 is in contact with the working plane, so that in the moving process of the cleaning device, only the second cleaning component 3 performs water suction cleaning on the to-be-cleaned area.

[0049] In an implementable embodiment, referring again to Figure 1 As shown in the figure, the cleaning device can further include a traveling component 6. The traveling component 6 is connected with the base 1, and the traveling component 6 provides traveling power for the base 1 to move on the working plane. The base 1 has a traveling direction S. Along the traveling direction S of the base 1, the first cleaning component 2 should be located in front of the second cleaning component 3. In this way, after the first cleaning component 2 cleans the working plane, the second cleaning component 3 can perform secondary cleaning on the working plane to ensure the cleaning effect. Meanwhile, in cooperation with the above-mentioned mode that the first cleaning component 2 rises earlier than the second cleaning component 3, when the cleaning device needs to cross an obstacle, the second cleaning component 3 can clean the uncleaned area between the first cleaning component 2 and the second cleaning component 3 within the lifting time difference, so as to avoid the existence of the uncleaned area of the second cleaning component 3.

[0050] In practical applications, the specific structure of the traveling component 6 can include two rear driving wheels 61 and a front universal wheel 62, each of the driving wheels 61 including a driving shaft and a driving motor connected with the driving wheel 61 through the driving shaft to provide traveling power, and the universal wheel 62 being used to adjust the moving direction of the cleaning device. Of course, the traveling component 6 can also adopt a track wheel or the like, which is not specifically limited in the present application. The arrangement direction of the first cleaning component 2 and the second cleaning component 3 is substantially perpendicular to the traveling direction S, both ends of the first cleaning component 2 and the second cleaning component 3 should be beyond the outer side of the two driving wheels 61, and both ends of the second cleaning component 3 should be beyond or aligned with both ends of the first cleaning component 2. In this way, the cleaning area of the second cleaning component 3 can cover the cleaning area of the first cleaning component 2, so as to avoid the occurrence of a cleaning area missed by the second cleaning component 3, and further ensure the cleaning effect.

[0051] In an implementable embodiment, referring again to Figure 2 As shown, the lifting device 4 can include a first rod segment 41 and a second rod segment 42, wherein the second rod segment 42 is movable along the length direction of the first rod segment 41. The first rod segment 41 is rotationally connected with the base 1, and the second rod segment 42 is rotationally connected with the first cleaning component 2. In this way, when the second rod segment 42 moves relative to the first rod segment 41, the second rod segment 42 can drive the first cleaning component 2 to rise or fall. It should be noted that, since the connection relationship between the lifting device 4 and the base 1 and the connection relationship between the lifting device 4 and the first cleaning component 2 are both rotational connections, a certain degree of deviation of the first cleaning component 2 in the horizontal direction can be allowed during the rising or falling of the first cleaning component 2.

[0052] In practical applications, the lifting device 4 can be a lifting electric cylinder, a lifting pneumatic cylinder or a lifting hydraulic cylinder. Taking the lifting electric cylinder as an example, the cylinder body of the lifting electric cylinder is the first rod segment 41, and the telescopic rod of the lifting electric cylinder is the second rod segment 42, which can make telescopic movement along the length direction of the cylinder body.

[0053] It should be pointed out that the "rotational connection" defined in the present application refers to the connection between two parts rotationally connected through a rotating shaft or a hinge.

[0054] The specific structure of the above-mentioned linkage lifting mechanism 5 can have various embodiments. In an implementable embodiment, referring again to Figures 5 to 8As shown, the linkage lifting mechanism 5 can at least include a first transmission assembly 51, wherein the first transmission assembly 51 includes a first connecting rod 511 and a second connecting rod 512. The base 1 can have a first support portion 11 extending downward, which is used to support the first transmission assembly 51. The middle portion of the first connecting rod 511 is rotationally connected with the first support portion 11, the first end of the first connecting rod 511 is rotationally connected with the first cleaning component 2, and the second end of the first connecting rod 511 is provided with a driving member 513. In this way, when the first end of the first connecting rod 511 rotates, the first connecting rod 511 can rotate around the rotation position of the first connecting rod 511 and the first support portion 11, so as to drive the driving member 513 to move in the opposite direction. The middle portion of the second connecting rod 512 is rotationally connected with the first support portion 11, one end of the second connecting rod 512 is provided with a first through hole 5121, and the other end of the second connecting rod 512 is connected with the second cleaning component 3. The driving member 513 is located in the first through hole 5121, when the upward movement amount a is within the first displacement amount a1, there is a movement gap between the driving member 513 and the inner wall of the first through hole 5121, the driving member 513 will not drive the second connecting rod 512 to rotate, so as to not drive the second cleaning component 3 to move upward. When the upward movement amount a is within the second displacement amount a2, the driving member 513 abuts against the inner wall of the first through hole 5121 and applies a force to the inner wall of the first through hole 5121, so as to drive the second connecting rod 512 to rotate, thereby driving the second cleaning component 3 to move upward.

[0055] In actual application, the first through hole 5121 can be of any shape, such as a waist-shaped hole, a rectangular hole, a circular hole or other special-shaped holes, etc., but the first through hole 5121 should ensure that: when the upward movement amount a is within the first displacement amount a1, the driving member 513 does not contact the inner wall of the first through hole 5121 during movement; when the upward movement amount a is the critical offset value a3, the driving member 513 contacts the inner wall of the first through hole 5121, but does not apply a force to the second connecting rod 512; when the upward movement amount a is within the second displacement amount a2, the driving member 513 contacts the inner wall of the first through hole 5121 and applies a force to the second connecting rod 512, so as to drive the second connecting rod 512 to rotate. Of course, the first through hole 5121 in the present application can also be replaced by a groove structure, which limits the driving member 513 in the second connecting rod 512 to achieve the above functions.

[0056] Secondly, the first connecting rod 511 can be configured as Figure 7The L-shaped structure is shown, the driving member 513 is located in the vertical rod part of the L-shaped structure, the first end of the first connecting rod 511 is located in the horizontal part of the L-shaped structure. In this way, when the driving member 513 is subjected to force, the force can be decomposed into a first component parallel to the horizontal part and a second component perpendicular to the horizontal part. Compared with the straight rod structure of the first connecting rod 511, the above structure can reduce the bending stress of the first connecting rod 511 at the rotating part of the first connecting rod 511 and the first support part 11, and improve the service life of the first connecting rod 511.

[0057] It should be noted that the "intermediate part" defined in the present application refers to the intermediate part between the two ends of the connecting rod, and is not limited to the center of the two ends of the connecting rod. The "movement gap" defined in the present application refers to the gap between the driving member 513 and the inner wall of the first through hole 5121 in the movement direction (such as the arrow direction shown) when the upward movement amount a is within the value range of the first displacement amount a1. Figure 6 The gap between the driving member 513 and the inner wall of the first through hole 5121 in the movement direction (such as the arrow direction shown) is the movement gap.

[0058] Further, in order to make the cleaning device can realize the maximum obstacle height, the above-mentioned first cleaning component 2 rising height should be consistent with the second cleaning component 3 rising height, or the second cleaning component 3 rising height should be greater than the first cleaning component 2 rising height.

[0059] For example, assuming that the rising height of the first cleaning component 2 is consistent with the rising height of the second cleaning component 3. In an implementable embodiment, please refer to Figure 4 and Figure 9As shown, for the convenience of description, the rotation position of the first connecting rod 511 and the first support part 11 is defined as the first rotation end 5111, the distance between the first end of the first connecting rod 511 and the first rotation end 5111 is recorded as d1, and the distance between the driving member 513 and the first rotation end 5111 is recorded as d2. There is a first ratio between d1 and d2, that is, the first ratio is d1 / d2. At the same time, the rotation position of the second connecting rod 512 and the first support part 11 is defined as the second rotation end 5122. When the second cleaning part 3 rises to the highest position, the distance between the driving member 513 and the second rotation end 5122 is recorded as d3, and the distance between the second rotation end 5122 and the other end of the second connecting rod 512 is recorded as d4. There is a second ratio between d3 and d4, that is, the second ratio is d3 / d4. The first displacement amount a1 has a first offset value d5, and the second displacement amount a2 has a second offset value d6. There is a third ratio between the second offset value d6 and the sum of the second offset value d6 and the first offset value d5, that is, the third ratio is d6 / (d5+d6). The product of the first ratio and the second ratio is the same as the third ratio. In this way, when the first end of the first connecting rod 511 rises by d6, the other end of the second connecting rod 512 can rise by d5+d6. In this way, when the first cleaning part 2 and the second cleaning part 3 rise together, the second cleaning part 3 can rise by d5 more than the first cleaning part 2 to make up for the height difference caused by the advance of the first cleaning part 2, so that the rising heights of the first cleaning part 2 and the second cleaning part 3 are consistent in the obstacle surmounting state.

[0060] In actual application, the first offset value d5 and the second offset value d6 can both be 20 cm, and the corresponding third ratio is 1 / 2. The first ratio can be set to 2 / 1, and the second ratio can be set to 1 / 4. In this way, the product of the first ratio and the second ratio is the same as the third ratio. In other words, when the first cleaning part 2 rises by 20 cm first, the second cleaning part 3 is still in the cleaning state and does not rise. When the first cleaning part 2 rises by another 20 cm, the first cleaning part 2 drives the second cleaning part 3 to rise by 40 cm through the first connecting rod 511 and the second connecting rod 512 at the same time. At this time, the first cleaning part 2 and the second cleaning part 3 are both in the obstacle surmounting state and have consistent rising heights, and the cleaning device can achieve the maximum obstacle surmounting height.

[0061] In an implementable embodiment, please refer to Figures 10 to 12 As shown, the first support part 11 is provided with a limiting hole 111. The driving member 513 is partially located in the limiting hole 111, and the limiting hole 111 is used to limit the rotation range of the driving member 513. At the same time, since the driving member 513 is connected with the first connecting rod 511, the limiting hole 111 indirectly limits the rotation range of the first connecting rod 511, thereby limiting the lifting range of the first cleaning part 2.

[0062] In the embodiment, the limiting hole 111 can be an arc-shaped hole, which is concentrically arranged with the first rotating end 5111. When the first cleaning component 2 is in the cleaning state, as shown in Figure 11 , the driving member 513 abuts against the top of the arc-shaped hole, so as to prevent the lifting device 4 from driving the first cleaning component 2 to continue to move downward, thereby avoiding the situation that the first cleaning component 2 is pressed and damaged. When the first cleaning component 2 is in the obstacle-crossing state, as shown in Figure 12 , the driving member 513 abuts against the bottom of the arc-shaped hole, so as to prevent the lifting device 4 from driving the first cleaning component 2 to continue to move upward, thereby avoiding the situation that the first cleaning component 2 is damaged due to collision with the base 1.

[0063] In an implementable embodiment, as shown in Figure 13 , on the basis of the linkage lifting mechanism 5, the linkage lifting mechanism 5 can further include a second transmission assembly 52, and the other end of the second connecting rod 512 is connected with the second cleaning component 3 through the second transmission assembly 52. In this way, when the first cleaning component 2 is lifted, the first cleaning component 2 can be sequentially driven by the first transmission assembly 51 and the second transmission assembly 52 to drive the second cleaning component 3 to be lifted.

[0064] Regarding the specific structure of the second transmission assembly 52. In an implementable embodiment, as shown in Figure 14 and Figure 15 , the second transmission assembly 52 can at least include a third connecting rod 521 and a connecting member 522. The base 1 has a second support portion 12 extending downward, which is used to support the second transmission assembly 52. The first end of the third connecting rod 521 is rotationally connected with the second support portion 12, and the second end of the third connecting rod 521 is rotationally connected with the connecting member 522. The third connecting rod 521 is provided with a second through hole 5211 extending along the length direction of the third connecting rod 521, and the other end of the second connecting rod 512 is slidingly connected in the second through hole 5211. The connecting member 522 is connected with the second cleaning component 3, and when the lifting displacement a is within the value range of the second displacement a2, the driving member 513 drives the third connecting rod 521 to rotate around the second support portion 12 through the second connecting rod 512, so as to lift the second cleaning component 3.

[0065] In the embodiment, when the upward moving amount a is within the range of the second displacement amount a2, the driving member 513 drives one end of the second connecting rod 512 to overturn downward, so that the other end of the second connecting rod 512 overturns upward. Since the other end of the second connecting rod 512 is slidingly connected in the second through hole 5211, and the first end of the third connecting rod 521 is rotationally connected with the second support portion 12, and the second end of the third connecting rod 521 is rotationally connected with the connecting member 522, when the other end of the second connecting rod 512 overturns upward, the second connecting rod 512 will drive the third connecting rod 521 to rotate upward around the second support portion 12, so as to drive the second cleaning member 3 to rise.

[0066] In actual application, the second transmission assembly 52 should further include a fourth connecting rod 523, one end of the fourth connecting rod 523 is rotationally connected with the second support portion 12, and the other end of the fourth connecting rod 523 is rotationally connected with the connecting member 522, the fourth connecting rod 523 is parallel to the third connecting rod 521 and is arranged above the third connecting rod 521. In this way, when the second cleaning member 3 is in the cleaning state, the connecting member 522 cannot rotate around the third connecting rod 521 under the restriction of the third connecting rod 521 and the fourth connecting rod 523. In this way, the second cleaning member 3 can be prevented from rotating around the third connecting rod 521, so as to ensure that the cleaning surface of the second cleaning member 3 is always downward, and the cleaning effect of the second cleaning member 3 is ensured.

[0067] Further, based on the structure that the other end of the second connecting rod 512 is connected with the second cleaning member 3 through the second transmission assembly 52, since the second transmission assembly 52 can amplify the rising height of the other end of the second connecting rod 512, in order to make the rising height of the first cleaning member 2 consistent with the rising height of the second cleaning member 3 in the obstacle surmounting state, the relationship among the first ratio, the second ratio and the third ratio should be correspondingly modified. Specifically, when the second cleaning member 3 is in the obstacle surmounting state, the distance between the connecting position of the other end of the second connecting rod 512 and the first end of the third connecting rod 521 and the distance between the first end of the third connecting rod 521 and the second end of the third connecting rod 521 exist a fourth ratio. The product of the first ratio, the second ratio and the fourth ratio should be the same as the third ratio. In this way, when the first end of the first connecting rod 511 rises by a height d6, the second end of the third connecting rod 521 can rise by a height d5+d6. In this way, when the first cleaning member 2 and the second cleaning member 3 rise together, the second cleaning member 3 rises by a height d5 more than the first cleaning member 2, so as to make up the difference that the first cleaning member 2 rises by a height d5 in advance, and make the rising height of the first cleaning member 2 consistent with the rising height of the second cleaning member 3 in the obstacle surmounting state.

[0068] In an implementable embodiment, please refer to Figure 14 and Figure 15As shown, the second transmission assembly 52 can further include an adjusting member 524. One end of the adjusting member 524 abuts against the second support portion 12 through the connecting member 522, and the adjusting member 524 is threadedly connected with the connecting member 522.

[0069] In the embodiment, the adjusting member 524 is threadedly connected with the connecting member 522, the distance between the connecting member 522 and the second support portion 12 can be adjusted by rotating the adjusting member 524, and since the length of the third connecting rod 521 is fixed, the connecting member 522 can be lifted relative to the working plane. In this way, the user can adjust the distance between the connecting member 522 and the working plane by rotating the adjusting member 524, so that the connecting member can be connected with the second cleaning component 3 of different heights.

[0070] In actual application, the connecting member 522 can be configured as an L-shaped structure, the second end of the third connecting rod 521 and the other end of the fourth connecting rod 523 are respectively rotationally connected with the vertical rod portion of the connecting member 522, and the bottom surface of the horizontal portion of the connecting member 522 is connected with the second cleaning component 3, so that the second cleaning component 3 is in horizontal contact with the working plane during working, thereby ensuring the cleaning effect. The one end of the adjusting member 524 abuts against the second support portion 12 through the vertical rod portion of the connecting member 522, and the adjusting member 524 is threadedly connected with the vertical rod portion of the connecting member 522.

[0071] The first transmission assembly 51 and the second transmission assembly 52 can be connected at any position on the base 1. Please refer again to Figure 13 As shown, in some cases, the first transmission assembly 51 needs to be connected on one side of the bottom of the base 1 due to the structural layout of the cleaning device. In order to make the second transmission assembly 52 uniformly bear the force on both ends of the second cleaning component 3 and ensure the cleaning effect of the second cleaning component 3, the second transmission assembly 52 should be connected at the center of the second cleaning component 3, that is, the second transmission assembly 52 should be connected at the center of the base 1, so that there is a spacing between the second connecting rod 512 and the second through hole 5211, and the other end of the second connecting rod 512 cannot be directly and slidingly connected in the second through hole 5211.

[0072] Therefore, in order to make the other end of the second connecting rod 512 indirectly and slidingly connected in the second through hole 5211. In an implementable embodiment, the first transmission assembly 51 should further include a lifting rod 514. One end of the lifting rod 514 is fixedly connected with the other end of the second connecting rod 512, the other end of the lifting rod 514 is slidingly connected in the second through hole 5211, and the lifting rod 514 is perpendicular to the second connecting rod 512. In this way, the other end of the second connecting rod 512 can be slidingly connected in the second through hole 5211 through the lifting rod 514, so as to meet the connection requirement of the first transmission assembly 51 and the second transmission assembly 52 at different positions on the base 1.

[0073] In practical applications, the lifting rod 514 and the second connecting rod 512 can be designed in an integrated structure, for example, by integrated injection molding or die casting. Of course, the lifting rod 514 and the second connecting rod 512 can also be designed in a split structure, for example, the lifting rod 514 and the second connecting rod 512 are separately machined, and then connected by welding, gluing or threaded connection.

[0074] Further, please refer to Figure 16 As shown, the first transmission assembly 51 can further include a fifth connecting rod 515. One end of the fifth connecting rod 515 is rotatably connected with the first cleaning component 2, and the other end of the fifth connecting rod 515 is rotatably connected with the first support part 11. The fifth connecting rod 515 is parallel to the first connecting rod 511 and arranged above and below. In this way, the first cleaning component 2 can avoid turning around the first connecting rod 511 during lifting, and the running stability of the first cleaning component 2 is ensured.

[0075] In an implementable embodiment, please refer again to Figure 13 As shown, the above-mentioned first transmission assembly 51 can have two. The second transmission assembly 52 is located between the two first transmission assemblies 51, and the two first transmission assemblies 51 are oppositely arranged. The other end of the lifting rod 514 of the two first transmission assemblies 51 is slidably connected in the second through hole 5211. In this way, the two first transmission assemblies 51 can simultaneously lift the third connecting rod 521 from both sides, so that the two sides of the third connecting rod 521 are uniformly stressed, and the lifting stability of the second cleaning component 3 is ensured.

[0076] In practical applications, the third connecting rod 521 can be configured as an inverted U-shaped structure, and the second through hole 5211 penetrates the vertical rod portions on both sides of the third connecting rod 521, and the two lifting rods 514 are respectively slidably connected in the second through hole 5211 on the corresponding vertical rod portion.

[0077] Further, please refer to Figure 17 As shown, the linkage lifting mechanism 5 further includes a first support rod 53 and a second support rod 54. One end of the first support rod 53 is fixedly connected with one first connecting rod 511, and the other end of the first support rod 53 is fixedly connected with the other first connecting rod 511. One end of the second support rod 54 is fixedly connected with one fifth connecting rod 515, and the other end of the second support rod 54 is fixedly connected with the other fifth connecting rod 515. That is, the first support rod 53 and the second support rod 54 can connect the two first transmission assemblies 51, so that the actions of the two first transmission assemblies 51 are consistent, avoiding the situation that the two first transmission assemblies 51 act incoordination, causing the first cleaning component 2 and the second cleaning component 3 to tilt, and the collision and damage between the connected two parts, and ensuring the running stability of the linkage lifting mechanism 5.

[0078] In practical applications, reference can be made to Figure 3 As shown in FIG. 1, each first transmission assembly 51 can share the same first support part 11 with a driving wheel 61. Specifically, the driving wheel 61 is connected to the outer side of the first support part 11, and the first transmission assembly 51 can be connected to the inner side of the first support part 11. In this way, the internal structure of the cleaning device can be simplified, the weight of the cleaning device can be reduced, and the production cost can be lowered.

[0079] Regarding the specific structure of the linkage lifting mechanism 5, in another implementable embodiment, reference can be made to Figure 18 As shown in FIG. 1, the linkage lifting mechanism 5 can include a first connecting part 55 and a second connecting part 56. The first connecting part 55 is located on the first cleaning part 2, and the second connecting part 56 is located on the second cleaning part 3, or the first connecting part 55 is located on the second cleaning part 3, and the second connecting part 56 is located on the first cleaning part 2. The first connecting part 55 is provided with a third through hole 551, and the second connecting part 56 is slidingly connected in the third through hole 551. When the upward movement amount a is within the value range of the first displacement amount a1, there is a movement gap between the second connecting part 56 and the inner wall top of the third through hole 551. In this way, when the lifting device 4 drives the first cleaning part 2 to rise, the first cleaning part 2 can drive the second cleaning part 2 to rise together through the first connecting part 55 and the second connecting part 56. At the same time, the first cleaning part 2 can be raised before the second cleaning part 3.

[0080] In this embodiment, when the lifting device 4 lifts the first cleaning part 2, and the upward movement amount a of the first cleaning part 2 is within the value range of the first displacement amount a1, the second connecting part 56 does not contact the inner wall top of the third through hole 551, so that the first cleaning part 2 rises, and the second cleaning part 3 remains in a cleaning state. When the upward movement amount a is within the value range of the second displacement amount a2, the second connecting part 56 contacts the inner top of the third through hole 551 and applies an upward force to the first connecting part 55 to lift the second cleaning part 3 to rise together.

[0081] In practical applications, the first connecting part 55 can be connected with the second cleaning part 3, one end of the second connecting part 56 is connected with the first cleaning part 2, and the other end of the second connecting part 56 is provided with a sliding rod located in the third through hole 551. In this way, when the upward movement amount a is within the value range of the second displacement amount a2, the first cleaning part 2 can drive the first connecting part 55 to rise through the sliding rod, and in turn drive the second cleaning part 3 to rise. The third through hole 551 can be a strip-shaped hole, and the length direction of the strip-shaped hole is parallel to the extension direction of the lifting device 4.

[0082] Further, the base 1 can have a slide rail 13 extending downward, and the first connecting part 55 or the second cleaning part 3 is slidingly connected to the slide rail 13. In this way, when the second cleaning part 3 is raised, the second cleaning part 3 can be raised along the slide rail 13, so that the slide rail 13 limits the lifting direction of the second cleaning part 3, avoids the second cleaning part 3 from being flipped around the first cleaning part 2, and ensures stable operation of the cleaning device.

[0083] Based on the same inventive concept, the application further provides a linkage lifting mechanism 5 for being connected with the base 1. The linkage lifting mechanism at least includes a first transmission assembly 51 including a first connecting rod 511 and a second connecting rod 512. The base 1 has a first supporting part 11 extending downward, and the middle part of the first connecting rod 511 and the middle part of the second connecting rod 512 are respectively rotationally connected with the first supporting part 11. The first end of the first connecting rod 511 is used for being rotationally connected with the first cleaning part 2, and the second end of the first connecting rod 511 is provided with a driving part 513. The second connecting rod 512 is provided with a first through hole 5121 at one end, and the other end of the second connecting rod 512 is used for being connected with the second cleaning part 3. The driving part 513 is located in the first through hole 5121, and when the first cleaning part is in a cleaning state, there is a movement gap between the driving part 513 and the inner wall of the first through hole 5121.

[0084] Further, the linkage lifting mechanism 5 further includes a second transmission assembly 52, and the second transmission assembly 52 at least includes a third connecting rod 521 and a connecting part 522. The base 1 has a second supporting part 12 extending downward. The first end of the third connecting rod 521 is rotationally connected with the second supporting part 12, and the second end of the third connecting rod 521 is rotationally connected with the connecting part 522. The third connecting rod 521 is provided with a second through hole 5211 extending along the length direction of the third connecting rod 521, and the other end of the second connecting rod 512 is slidingly connected in the second through hole 5211. The connecting part 522 is connected with the second cleaning part 3, and the driving part 513 drives the third connecting rod 521 to rotate through the second connecting rod 512 to lift the second cleaning part 3.

[0085] It should be particularly pointed out that the specific structure of the first transmission assembly 51 and the second transmission assembly 52 can refer to the content of the above-mentioned embodiments, and will not be repeated here. It is worth mentioning that the linkage lifting mechanism 5 of the application is not only limited to be applied in the cleaning device, but also can be applied in other devices which need to lift two parts in sequence.

[0086] Based on the same inventive concept, the application further provides a cleaning mode control method which can be applied in a cleaning device, and a plurality of cleaning modes are set in the cleaning device in advance. The method includes:

[0087] determining a target cleaning mode from the plurality of cleaning modes based on the cleaning type required by the area to be cleaned;

[0088] controlling the height of the first cleaning component and the second cleaning component by the lifting device to switch the cleaning device to the target cleaning mode.

[0089] When the target cleaning mode is the first cleaning mode, the first cleaning component 2 is controlled by the lifting device 4 to be at a first preset height, so that the first cleaning component 2 and the second cleaning component 3 are in contact with the working plane at the same time.

[0090] When the target cleaning mode is the second cleaning mode, the first cleaning component 2 is controlled by the lifting device 4 to be at a second preset height, so that there is a gap between the first cleaning component 2 and the working plane, and the second cleaning component 3 is in contact with the working plane.

[0091] In the embodiment, the lifting device 4 is used to drive the first cleaning component 2 to rise, and the first cleaning component 2 is linked with the second cleaning component 3 through the linkage lifting mechanism 5. In this way, the cleaning device can control the first cleaning component 2 to be at different heights through the lifting device 4, so that the first cleaning component 2 and the second cleaning component 3 are in different states with the working plane, and then different cleaning modes of the cleaning device are set according to the different states. It should be pointed out that the first preset height can be set according to whether the first cleaning component is separated from the working plane, and usually the first preset height is set to 0 cm. The second preset height can be set according to whether the second cleaning component 3 will be driven to rise by the linkage lifting mechanism 5 in the process of the first cleaning component 2 rising. Assuming that the total rising height is 40 cm, when 0 cm < rising height ≤ 20 cm, the first cleaning component 2 will not drive the second cleaning component 3 to rise, so any value in 0 cm < rising height ≤ 20 cm can be selected as the second preset height.

[0092] In practical applications, the cleaning device is a floor cleaning machine, the first cleaning component 2 is a roller brush assembly, and the second cleaning component 3 is a water absorption rake assembly. The cleaning device can be provided with a control module electrically connected to the lifting device 4. The control module can be an MCU module. When the to-be-cleaned area has dirt and needs to be cleaned by the roller brush assembly, the cleaning device can automatically select or be selected by the worker to select the first mode. The MCU module sends an electrical signal to the lifting device 4, so that the lifting device 4 controls the roller brush assembly to be located at the first preset height. At this time, the roller brush assembly and the water absorption rake assembly are in contact with the working plane, so that under the movement of the cleaning device, the roller brush assembly first performs friction cleaning on the to-be-cleaned area, and then the water spots left by the roller brush assembly after cleaning are cleaned by the water absorption rake assembly. When the to-be-cleaned area has clean water and only needs to be cleaned by the water absorption rake assembly, the cleaning device can automatically select or be selected by the worker to select the second mode. The MCU module sends an electrical signal to the lifting device 4, so that the lifting device 4 controls the roller brush assembly to be located at the second preset height. At this time, the roller brush assembly is not in contact with the working plane, and the water absorption rake assembly is in contact with the working plane, so that under the movement of the cleaning device, only the water absorption rake assembly performs water absorption cleaning on the to-be-cleaned area.

[0093] Further, during the cleaning process, the cleaning device can determine whether there is an obstacle on the working plane.

[0094] If there is an obstacle, the cleaning device can switch the working mode to an obstacle crossing mode. Specifically, the cleaning device controls the first cleaning component 2 to be located at the third preset height through the lifting device 4, and the first cleaning component 2 drives the second cleaning component 3 to rise through the linkage lifting mechanism 5, so that there is a gap between the first cleaning component 2 and the second cleaning component 3 and the working plane.

[0095] In the embodiment, when there is an obstacle on the working plane, in order to enable the cleaning device to cross the obstacle, the first cleaning component 2 and the second cleaning component 3 need to be lifted so that there is a gap between the first cleaning component 2 and the second cleaning component 3 and the working plane, to facilitate the obstacle to pass from the bottom of the cleaning device. Therefore, the first cleaning component 2 needs to be raised to a third preset height, so that the first cleaning component 2 can drive the second cleaning component 3 to be lifted together through the linkage lifting mechanism 5. It should be pointed out that the third preset height can be set according to whether the second cleaning component 3 will be lifted through the linkage lifting mechanism 5 in the process of lifting the first cleaning component 2. Assuming that the total lifting height is 40 cm, when 20 cm < lifting height ≤ 40 cm, the first cleaning component 2 will drive the second cleaning component 3 to be lifted, then any value in 20 cm < lifting height ≤ 40 cm can be selected as the third preset height. Of course, the optimal way is that the first cleaning component 2 is raised to the top end, that is, the third preset height is 40 cm, so that the cleaning device can cross higher obstacles. In addition, the cleaning device can also judge the height of the obstacle in advance, and select the corresponding third preset height based on the height of the obstacle, which is not limited in the present application.

[0096] In actual application, the cleaning device can also be provided with an obstacle detection device for detecting whether there is an obstacle in the to-be-traveled region. The obstacle detection device can be a laser sensor, an ultrasonic sensor, or a visual detection device. The MCU module can set the obstacle-crossing mode as the highest priority, for example, when the obstacle detection device detects that there is an obstacle on the working plane, the obstacle-crossing mode can be entered preferentially to avoid the situation that the cleaning device is stuck.

[0097] It should be pointed out that the specific structure of the lifting device 4 and the linkage lifting mechanism 5 can refer to the above content. The roller brush assembly and the water suction rake assembly can refer to the prior art, which will not be described here.

[0098] The following will be described in detail in combination with a specific application scenario, taking the cleaning device as a scrubber, the first cleaning component as a roller brush assembly, and the second cleaning component as a water suction rake assembly.

[0099] Application scenario one:

[0100] In a hotel, in order to reduce the labor intensity of the staff, the purchasing personnel are ready to purchase a batch of scrubbers for cleaning the floor of the hotel. However, because the advantages and disadvantages of various scrubbers are not clear, the purchasing personnel decide to try two scrubbers with the highest sales for trial use, and then decide the final purchase type after use experience.

[0101] After receiving the two scrubbers, the purchaser found that the two scrubbers looked basically the same, and both had a roller brush assembly and a water suction rake assembly, and could be used for roller brush cleaning and water suction cleaning of the ground. However, the two scrubbers had a little difference in volume. In order to distinguish them, the purchaser named the two scrubbers as a first scrubber and a second scrubber respectively, and assigned the two scrubbers to the staff for use, and asked them to observe the use and report.

[0102] After using the two scrubbers for many times, the staff found that the second scrubber could not be used to clean some narrow areas in the hotel due to its large volume, and its use range was more limited than that of the first scrubber. In addition, for the cleaning effect, when the second scrubber encountered an obstacle and needed to cross the obstacle, the roller brush assembly and the water suction rake assembly of the second scrubber were lifted together, which caused some water stains left by the roller brush assembly to be unable to be cleaned by the water suction rake assembly when the second scrubber crossed the obstacle. Compared with the first scrubber, the roller brush assembly and the water suction rake assembly of the first scrubber were lifted in sequence, and the first scrubber did not have the situation of residual water stains not being cleaned, and the cleaning effect of the first scrubber was obviously better.

[0103] After listening to the report of the staff, the purchaser combined the use instructions of the two scrubbers and found that the first scrubber only had one lifting cylinder inside, while the second scrubber had two lifting cylinders inside, which directly caused the selling price of the first scrubber to be slightly lower than that of the second scrubber.

[0104] Therefore, based on the above aspects, the purchaser decided to purchase a batch of first scrubbers again for daily cleaning in the hotel.

[0105] Therefore, based on the above aspects, the purchaser decided to purchase a batch of first scrubbers again for daily cleaning in the hotel.

[0106] Meanwhile, the linkage lifting mechanism can be configured to lift the first cleaning component when the lifting displacement of the first cleaning component is within a first displacement range, and the second cleaning component is still in a cleaning state. When the lifting displacement of the first cleaning component is within a second displacement range, the first cleaning component drives the second cleaning component to be lifted together through the linkage lifting mechanism. In this way, there is a lifting time difference between the first cleaning component and the second cleaning component, and when the cleaning device encounters an obstacle and needs to overcome the obstacle, the second cleaning component can clean the uncleaned area between the first cleaning component and the second cleaning component within the lifting time difference, avoid the existence of a missed cleaning area of the second cleaning component, and ensure the cleaning effect. Moreover, the lifting device can control the lifting displacement of the first cleaning component, thereby selecting the joint working mode of the first cleaning component and the second cleaning component and the separate working mode of the second cleaning component to provide different use modes and apply to different application scenarios.

[0107] Further, the first cleaning component and the second cleaning component are lifted in linkage through cooperation of the first connecting rod and the second connecting rod, and there is a preset ratio relationship between the two ends and the rotation positions of the first connecting rod and the two ends and the rotation positions of the second connecting rod, so that the distance between the first cleaning component and the second cleaning component and the working plane is consistent in the obstacle crossing state, and thus the cleaning device can realize the maximum obstacle crossing height and cross higher obstacles.

[0108] Further, the second transmission assembly can further include an adjusting piece, the adjusting piece abuts against the second support portion through the connecting piece, and the adjusting piece is threadedly connected with the connecting piece. In this way, the user can rotate the adjusting piece to adjust the distance between the connecting piece and the working plane, and thus the connecting piece can be suitable for connecting second cleaning components of different heights.

[0109] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning apparatus, characterized by, At least comprising a base, a first cleaning component and a second cleaning component; The first cleaning component is connected with the base through a lifting device, and has an upward moving amount, wherein the upward moving amount comprises a first displacement amount and a second displacement amount; The second cleaning component is connected with the first cleaning component through a linkage lifting mechanism; after the upward moving amount enters the second displacement amount from the first displacement amount, the first cleaning component lifts the second cleaning component through the linkage lifting mechanism, so that the second cleaning component is switched from a cleaning state to an obstacle crossing state; The linkage lifting mechanism at least comprises a first transmission assembly, and the first transmission assembly comprises a first connecting rod and a second connecting rod; the base has a first supporting part extending downward, and a middle part of the first connecting rod and a middle part of the second connecting rod are rotationally connected with the first supporting part respectively; A first end of the first connecting rod is rotationally connected with the first cleaning component, and a second end of the first connecting rod is provided with a driving member; one end of the second connecting rod is provided with a first through hole, and the other end of the second connecting rod is connected with the second cleaning component; The driving member is located in the first through hole, when the upward moving amount is located in the first displacement amount, there is a movement gap between the driving member and the inner wall of the first through hole, when the upward moving amount is located in the second displacement amount, the driving member abuts against the inner wall of the first through hole to make the second connecting rod rotate.

2. The cleaning apparatus of claim 1, wherein, The lifting device comprises a first rod segment and a second rod segment, wherein the second rod segment moves along the length direction of the first rod segment; The first rod segment is rotationally connected with the base, and the second rod segment is rotationally connected with the first cleaning component.

3. The cleaning apparatus of claim 2, wherein, The rotation place of the first connecting rod and the first supporting part is a first rotation end; The distance between the first end of the first connecting rod and the first rotation end and the distance between the driving member and the first rotation end have a first ratio: The rotation place of the second connecting rod and the first supporting part is a second rotation end; When the second cleaning component is in the obstacle crossing state, the distance between the driving member and the second rotation end and the distance between the second rotation end and the other end of the second connecting rod have a second ratio; The first displacement amount has a first offset value, and the second displacement amount has a second offset value, wherein the second offset value and the sum of the second offset value and the first offset value have a third ratio; The product of the first ratio and the second ratio is the same as the third ratio.

4. The cleaning apparatus of claim 2, wherein, The first supporting part is provided with a limiting hole, and the driving member is partially located in the limiting hole to limit the rotation range of the driving member through the limiting hole.

5. The cleaning apparatus of claim 2, wherein, The linkage lifting mechanism further comprises a second transmission assembly; The other end of the second connecting rod is connected with the second cleaning component through the second transmission assembly.

6. The cleaning apparatus of claim 5, wherein, The second transmission assembly at least comprises a third connecting rod and a connecting member; The base has a second supporting part extending downward; A first end of the third connecting rod is rotationally connected with the second supporting part, and a second end of the third connecting rod is rotationally connected with the connecting member; The third connecting rod is provided with a second through hole, and the second through hole extends along the length direction of the third connecting rod, wherein the other end of the second connecting rod is slidingly connected in the second through hole; The connecting piece is connected with the second cleaning component, when the upward moving amount is at the second displacement amount, the driving piece drives the third connecting rod to rotate through the second connecting rod, so as to lift the second cleaning component.

7. The cleaning apparatus of claim 6, wherein, The second transmission assembly further comprises a fourth connecting rod; One end of the fourth connecting rod is rotationally connected with the second support part, and the other end of the fourth connecting rod is rotationally connected with the connecting piece, and the fourth connecting rod is parallel to the third connecting rod and arranged vertically.

8. The cleaning apparatus of claim 7, wherein, The second transmission assembly further comprises an adjusting piece; One end of the adjusting piece abuts against the second support part through the connecting piece, and the adjusting piece is threadedly connected with the connecting piece.

9. The cleaning apparatus of claim 6 or 8, wherein, The first transmission assembly further comprises a lifting rod; One end of the lifting rod is fixedly connected with the other end of the second connecting rod, the other end of the lifting rod is slidingly connected in the second through hole, and the lifting rod is perpendicular to the second connecting rod.

10. The cleaning apparatus of claim 9, wherein, The first transmission assembly further comprises a fifth connecting rod; One end of the fifth connecting rod is rotationally connected with the first cleaning component, and the other end of the fifth connecting rod is rotationally connected with the first support part, and the fifth connecting rod is parallel to the first connecting rod and arranged vertically.

11. The cleaning apparatus of claim 10, wherein, The first transmission assembly has two; The second transmission assembly is located between the two first transmission assemblies, and the two first transmission assemblies are oppositely arranged; The other end of the two lifting rods is slidingly connected in the second through hole.

12. The cleaning apparatus of claim 11, wherein, The linkage lifting mechanism further comprises a first support rod and a second support rod; One end of the first support rod is fixedly connected with one of the first connecting rods, and the other end of the first support rod is fixedly connected with the other first connecting rod; One end of the second support rod is fixedly connected with one of the fifth connecting rods, and the other end of the second support rod is fixedly connected with the other fifth connecting rod.

13. The cleaning apparatus of claim 1, wherein, The cleaning device further comprises a traveling component; The traveling component is connected with the base, and the traveling component provides traveling power for the base; In the traveling direction of the base, the first cleaning component is located in front of the second cleaning component.

14. A cleaning mode control method characterized by, The method is applied to the cleaning device as claimed in any one of claims 1 to 13, the cleaning device is provided with a plurality of cleaning modes in advance, and the method comprises: judging the required cleaning type of the to-be-cleaned area, and determining a target cleaning mode from the plurality of cleaning modes based on the cleaning type; controlling the height of the first cleaning component and the second cleaning component through the lifting device, so as to switch the cleaning device to the target cleaning mode.

15. The cleaning mode control method according to claim 14, wherein when the target cleaning mode is the first cleaning mode, the first cleaning component is controlled to be located at a first preset height through the lifting device, so that the first cleaning component and the second cleaning component are in contact with the working plane at the same time. When the target cleaning mode is the second cleaning mode, the first cleaning component is controlled by the lifting device to be located at a second preset height, so that a gap exists between the first cleaning component and the working plane, and the second cleaning component is in contact with the working plane.

16. The cleaning pattern control method of claim 14, wherein, The method further comprises: determining whether an obstacle exists on the working plane; if the obstacle exists, the first cleaning component is controlled by the lifting device to be located at a third preset height, and the second cleaning component is lifted by the linkage lifting mechanism, so that gaps exist between the first cleaning component and the second cleaning component and the working plane.

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