Cleaning device and cleaning method thereof

Abstract

The application discloses a cleaning device and a cleaning method thereof, which comprises a driving motor, a cleaning assembly and a lifting unit. The cleaning assembly comprises a sleeve, a cleaning disc and a cleaning brush. The lifting unit comprises an elastic member, a counterweight and a cable connected with the counterweight. One end of each cable is connected with a corresponding counterweight, and the other end is connected with the sleeve. The application sets a height sensor to detect the ground clearance of the cleaning disc, obtains the corresponding cleaning height in combination with the length of the cleaning brush, and starts the driving motor to drive the cleaning disc to rotate, simultaneously drives the counterweight to move and thereby pulls the cleaning disc to move downward to the cleaning height. When the driving motor is turned off, the elastic member can pull back the cleaning disc to automatically move upward, and the operation is convenient.

Description

Technical Field

[0001] This invention relates to the field of road sweeping device technology, and in particular to a sweeping device and its sweeping method. Background Technology

[0002] In existing technology, the lifting and lowering adjustment of the sweeping device of a sweeper truck uses a separate lifting unit. When the ground needs to be swept, the lifting unit is operated by a button to lower the sweeping device so that it can sweep the ground. After sweeping is completed, the lifting unit is operated by a button to raise the sweeping device so that it leaves the ground. However, the existing sweeping device remains at the same height throughout the sweeping process and cannot adjust the height of the sweeping brush according to the unevenness of the ground. When encountering uneven ground, low-lying areas can easily become blind spots for the sweeping brush, while raised areas can increase the friction and pressure on the brush, increasing brush wear, increasing motor torque, and reducing the lifespan of the device. In addition, if the sweeping device is not raised after sweeping, the sweeping brush remains in contact with the ground while the vehicle is moving, resulting in continuous friction and wear of the brush, leading to frequent replacements and increasing environmental maintenance costs. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a cleaning device and cleaning method that uses the rotation of the original drive motor to realize the cleaning height adjustment and can realize automatic return.

[0004] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide a cleaning device, comprising: A drive motor, wherein the output shaft of the drive motor has an inner cavity extending along its axial direction toward the output end face; A cleaning assembly includes a sleeve axially movably disposed within the inner cavity of an output shaft, a cleaning disc coaxially connected to the lower end of the sleeve, and a cleaning brush disposed on the cleaning disc. The sleeve is rotatable with the output shaft of a drive motor, thereby driving the cleaning assembly to rotate. The lifting unit includes an elastic element connected between the upper end of the sleeve and the bottom of the inner cavity, several sets of counterweights slidably disposed on the cleaning disc in the radial direction, and a cable corresponding to each counterweight; each set of counterweights includes two counterweights disposed on the same diameter line; one end of each cable is connected to the corresponding counterweight, and the other end is connected to the sleeve.

[0005] The above structure includes a drive motor. The rotation of the drive motor's output drives the sweeping disc in the sweeping assembly to rotate. The centrifugal force generated by the rotation causes the counterweight in the lifting unit to move, and the sweeping disc connected to the sleeve moves down to the corresponding sweeping height via a cable. This achieves the purpose of adaptively adjusting the sweeping height. After sweeping is completed, the drive motor is turned off, the sweeping disc stops rotating, and under the action of the elastic force of the elastic element, the cable drives the sleeve and the sweeping disc to rise synchronously back to the standby position. This achieves the purpose of automatically retrieving the sweeping disc. The structure is simple and compact, and easy to use.

[0006] To facilitate disassembly and assembly as well as connection to the lifting unit, preferably, the output shaft of the drive motor has a small outer diameter section closer to the drive motor and a large outer diameter section closer to the cleaning component. The inner cavity is disposed in the large outer diameter section and extends through the large outer diameter section towards the cleaning component, so that the large outer diameter section forms a guide sleeve. A limiting block is provided in the guide sleeve, and a fixing block is screwed onto the limiting block. A mounting hole is coaxially provided on the fixing block. One end of the elastic element is fixedly connected to the mounting hole, and the other end is fixedly connected to the sleeve.

[0007] To simplify the structure and facilitate installation, preferably, a connecting block is fixed to the upper end of the sleeve, one side of the connecting block is connected to one end of the elastic element, and the other side of the connecting block is connected to the other end of the cable.

[0008] To ensure transmission stability, preferably, the outer wall surface of the sleeve has at least one first flat surface, and the inner wall surface of the guide sleeve has at least one second flat surface that fits against the first flat surface.

[0009] To facilitate straightening of the cable and reduce cable wear, it is preferable to provide a guide wheel on the inner wall of the sleeve, with a groove on the wheel surface, and the cable is wound around the groove.

[0010] To ensure the stability of the directional movement of the counterweights, preferably, each counterweight is slidably disposed on the upper side of the sweeping disc via a radial guide unit. The radial guide unit includes a first guide rod disposed radially between the sleeve and the outer edge of the sweeping disc. The counterweight has a first guide hole, through which it is movably sleeved onto the first guide rod. An inner limiting plate is disposed on the first guide rod at a position between the sleeve and the counterweight, and the inner limiting plate is fixed to the sweeping disc. An outer limiting plate is disposed on the first guide rod between the counterweight and the outer edge of the sweeping disc. When the sweeping assembly is in its initial position, the counterweight is located at the inner limiting plate, and the outer limiting plate is used to limit the lower limit of the sweeping assembly.

[0011] To reduce movement, preferably, the radial guide unit further includes two second guide rods, which are parallel to each other on both sides of the first guide rod, and the outer ends of the two second guide rods are connected to the outer limiting plate; the counterweight is provided with a second guide hole at the position corresponding to the two second guide rods, and the counterweight is movably engaged with the two second guide rods through the second guide hole.

[0012] In order for the sweeping device to adapt to uneven ground and automatically control the raising and lowering of the sweeping disc according to the ground conditions, preferably, it also includes: The road surface detection unit is used to detect the height of the sweeping components above the road surface in real time; The control unit is used to receive the height value detected by the road surface detection unit and compare the height value with a preset threshold library. If the height value detected in real time falls within a threshold range in the threshold library, the speed of the drive motor is adjusted to the motor speed corresponding to that threshold, so that the cleaning component moves up and down according to the corresponding motor speed; wherein, when the motor speed is zero, the cleaning component is at the upper limit position.

[0013] For ease of use, preferably, the road surface detection unit is defined as a distance sensor disposed on the lower side of the sweeping disc.

[0014] The operation method includes the following steps: The centrifugal force of the counterweight is calculated based on the rotational speed of the drive motor. The distance the counterweight moves outward in the radial direction is obtained based on the centrifugal force. The lifting height of the sweeping component is then obtained based on the moving distance of the counterweight, and the mapping relationship between the rotational speed and the sweeping component is configured. Real-time ground height acquisition; The lifting height of the sweeping component is determined based on the real-time ground height. Based on the lifting height of the sweeping component, the corresponding rotational speed is obtained from the mapping relationship between the rotational speed and the sweeping component; Adjust the motor speed to a speed corresponding to the corresponding lifting height, so that the drive motor drives the counterweight to move in the radial direction, thereby causing the sweeping component to rise and fall accordingly.

[0015] Beneficial effects: This invention uses a height sensor to detect the height of the sweeping disc from the ground, and combines this with the length of the cleaning brush to obtain the corresponding sweeping height. It then starts the drive motor to rotate the sweeping disc, which in turn moves the counterweight and pulls the sweeping disc down to the sweeping height. When the drive motor is turned off, the elastic element can pull the sweeping disc back and automatically move it up, making the operation convenient. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the installation structure of the counterweight.

[0018] Figure 3 This is a schematic diagram of the installation structure of the connecting block and the sleeve.

[0019] Figure 4 This is a wireframe diagram illustrating the operating principle of the present invention.

[0020] Figure 5 This is a schematic diagram of the usage method of the present invention.

[0021] The meanings of the labels in the attached diagram are as follows: Drive motor-1; Guide sleeve-10; Second flat surface 101; Limiting block-11; Elastic element-12; Fixing block-13; Sleeve-21; First flat surface-211; Sweeping disc-22; Sweeping brush-23; Baffle-24; Disc cover-25; Guide wheel-30; connecting block-31; counterweight block-32; cable-33; first guide rod-34; inner limit plate-35; second guide rod-36; outer limit plate-37; height sensor-4. Detailed Implementation

[0022] Depend on Figures 1 to 5 As shown, the cleaning device of the present invention includes: a drive motor 1, a cleaning device, and a lifting unit. The output shaft of the drive motor 1 has an inner cavity extending through it axially toward the output end face. The cleaning assembly has a sleeve 21 movably disposed in the inner cavity of the output shaft along the axial direction of the output shaft, a cleaning disc 22 coaxially connected to the lower end of the sleeve 21, and a cleaning brush 23 disposed on the cleaning disc 22. The sleeve 21 can rotate with the output shaft of the drive motor 1, thereby driving the cleaning assembly to rotate. The lifting unit includes an elastic element 12 connected between the upper end of the sleeve 21 and the bottom of the inner cavity, a plurality of sets of counterweights 32 slidably disposed on the cleaning disc 22 in the radial direction, and a cable 33 corresponding to each counterweight; each set of counterweights 32 includes two counterweights 32 disposed on the same diameter line; one end of each cable 33 is connected to the corresponding counterweight 32, and the other end is connected to the sleeve 21.

[0023] Specifically, the output shaft of the drive motor has a small outer diameter section closer to the drive motor 1 and a large outer diameter section closer to the cleaning assembly. The inner cavity is disposed in the large outer diameter section and extends through the large outer diameter section in the direction of the cleaning assembly, so that the large outer diameter section forms a guide sleeve 10. A limiting block 11 is provided in the guide sleeve 10, and a fixing block 13 is screwed onto the limiting block 11. A mounting hole is coaxially provided on the fixing block 13. One end of the elastic member 12 is fixedly connected to the mounting hole, and the other end is fixedly connected to the sleeve 21.

[0024] A connecting block 31 is fixedly provided at the upper end of the sleeve 21. One side of the connecting block 31 is connected to one end of the elastic element 12, and the other side of the connecting block 31 is connected to the other end of the cable 33. The outer wall surface of the sleeve 21 has at least one first flat surface 211, and the inner wall surface of the guide sleeve 10 has at least one second flat surface 101 that fits against the first flat surface. A guide wheel 30 is provided on the inner wall of the sleeve 21, and a groove is provided on the wheel surface of the guide wheel 30. The cable 33 is wound around the groove.

[0025] Each counterweight is slidably disposed on the upper side of the sweeping disc 22 via a radial guide unit. The radial guide unit includes a first guide rod 34 disposed radially between the sleeve 21 and the outer edge of the sweeping disc 22. The counterweight 32 is provided with a first guide hole, and the counterweight 32 is movably sleeved on the first guide rod 34 through the first guide hole. An inner limiting plate 35 is provided on the first guide rod 34 at a position between the sleeve 21 and the counterweight 32, and the inner limiting plate 35 is fixed on the sweeping disc 22. An outer limiting plate 37 is provided on the first guide rod 34 between the counterweight 32 and the outer edge of the sweeping disc 22. When the sweeping assembly is in the initial position, the counterweight 32 is located at the inner limiting plate 35, and the outer limiting plate 37 is used to limit the lower limit of the sweeping assembly.

[0026] The radial guide unit also includes two second guide rods 36, which are parallel to each other on both sides of the first guide rod 34, and the outer ends of the two second guide rods 36 are connected to the outer limiting plate 37. The counterweight 32 is provided with a second guide hole at the position corresponding to the two second guide rods 36, and the counterweight 32 is movably engaged with the two second guide rods 36 through the second guide hole.

[0027] In this embodiment of the invention, the sweeping disc 22 is slidably connected to the output shaft of the drive motor 1. A counterweight 32 is added to the sweeping disc 22, and a radial guide unit restricts the movement of the counterweight 32 to the radial direction. The counterweight 32 is fixed to one end of the sweeping disc 22 that is slidably connected to the output shaft via a cable 33. The rotational speed of the existing drive motor 1 generates a centrifugal force in the tangential direction of the counterweight 32. Under the directional restriction of the radial guide unit, the counterweight 32 ultimately moves radially, thereby pulling the cable 33 to raise or lower the sweeping disc 22. Using this solution, there is no need for a separate vertical lifting drive unit; the existing drive motor 1 can achieve the vertical movement of the sweeping assembly, reducing manufacturing costs.

[0028] Please see Figure 4 , Figure 4 This is a schematic block diagram of an embodiment of the sweeping device of the present invention. This embodiment includes a drive motor 1, a sweeping assembly, and a lifting unit that have the same or similar structure or function as those in the above embodiments. This embodiment also includes a road surface detection unit and a control unit.

[0029] The road surface detection unit is used to detect the height of the sweeping component from the road surface in real time. Specifically, the road surface detection unit can be defined as a distance sensor 4 set on the lower side of the sweeping disc 22, such as an infrared, Bluetooth, or ultrasonic sensor.

[0030] The control unit is used to receive the height value detected by the road surface detection unit and compare the height value with a preset threshold library. The control unit is preferably a PLC controller. The threshold library can cover different distance thresholds. For example, suppose the distance thresholds in the threshold library are divided into four segments: 1 to 5, corresponding to the first motor speed; 5.01 to 10, corresponding to the second motor speed; 10.01 to 15, corresponding to the third motor speed; and 15.01 to 18, corresponding to the fourth motor speed.

[0031] If the height value detected in real time falls within a threshold range in the threshold library, the speed of drive motor 1 is adjusted to the motor speed corresponding to that threshold, thereby causing the sweeping component to rise and fall according to the corresponding motor speed; wherein, when the motor speed is zero, the sweeping component is at the upper limit position. Specifically, assuming the road surface detection unit detects a road surface height of 3, which falls within the threshold range of 1 to 5, the speed of drive motor 1 is adjusted to the first level.

[0032] In this embodiment of the invention, the unevenness of the road surface can be acquired in real time, and the motor speed can be adjusted according to different conditions and degrees, thereby adjusting the lifting height of the sweeping disc 22 in real time. Thus, even on uneven surfaces, the height of the sweeping components can be adjusted in real time according to the road conditions, eliminating blind spots and solving the problem of unadjustable friction between the sweeping brush 23 and raised surfaces. This effectively cleans up debris while protecting the sweeping components and the drive motor 1.

[0033] Please see Figure 5 , Figure 5 This is a flowchart of one embodiment of the cleaning method of the present invention. The cleaning method of this embodiment includes the following steps: S101. Calculate the centrifugal force of the counterweight 32 based on the rotational speed of the drive motor 1, obtain the distance the counterweight 32 moves outward in the radial direction based on the centrifugal force, and obtain the lifting height of the cleaning component based on the moving distance of the counterweight 32, and configure the mapping relationship between the rotational speed and the cleaning component. S102. Real-time acquisition of ground height; S103. Based on the real-time ground height, obtain the lifting height of the sweeping component; S104. Based on the lifting height of the sweeping component, obtain the corresponding rotational speed from the mapping relationship between the rotational speed and the sweeping component; S105. Adjust the motor speed to a speed corresponding to the corresponding lifting height, so that the drive motor 1 drives the counterweight 32 to move in the radial direction, thereby causing the sweeping component to lift accordingly.

[0034] Specifically, such as Figures 1 to 5 As shown, firstly, the height sensor 4 is fixedly installed in the middle of the lower end face of the sweeping disc 22, and the PLC controller is fixedly installed on the carrier, preferably a sweeping vehicle. The battery of the sweeping vehicle provides power to the height sensor 4, the drive motor 1, and the PLC controller. At the same time, the centrifugal force of the counterweight 32 is calculated based on the rotational speed of the drive motor 1. The distance that the counterweight 32 moves outward in the radial direction is obtained based on the centrifugal force. Thus, the lifting height of the sweeping component is obtained based on the moving distance of the counterweight 32. The mapping relationship between the rotational speed and the sweeping component is configured and input into the PLC controller.

[0035] To facilitate rapid movement of the sweeping disc 22, four counterweights 32 are evenly arranged along the circumference of the sweeping disc 22, along with corresponding first guide rods 34, inner limiting plates 35, second guide rods 36, and outer limiting plates 37. Each counterweight 32 is equipped with a cable 32, and each cable 32 is connected to a connecting block 31. Simultaneously, a guide sleeve 10 is provided at the output end of the drive motor 1, and a limiting block 11 is provided inside the guide sleeve 10. A fixing block 13 is screwed onto the limiting block 11, and a mounting hole is provided on the fixing block 13. One end of an elastic element 12 is fixed in the mounting hole, and the other end of the elastic element 12 is fixedly connected to the connecting block 31. The elastic element 12 is preferably a tension spring. The connecting block 31 is welded and fixed to the upper end face of the sleeve 21. Figure 3 The thick black coil in the middle is the welding position), which simplifies the connection structure and enables the drive motor 1 to drive the sweeping disc 22 to rotate, ensuring the durability and stability of use. Guide wheels 30 are provided on the inner wall of the sleeve 21 at the position corresponding to the pull cable 33, and the pull cable 32 at the corresponding position is wound in the groove on the wheel surface of the guide wheel 30.

[0036] In use, the height sensor 4 detects the distance between the sweeping disc 22 and the ground, and transmits the height signal to the PLC controller. The PLC controller, combined with the input length of the sweeping brush, determines the working height of the sweeping disc 22. Based on the previously input corresponding rotation speed data, it starts the drive motor 1 to reach the corresponding speed. The rotation of the output end of the drive motor 1 drives the sweeping disc 22 to rotate. The counterweight block 32, which rotates synchronously with the sweeping disc 22, generates centrifugal force. Under the action of overcoming the elastic force of the tension spring, the counterweight block 32 moves towards the outer edge of the sweeping disc 22, thereby pulling the cable 32 and simultaneously driving the connecting block 31, sleeve 21, and sweeping disc 22 to move downward. After sweeping is completed, the drive motor 1 is turned off, the sweeping disc 22 stops rotating, and under the condition that the centrifugal force disappears, the elastic force of the tension spring pulls the connecting block 31 upward and simultaneously drives the sweeping disc 22 to rise and move back to the standby position, thus achieving the purpose of automatically retrieving the sweeping disc.

[0037] Because the road surface is not uniform and the sweeper moves slowly, when there are large bumps on the road surface, the height sensor 4 can send height difference data to the PLC controller in time so as to adjust the rotation speed of the drive motor 1. That is, under the premise of overcoming the elastic force of the tension spring, the magnitude of the centrifugal force generated by the rotation is controlled to adjust the length of the moving distance of the counterweight 32, so that the sweeping disc 22 moves down to the corresponding sweeping height, thereby achieving the purpose of adaptive adjustment of the sweeping height.

[0038] It should be noted that when the sleeve 21 is inserted into the guide sleeve 10, the outer wall surface of the sleeve 21 has two symmetrically arranged first flat surfaces 211, and the inner wall surface of the guide sleeve 10 has two second flat surfaces 101 that fit with the first flat surfaces. The first flat surfaces 211 and the second flat surfaces 101 at the corresponding ends are fitted together to ensure that the transmission rotation does not slip.

[0039] In addition, based on the elastic force of the tension spring, the inner limiting plate 35 and the outer limiting plate 37 limit the displacement range of the counterweight 32 to prevent the movement of the counterweight 32 from damaging the cable 33. This is because the inertia during the return movement will cause the counterweight 32 to have a large displacement distance, and when it rotates outward again, it will cause greater damage at the moment when the cable 33 is taut. In addition, the four counterweights 32 are set with the same range of movement to ensure that the four cables 32 are used in the same way. If any cable 32 breaks and needs to be replaced, it will indicate that all of them should be replaced to ensure the stability of use.

[0040] In addition, a baffle 24 is provided around the outer edge of the cleaning disc 22 in the circumferential direction, and a disc cover 25 is screwed on the outer side of the baffle 24. The middle of the disc cover 25 is provided with a clearance hole for the sleeve 21 to pass through at the position corresponding to the sleeve 21. The baffle 21 and the disc cover 25 are provided to cover dust so as to prevent dust from accumulating on the upper end of the cleaning disc 22 and affecting the smooth movement of the counterweight 32. If the cleaning disc 22 needs to be removed, simply remove the screwed fixing block 13, pull out the sleeve 21 from the guide sleeve 10, and finally remove the screwed disc cover 25.

Claims

1. A cleaning device, comprising: The drive motor (1) has an inner cavity extending along its axial direction toward the output end face on its output shaft. A cleaning assembly includes a sleeve (21) axially movably disposed within the inner cavity of the output shaft, a cleaning disc (22) coaxially connected to the lower end of the sleeve (21), and a cleaning brush (23) disposed on the cleaning disc (22). The sleeve (21) is rotatable with the output shaft of the drive motor (1), thereby driving the cleaning assembly to rotate. The lifting unit includes an elastic element (12) connected between the upper end of the sleeve (21) and the bottom of the inner cavity, several sets of counterweights (32) slidably disposed on the cleaning disc (22) in the radial direction, and a cable (33) corresponding to each counterweight; each set of counterweights (32) includes two counterweights (32) disposed on the same diameter line; one end of each cable (33) is connected to the corresponding counterweight (32), a connecting block (31) is fixedly disposed at the upper end of the sleeve (21), one side of the connecting block (31) is connected to one end of the elastic element (12), and the other side of the connecting block (31) is connected to the other end of the cable (33); a guide wheel (30) is provided on the inner wall of the sleeve (21), and a groove is provided on the wheel surface of the guide wheel (30), and the cable (33) is wound in the groove; The road surface detection unit is used to detect the height of the sweeping components above the road surface in real time; The control unit is used to receive the height value detected by the road surface detection unit and compare the height value with a preset threshold library. If the height value detected in real time is within a threshold range in the threshold library, the speed of the drive motor (1) is adjusted to the motor speed corresponding to the threshold, so that the cleaning component can be raised and lowered according to the corresponding motor speed; wherein, when the motor speed is zero, the cleaning component is at the upper limit position; each of the counterweights (32) is slidably disposed on the upper side of the cleaning disc (22) through a radial guide unit, and the centrifugal force generated by the rotation of the cleaning disc (22) can make the counterweights (32) move in the radial direction, thereby pulling the cable (33) to make the cleaning disc (22) rise or fall.

2. The cleaning device as described in claim 1, characterized in that: The output shaft of the drive motor has a small outer diameter section closer to the drive motor (1) and a large outer diameter section closer to the cleaning assembly. The inner cavity is disposed in the large outer diameter section and extends through the large outer diameter section in the direction of the cleaning assembly, so that the large outer diameter section forms a guide sleeve (10). A limiting block (11) is provided in the guide sleeve (10). A fixing block (13) is screwed onto the limiting block (11). A mounting hole is coaxially provided on the fixing block (13). One end of the elastic element (12) is fixedly connected to the mounting hole, and the other end is fixedly connected to the sleeve (21).

3. The cleaning device as described in claim 2, characterized in that: The outer wall surface of the sleeve (21) has at least one first flat surface (211), and the inner wall surface of the guide sleeve (10) has at least one second flat surface (101) that fits against the first flat surface.

4. The cleaning device as described in claim 1, characterized in that: Each of the aforementioned counterweights (32) is slidably disposed on the upper side of the cleaning disc (22) via a radial guide unit. The radial guide unit includes a first guide rod (34) disposed radially between the sleeve (21) and the outer edge of the cleaning disc (22). The counterweight (32) is provided with a first guide hole, and the counterweight (32) is movably sleeved on the first guide rod (34) through the first guide hole. The first guide rod (34) is located on the sleeve (21). An inner limiting plate (35) is provided at a position between the counterweight (32) and the cleaning disc (22), and the inner limiting plate (35) is fixed on the cleaning disc (22); an outer limiting plate (37) is provided on the first guide rod (34) between the counterweight (32) and the outer edge of the cleaning disc (22); when the cleaning assembly is in the initial position, the counterweight (32) is located at the inner limiting plate (35), and the outer limiting plate (37) is used to limit the lower limit of the cleaning assembly.

5. The cleaning device as described in claim 4, characterized in that: The radial guide unit also includes two second guide rods (36), which are parallel to each other on both sides of the first guide rod (34), and the outer ends of the two second guide rods (36) are connected to the outer limiting plate (37); the counterweight (32) is provided with a second guide hole at the position corresponding to the two second guide rods (36), and the counterweight (32) is movably fitted on the two second guide rods (36) through the second guide hole.

6. The cleaning device as described in claim 1, characterized in that: The road surface detection unit is defined as a distance sensor (4) disposed on the lower side of the sweeping disc (22).

7. A cleaning method, employing the cleaning device as described in claim 1, comprising the following steps: The centrifugal force of the counterweight (32) is calculated based on the rotational speed of the drive motor (1). The distance that the counterweight (32) moves outward in the radial direction is obtained based on the centrifugal force. The lifting height of the cleaning component is obtained based on the moving distance of the counterweight (32). The mapping relationship between the rotational speed and the cleaning component is configured. Real-time ground height acquisition; The lifting height of the sweeping component is determined based on the real-time ground height. Based on the lifting height of the sweeping component, the corresponding rotational speed is obtained from the mapping relationship between the rotational speed and the sweeping component; Adjust the motor speed to a speed corresponding to the corresponding lifting height so that the drive motor (1) drives the counterweight (32) to move in the radial direction, thereby causing the cleaning component to lift accordingly.

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